Cleaning robot assistance device, device control method, medium and program product

Abstract

A cleaning robot assistance device, a device control method, a medium and a program product. The cleaning robot assistance device comprises: a device main body (101); a sensor assembly (102), which is disposed on the device main body (101); a displacement assembly (103), which is connected to the device main body (101), so as to guide the movement of the device main body (101); and a processor (104), which is disposed in the device main body (101) and connected to the sensor assembly (102) and the displacement assembly (103), wherein the processor (104) can determine the relative position between the device main body (101) and a target device, receive environment information that is of an environment in which the cleaning robot assistance device is located and is collected by the sensor assembly (102), and control, on the basis of the environment information, the displacement assembly (103) to guide the device main body (101) to move to search for a target area, the target area indicating an adjustment of the relative position.

Description

Cleaning robot auxiliary equipment, equipment control methods, media and program products Cross-reference of related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510287318.0, filed on March 11, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of control technology for cleaning robot auxiliary equipment, and in particular to a cleaning robot auxiliary equipment, equipment control method, medium and program product. Background Technology

[0003] Cleaning robot-assisted equipment, including stair-climbing devices, can provide convenient and quick item handling. However, stair-climbing devices cannot safely and reliably load or unload electronic equipment before or after the handling process begins. Summary of the Invention

[0004] Based on the above technical problems, this disclosure provides a cleaning robot auxiliary device, a device control method, a medium, and a program product.

[0005] The technical solution provided by the embodiments of this disclosure is as follows:

[0006] This disclosure first provides a cleaning robot auxiliary device, including:

[0007] Equipment body;

[0008] The sensor assembly is disposed on the main body of the device;

[0009] A displacement component, connected to the device body, to guide the movement of the device body;

[0010] A processor, internally located in the main body of the device and connected to the sensor assembly and the displacement assembly; wherein the processor is capable of:

[0011] Determine the relative position of the main body of the device with respect to the target device; and

[0012] The system receives environmental information about the environment in which the cleaning robot auxiliary device is located, collected by the sensor components, and controls the displacement components to guide the main body of the device to move and search for the target area based on the environmental information.

[0013] The target area indicates the adjustment of the relative position.

[0014] This disclosure also provides a device control method, the method comprising:

[0015] The system acquires environmental information about the environment in which the cleaning robot auxiliary device is located; wherein, the displacement component of the cleaning robot auxiliary device can guide the movement of the main body of the cleaning robot auxiliary device;

[0016] Determine the relative position of the cleaning robot auxiliary device with respect to the target device; and

[0017] Based on the environmental information, the cleaning robot's auxiliary equipment is controlled to move and search for the target area; wherein, the target area indicates the adjustment of the relative position.

[0018] This disclosure also provides a computer-readable storage medium storing a computer program; when the computer program is executed by a processor of an electronic device, it can implement the device control method as described above.

[0019] This disclosure also provides a computer program product, which includes a computer program; when the computer program is executed by the processor of an electronic device, it can implement the device control method as described above. Attached Figure Description

[0020] Figure 1 is a schematic diagram of the structure of the cleaning robot auxiliary equipment provided in an embodiment of this disclosure;

[0021] Figure 2 is a schematic diagram of the distribution structure of the first region provided in an embodiment of this disclosure;

[0022] Figure 3 is a schematic diagram of the process of the cleaning robot auxiliary equipment moving to search for the cabin area according to an embodiment of this disclosure;

[0023] Figure 4 is a schematic diagram of the process of cleaning equipment entering the cabin provided in the embodiments of this disclosure;

[0024] Figure 5 is a schematic diagram of the position adjustment process of the cleaning robot auxiliary equipment provided in the embodiments of this disclosure;

[0025] Figure 6 is a schematic diagram of the distribution structure of the second region provided in an embodiment of this disclosure;

[0026] Figure 7 is a schematic diagram of the exit procedure provided in the embodiments of this disclosure;

[0027] Figure 8 is a flowchart illustrating the device control method provided in an embodiment of this disclosure;

[0028] Figure 9 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this disclosure;

[0029] Figure 10 is a schematic diagram of the storage structure of a computer program product provided in an embodiment of this disclosure. Detailed Implementation

[0030] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0031] It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit this disclosure.

[0032] Cleaning robots, including stair-climbing devices, can provide convenient and quick transport of items up and down stairs. However, stair-climbing devices cannot safely and reliably load or unload mobile electronic devices before or after the transport process begins.

[0033] Based on the above technical problems, this disclosure provides a cleaning robot auxiliary device, a device control method, a medium, and a program product.

[0034] Figure 1 is a schematic diagram of the structure of the cleaning robot auxiliary device provided in this embodiment of the present disclosure. As shown in Figure 1, the cleaning robot auxiliary device includes:

[0035] Equipment body 101;

[0036] Sensor assembly 102 is disposed on device body 101;

[0037] The displacement component 103 is connected to the device body 101 to guide the movement of the device body;

[0038] Processor 104 is integrated into the main body of the device and connected to the sensor assembly and the displacement assembly; wherein, processor 104 is capable of:

[0039] Determine the relative position of the main body of the equipment with respect to the target equipment; and

[0040] The system receives environmental information about the environment in which the cleaning robot auxiliary equipment is located, collected by the sensor components, and controls the displacement components to guide the main body of the equipment to move and search for the target area based on the environmental information.

[0041] The target area indicates the adjustment of its relative position.

[0042] In some embodiments, the processor 104 may be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Micro Controller Unit (MCU), and Microprocessor.

[0043] In some embodiments, the cleaning robot assistive device may have the function of climbing stairs and moving within a floor; for example, the cleaning robot assistive device may include a stair-climbing device.

[0044] In some embodiments, the displacement component may have a driving function and a moving function for climbing along the direction of the stairs, and may also have a function for displacement within the floor space.

[0045] In some embodiments, the cleaning robot assistive device, such as a stair-climbing device, can be in an unloaded state or a loaded state; when the cleaning robot assistive device is in a loaded state, the at least one object carried may include objects on the floor that do not have the function of movement, such as furniture and green plants; for example, at least one object may include building components, such as walls, railings, load-bearing columns and doors; for example, at least one object may include objects with the ability to move, and the object may include electronic devices with the same displacement function as the target device, and may also include pets or people.

[0046] In some embodiments, the environment may include a floor; the environmental information may include the status information of at least one object on the floor where the cleaning robot auxiliary device is located; and the status information may include the location, size, floor area and whether the at least one object is suspended, etc., and may also include the distance and / or orientation between the object and the cleaning robot auxiliary device.

[0047] In some embodiments, environmental information can be obtained in the following ways:

[0048] The control sensor component acquires first data associated with at least one object; then the first data is analyzed to determine environmental information; for example, when the sensor component includes a camera, the first data may include image data; in this case, feature extraction and recognition can be performed on the image data to determine environmental information.

[0049] The distance data between the cleaning robot auxiliary device and at least one object is acquired by the distance sensor or radar included in the sensor assembly, and the various distance data are integrated to determine the distance between the cleaning robot auxiliary device and at least one object, and the above distance is determined as environmental information.

[0050] In some embodiments, the sensor component may acquire first data in real time or periodically and determine environmental information based on the first data.

[0051] In some embodiments, the relative position may include whether the target device is separated from the cleaning robot auxiliary device.

[0052] In some embodiments, the relative position may also include the distance and / or orientation between the target device and the cleaning robot auxiliary device.

[0053] In some embodiments, the relative position can be determined in any of the following ways:

[0054] The target device is determined to be separated from the cleaning robot's auxiliary equipment by using second data collected by sensor components; wherein, the second data may include the distance between at least two outer walls of the main body of the device and the target device.

[0055] The cleaning robot auxiliary device receives the location signal sent by the target device through its communication component. The processor combines its current location with the location signal to determine the distance and / or orientation between the cleaning robot auxiliary device and the target device. For example, both the target device and the cleaning robot auxiliary device may be equipped with communication components capable of transmitting and receiving wireless signals. These communication components may include any one of the following: a WIFI module, a Bluetooth (BT) module, a Near Field Communication (NFC) module, a Near Link module, and an Infrared Radiation (IR) module.

[0056] In some embodiments, the relative position indicates an adjustment of the relative position, which can be achieved in any of the following ways:

[0057] Control the movement of displacement components and / or target equipment to change their relative positions.

[0058] The target device can be separated from the cleaning robot's auxiliary equipment, or the cleaning robot's auxiliary equipment can carry the target device.

[0059] In some embodiments, when the displacement component moves to the target area, it can automatically trigger a change in relative position, or it can trigger a change in relative position in response to a control command from a control device associated with the cleaning robot auxiliary device; wherein, the control device may include a terminal device with an application configured to control the cleaning robot auxiliary device; for example, the terminal device may include a smartphone or a laptop computer, etc.

[0060] In some embodiments, controlling the movement of the displacement component to search for the target area based on environmental information can be achieved in any of the following ways:

[0061] If the processor determines that the cleaning robot auxiliary device cannot change its relative position within the current area, the processor controls the displacement component to move and search for the target area based on the environmental information. For example, the processor can control the sensor component to collect environmental information around its position while controlling the displacement component to rotate in place, and determine whether the area corresponding to the environmental information meets the conditions for the cleaning robot auxiliary device to change its relative position.

[0062] During the movement of the displacement component, the processor controls the sensor component to continuously collect regional data of the area where the cleaning robot auxiliary device is located, and analyzes the regional data to determine whether the area where it is located meets the conditions for the cleaning robot auxiliary device to change its relative position. If the area where it is located meets the above conditions, it can be determined that the area where it is located is the target area. If the area where it is located does not meet the above conditions, the processor controls the displacement component to continue moving to search for the target area.

[0063] In some embodiments, the target area may vary depending on the relative position; that is, the target area corresponding to different relative positions may differ in at least one dimension.

[0064] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment of the present disclosure collects environmental information of the environment in which the cleaning robot auxiliary device is located by a sensor component installed on its main body. In this way, the cleaning robot auxiliary device can track and obtain the environmental information of its environment. Furthermore, the displacement component guides the movement of the main body of the device. After the processor determines the relative position between the target device and the housing, it controls the displacement component to move and search for the target area based on the environmental information. The target area indicates the adjustment of the relative position. Thus, through the above steps, the safety of the target device displacement when adjusting the relative position can be improved. At the same time, by controlling the movement of the displacement component to search for the target area based on the environmental information, the accuracy and efficiency of the target area search can be improved. In summary, the method provided in this embodiment of the present disclosure, when applied to the scenario of loading or unloading the target device by the cleaning robot auxiliary device, can improve the safety and stability of the target device, thereby meeting the safety and stability requirements of loading or unloading the target device by the cleaning robot auxiliary device.

[0065] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure includes a housing compartment for accommodating the target device.

[0066] In some embodiments, the external dimensions of the target device may be smaller than the dimensions of the accommodating compartment.

[0067] In some embodiments, the accommodating compartment may accommodate the target device in a sealed or unsealed manner.

[0068] In some embodiments, if the target device is housed in a housing compartment, the first data interface provided in the housing compartment can be electrically connected to the second data interface of the target device. Thus, the electrical connection status of the first data interface can be used to determine whether the target device is housed in the housing compartment. Correspondingly, the relative position can include whether the target device is located in the housing compartment.

[0069] As can be seen from the above, the main body of the cleaning robot auxiliary device provided in this embodiment includes a accommodating compartment for accommodating the target device. Thus, the accommodating compartment enables the safe accommodation and displacement of the target device.

[0070] Based on the foregoing embodiments, the cleaning robot auxiliary equipment provided in this disclosure allows the target device to move autonomously; and the target area indicates the safety of the target device's autonomous movement.

[0071] In some embodiments, the target device may include a toy device with mobility function or a home appliance with displacement function, wherein the home appliance may include a robot vacuum cleaner.

[0072] In some embodiments, the conditions that the target area should meet can be predetermined, and these conditions can be changed depending on the type and / or model of the target device.

[0073] In some embodiments, the probability of the target device falling, colliding, or being damaged while moving within the target area may be less than a first threshold.

[0074] In some embodiments, the probability of the target device becoming entangled, stuck, or unable to move when moving within the target area may be less than or equal to a second threshold.

[0075] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment allows the target device to move autonomously, and the target area indicates the safety of the target device's autonomous movement. Thus, by moving and searching the target area, the safety of changing relative positions can be improved.

[0076] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure further includes a communication component, which is connected to the processor; wherein:

[0077] If the relative position indicates that the target device and the cleaning robot's auxiliary equipment are separated, the processor:

[0078] Obtain the working status of the target device through communication components, and

[0079] Based on the working status and environmental information, the control displacement component guides the main body of the equipment to move and search for the target area.

[0080] Accordingly, if the relative position indicates that the target device and the cleaning robot auxiliary device are not separated, then the operation of obtaining the working status of the target device does not need to be performed.

[0081] In some embodiments, the working state of the target device may include the current operating state of the target device; for example, if the target device is in the operating state, the target device may be in a moving state or a stationary state.

[0082] In some embodiments, the operating status of the target device can be obtained in the following ways:

[0083] Receive the working status indication information sent by the target device, and parse the indication information to determine the working status of the target device.

[0084] When the working state of the target device is correlated with its displacement state, the image data collected or the distance data measured by the sensor components of the cleaning robot's auxiliary equipment can be used to determine whether the target device is in a moving state. If the target device is in a moving state, it can be determined that the target device is in an operating state.

[0085] In some embodiments, the movement of the displacement component to the search target area can be determined in any of the following ways:

[0086] If the working status indicates that the target device is in operation, the processor can control the displacement component to move and search the target area based on environmental information after the target device's operation ends.

[0087] If the operating status indicates that the target device is not running, the processor can control the displacement component to immediately move and search the target area based on environmental information.

[0088] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment, when the target device and the cleaning robot auxiliary device are in a separated state according to the relative position indication, the processor obtains the working state of the target device through the communication component, thereby realizing the control of the operation of obtaining the working state of the target device; and, by controlling the displacement component to move and search for the target area based on the working state and environmental information, the processor achieves precise control of the displacement component to move and search for the target device in both the working state dimension and the environmental information dimension; at the same time, by adding the working state of the target device as a factor in controlling the movement and search of the displacement component in the process of controlling the movement and search of the target area, the correlation between the movement and search operation of the displacement component and the working state of the target device can be improved.

[0089] Based on the foregoing embodiments, the target device in the cleaning robot auxiliary device provided in this disclosure includes a cleaning device with mobile cleaning function.

[0090] Accordingly, if the working status indicator shows that the cleaning equipment is not in a mobile cleaning state, and the first area corresponding to the environmental information does not meet the first condition, the processor:

[0091] Determine the initial position of the cleaning robot's auxiliary equipment; and,

[0092] Starting from the first position, control the displacement component to move and search for the cabin area.

[0093] The first condition includes that the target equipment can be moved safely, the entry area must at least meet the first condition, and the target area includes the entry area.

[0094] Accordingly, if the working status indicates that the cleaning equipment is in a mobile cleaning state, or the first area meets the first condition, the operation of determining the first position may not be performed.

[0095] In some embodiments, the first position may be determined in any of the following ways:

[0096] The processor analyzes the data collected by the sensor components to determine the distance and / or orientation of the cleaning robot auxiliary device relative to surrounding objects, and then determines a first position based on the distance and / or orientation. For example, the surrounding objects may include objects that do not have displacement function that exist around the cleaning robot auxiliary device, such as walls, doors, or furniture.

[0097] The sensor components determine the distance and / or orientation between the cleaning robot auxiliary equipment and surrounding objects. The processor acquires and analyzes the distance and / or orientation based on data such as the location and / or area of ​​objects in the floor map corresponding to the floor, thereby determining the first location.

[0098] In some embodiments, the first condition may specifically include at least one of the following: the distance between the cleaning equipment and the obstacle is greater than or equal to a first threshold, there is no low space, there is no covering material on the floor with resistance greater than the resistance threshold, and there is no threshold and / or track, etc.; wherein, the height of the low space may be equal to the height of the cleaning equipment, and the covering material with resistance greater than the resistance threshold may include a long-pile carpet.

[0099] For example, if the distance between the cleaning equipment and the obstacle is greater than or equal to a first threshold, the negative impact of the obstacle on the positioning adjustment operation of the cleaning equipment can be reduced; if the target area does not contain low spaces, the probability of the cleaning equipment being stuck in low spaces can be reduced; if the target area does not contain thresholds and / or tracks, the probability of the cleaning equipment being blocked by thresholds and / or tracks can be reduced.

[0100] In some embodiments, satisfying the first condition may further include at least one of the following: not containing steps or cliffs, and not containing restricted areas preset by the user; wherein, the restricted areas may be preset by the user of the cleaning robot auxiliary device.

[0101] For example, the absence of steps or cliffs can reduce the risk of the cleaning equipment falling during movement; the absence of user-preset restricted areas can reduce the probability of the cleaning equipment being damaged during movement or items within the restricted areas being damaged.

[0102] Figure 2 is a schematic diagram of the distribution structure of the first area provided in the embodiment of this disclosure. As shown in Figure 2, the floor 2 may include architectural components such as cliffs and towers, as well as furniture, carpets, and restricted areas pre-set by the user.

[0103] For example, the sweeping machine can be the cleaning device in the foregoing embodiments, in which case the sweeping machine and the housing of the cleaning robot auxiliary device are in a separate state.

[0104] For example, if the cleaning robot assist device moves to area one on floor 2, the safety level of the robot is less than the safety threshold because area one is close to a cliff, thus area one cannot meet the first condition; if the cleaning robot assist device moves to area two, the first condition cannot be met because area two is close to a restricted area; if the cleaning robot assist device moves to the area where the carpet is located, the first condition cannot be met because the carpet resistance is greater than or equal to the resistance threshold and the furniture will block the robot's rotation operation; if the cleaning robot assist device moves to area three, the first condition cannot be met because area three is adjacent to furniture and a tower on its opposite sides; if the cleaning robot assist device moves to area four, the first condition cannot be met because area four is close to furniture.

[0105] Therefore, none of the first regions shown in Figure 2, including regions one through four, can be the target regions.

[0106] In some embodiments, the entry area can be obtained through a mobile search in the following manner:

[0107] During the process of the processor controlling the movement of the displacement component from the first position, the third data is continuously collected by the sensor component, and the third data is analyzed to determine whether the area where the cleaning robot auxiliary device is located meets the first condition. If the first condition is met, the area where the cleaning robot auxiliary device is located can be determined as the entry area. For example, the third data may include distance data and image data.

[0108] The processor determines candidate areas from the current floor based on a floor map associated with the floor, determines a search path between the first location and the candidate area, and then controls the movement of the displacement component based on the search path. After the displacement component moves to the candidate area, it analyzes the fourth data collected by the sensor component. If the candidate area meets the first condition, the candidate area is determined as the entry area. The candidate area may include an open area on the floor that is greater than or equal to an area threshold, and the area threshold may include the projected area of ​​the cleaning equipment in the direction perpendicular to the floor. For example, the fourth data may include distance data and image data.

[0109] Figure 3 is a schematic diagram of the process of the cleaning robot auxiliary equipment moving to search for the cabin area provided in the embodiment of this disclosure. As shown in Figure 3, the starting position of the cleaning robot auxiliary equipment in floor 2 can be the first position in the aforementioned embodiment.

[0110] For example, the displacement component starts from the initial position and first searches for area A. The processor confirms that area A includes carpet, so it determines that area A does not meet the first condition. Then, the displacement component moves to area B, where it is determined that area B also includes carpet, so it determines that area B does not meet the first condition. Next, the displacement component moves to area C, but since area C is near a cliff, it determines that area C does not meet the first condition. At this point, the displacement component continues to move around the furniture and searches to area D. Since area D contains a restricted area, it triggers the displacement component to continue moving to area E. At this point, the displacement component determines that area E meets the first condition, so area E can be identified as the entry area.

[0111] As can be seen from the above, the cleaning robot auxiliary device provided in this disclosure includes a cleaning device with a mobile cleaning function. Thus, in the solution provided by this disclosure, the cleaning robot auxiliary device has the function of transporting and unloading cleaning devices. Furthermore, if the working status indicates that the cleaning device is not in a mobile cleaning state and the first area corresponding to the environmental information does not meet the first condition, then by determining the first position of the cleaning robot auxiliary device and using the first position as the starting point, the displacement component is controlled to move and search for the entry area, and the entry area meets the first condition, and the target area includes the entry area. Through the above operation, precise control of the displacement component's movement to search for the entry area is achieved. At the same time, since the first condition includes that the target device can move safely and the entry area at least meets the first condition, by adding the first condition, precise judgment of the first area corresponding to the environmental information is achieved, thereby reducing the risk caused by the cleaning device moving in the first area.

[0112] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure includes a housing compartment as its main body; if the main body moves and searches for an entry area into the compartment, wherein...

[0113] The processor generates and sends entry instructions to the communication components; and

[0114] The communication component sends an entry instruction to the cleaning equipment to instruct the cleaning equipment to move into the containment chamber.

[0115] The entry instructions include at least the location of the entry area.

[0116] Accordingly, if no entry area is found, the processor may not generate and send an entry instruction to the communication component.

[0117] Correspondingly, if no entry area is found, the processor can control the displacement component to continue moving to search for an entry area.

[0118] In some embodiments, after receiving an entry instruction, the cleaning equipment determines the location of the entry area by parsing the entry instruction and moves to the entry area.

[0119] In some embodiments, after the cleaning device moves to the entry area, the processor can control the opening of the compartment door. At the same time, the cleaning device can acquire equipment images, including those of the cleaning robot auxiliary equipment, through its image acquisition component, and identify the equipment images to determine the entrance to the compartment. Then, it moves into the compartment through the entrance, thereby achieving a change in relative position.

[0120] As can be seen from the above, the main body of the cleaning robot auxiliary device provided in this embodiment includes a accommodating compartment. If the search for the accommodating compartment area is found, the processor generates and sends an accommodating instruction to the communication component, so that the communication component can send the accommodating instruction to the cleaning device to instruct the cleaning device to move into the accommodating compartment. In this way, the search results for the accommodating compartment area are synchronized between the cleaning robot auxiliary device and the cleaning device. Furthermore, since the accommodating instruction includes the location of the accommodating compartment area, the efficiency and accuracy of the cleaning device moving into the accommodating compartment can be improved.

[0121] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure includes a processor that generates and sends a search instruction to a communication component; and

[0122] The communication component sends a search instruction to the cleaning equipment to trigger the cleaning equipment to move and search the entry area.

[0123] In some embodiments, the cleaning robot assistance device may send a search instruction to the cleaning device when its remaining battery power is less than or equal to a battery threshold.

[0124] As can be seen from the above, the communication component of the cleaning robot auxiliary device provided in this embodiment can send the search instruction generated by the processor to the cleaning device to trigger the cleaning device to move and search for the entry area. Thus, through the above operations, the task of searching for the entry area is achieved collaboratively between the cleaning robot auxiliary device and the cleaning device, and the flexibility and versatility of the movement and search of the entry area are improved.

[0125] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure, if the entry area is not found, wherein...

[0126] The processor controls the cleaning robot's auxiliary equipment to move to the location of the cleaning equipment, generates and sends search instructions to the communication components; and

[0127] The communication component sends a search instruction to the cleaning equipment to trigger the cleaning equipment to move and search the entry area.

[0128] Accordingly, if the cleaning robot's auxiliary equipment locates the entry area, it may not need to move to the location of the cleaning equipment, nor may it need to send a search instruction to the cleaning equipment.

[0129] In some embodiments, the failure of the cleaning robot auxiliary device to find an entry area may include the failure of the cleaning robot auxiliary device to find an entry area within a preset area; wherein, the area of ​​the preset area may be less than or equal to an area threshold.

[0130] In some embodiments, the cleaning robot assist device can determine the location of the cleaning device by the location data sent by the cleaning device or by the data it detects, including IR signals, and move to the location of the cleaning device.

[0131] As can be seen from the above, if the cleaning robot auxiliary device provided in this embodiment fails to find the entry area, the processor controls the displacement component to move to the location of the cleaning device and sends a search instruction to the cleaning device to trigger the cleaning device to move and search for the entry area. Thus, through the above operation, the deficiency of the cleaning robot auxiliary device being unable to search for the entry area can be compensated for; furthermore, by controlling the displacement component to move to the location of the cleaning device, the cleaning robot auxiliary device can track the cleaning device, thereby improving the stability of the communication component sending the search instruction to the cleaning device.

[0132] Based on the foregoing embodiments, in the cleaning robot auxiliary device provided in this disclosure, the communication component receives the location information of the entry area sent by the cleaning device, and the processor obtains and controls the cleaning robot auxiliary device to move to the entry area based on the location information of the entry area.

[0133] The entry area is obtained by the cleaning equipment moving and searching based on the search instructions sent by the cleaning robot's auxiliary equipment.

[0134] In some embodiments, after receiving a search instruction, the cleaning device can search for the entry area, and after finding the entry area, determine and send the location information of the entry area to the communication component of the cleaning robot auxiliary device.

[0135] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, the communication component receives the location information of the entry area sent by the cleaning device, and the entry area is obtained by the cleaning device moving and searching based on the search instructions sent by the cleaning robot auxiliary device. In this way, the displacement function of the target device can be fully utilized; and, based on the location information of the entry area, the displacement component is controlled to move to the entry area, which can improve the stability of the cleaning device adjusting the relative position in the entry area.

[0136] Figure 4 is a schematic diagram of the cleaning equipment entry process provided in the embodiments of this disclosure. In this figure, the cleaning equipment entry process will be shown using a stair-climbing device as an example.

[0137] First, determine the first condition; for example, the first condition can be preset or adjusted according to the target device or cleaning device.

[0138] Secondly, if a floor map is obtained, it is determined whether the current location is known. If the current location of the stair-climbing device cannot be determined, a positioning operation is performed, and it is determined whether the positioning is successful.

[0139] For example, if the positioning is successful and the area where the stair-climbing device is located meets the first condition, the cleaning device can be instructed to move to the vicinity of the stair-climbing device and enter the cabin; or, if the area where the cleaning device is located meets the first condition, the stair-climbing device moves to the vicinity of the cleaning device for the cleaning device to enter the cabin.

[0140] For example, if the location fails, but the area where the stair-climbing device is located meets the first condition, a search instruction is sent to the cleaning device to trigger the cleaning device to search for the stair-climbing device, and it is determined whether the cleaning device has found the stair-climbing device. If the cleaning device finds the stair-climbing device, the cleaning device enters the cabin; if the cleaning device does not find the stair-climbing device, the cleaning device returns to the charging station.

[0141] For example, if the current location is determined, it is determined whether the area where the stair-climbing device is located is an entry area. If the area where the stair-climbing device is located is an entry area, an entry instruction is sent to the cleaning device to trigger the cleaning device to move to the entry area and enter the cabin. For example, if the area where the stair-climbing device is located is not an entry area, it rotates in place to search for an entry area and determines whether the rotation in place can find an entry area. If the search is successful, the location of the entry area is sent to the cleaning device to trigger the cleaning device to move to the entry area, thereby allowing the cleaning device to enter the cabin.

[0142] For example, if the stationary rotation does not find an entry area, a small-scale search for an entry area is performed, and it is determined whether an entry area is found within that small area. If an entry area is found within that small area, the location of the entry area is sent to the cleaning device to trigger the cleaning device to move to the entry area. If the small-scale search for an entry area fails, the device moves to the vicinity of the cleaning device, and it is determined whether it moves to the vicinity of the cleaning device. If the stair-climbing device moves to the vicinity of the cleaning device, the cleaning device is triggered to search for an entry area. If the stair-climbing device fails to move to the vicinity of the cleaning device, the cleaning device is triggered to return to the charging pile and the process ends.

[0143] For example, the stair-climbing device can also instruct the cleaning device to search for an entry area. If the cleaning device successfully searches for an entry area, the stair-climbing device moves to the entry area to trigger the cleaning device to enter the cabin. If the cleaning device fails to search for an entry area, the search process ends.

[0144] For example, if a floor map is not obtained, the system moves to search for the entry area and determines whether the entry area has been found. If the entry area is not found, the search process ends. If the entry area is found, the location of the entry area is sent to the cleaning equipment to trigger the cleaning equipment to search for the stair-climbing device and determines whether the cleaning equipment has found the stair-climbing device. If the stair-climbing device is found, the cleaning equipment enters the cabin. If the stair-climbing device is not found, the cleaning equipment returns to the charging station.

[0145] Using the above methods, the stair-climbing equipment and the cleaning equipment can work together to search the entry area, thereby improving the flexibility and robustness of the entry area search and enhancing the stability and safety of the cleaning equipment entering the cabin.

[0146] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure includes a cleaning device with mobile cleaning function; wherein:

[0147] If the working status indicates that the cleaning equipment is in a mobile cleaning state: the processor controls the displacement component to move to the waiting area based at least on environmental information.

[0148] Among them, when the cleaning robot auxiliary equipment is located in the waiting area, the degree of influence of the cleaning robot auxiliary equipment on the movement and cleaning status of the cleaning equipment is less than the degree threshold.

[0149] Accordingly, if the working status indicates that the cleaning equipment is not in a mobile cleaning state, the displacement component can be moved to the waiting area without control.

[0150] In some embodiments, the waiting area may include a cleaned area of ​​the cleaning equipment.

[0151] In some embodiments, the waiting area may include uncleaned areas of the cleaning equipment, or areas where the degree of influence on the movement and / or rotation of the cleaning equipment is less than or equal to a degree threshold.

[0152] In some embodiments, if the waiting area includes an uncleaned area of ​​the cleaning equipment, and the cleaning robot auxiliary equipment is located in the uncleaned area at a first moment, and can move to the cleaned area at a second moment, then after the second moment, the cleaning equipment can clean the uncleaned area occupied by the cleaning robot auxiliary equipment at the first moment; wherein, the first moment may be earlier than the second moment.

[0153] In some embodiments, controlling the cleaning robot's auxiliary equipment to move to the waiting area based at least on environmental information can be achieved in the following ways:

[0154] Based on the status information of the items in the environment, the processor determines the movement trajectory between the current position of the displacement component and the waiting area, and controls the displacement component to move to the waiting area based on the movement trajectory.

[0155] The processor determines the current location of the cleaning robot's auxiliary equipment based on environmental information, then determines the movement trajectory based on the floor map, the current location, and the location of the waiting area, and then controls the displacement component to move to the waiting area based on the movement trajectory.

[0156] In some embodiments, the processor can move to search the cabin area again using the method provided in the foregoing embodiments after the cleaning state of the cleaning equipment has ended.

[0157] Figure 5 is a schematic diagram of the position adjustment process of the stair-climbing device provided in an embodiment of this disclosure. This process may include the following steps:

[0158] Step 501, Begin.

[0159] You may choose to execute any one of steps 502 to 504.

[0160] Step 502: Move to the cleaned area and clean the historical area where the stair-climbing equipment is located.

[0161] For example, the stair-climbing device can move to the cleaned area if the area of ​​the cleaned area is greater than or equal to the footprint of the stair-climbing device; for example, the historical area can include the area where the stair-climbing device was at the first moment.

[0162] For example, in the above scenario, the cleaning device can determine and send the location of the cleaned area to the stair-climbing device to trigger the stair-climbing device to move to the cleaned area.

[0163] For example, in the above case, the cleaning device can determine and send the location of the cleaned area to the communication component of the stair-climbing device after cleaning all areas except the historical area on the floor, so that the processor can control the displacement component to move to the cleaned area; and after the displacement component moves to the cleaned area, the stair-climbing device can send a message that it has moved to the cleaned area to the cleaning device, thereby triggering the cleaning device to clean the historical area.

[0164] Step 503: The cleaning equipment identifies and sends the transfer area to the stair-climbing equipment.

[0165] For example, the communication component of the stair-climbing device can receive the location of the transfer area; wherein the transfer area may include an area in the cleaned area of ​​the cleaning device that can accommodate the stair-climbing device.

[0166] Step 504: Move the stair-climbing equipment to an area that will not interfere with the mobile cleaning of the cleaning equipment.

[0167] For example, the processor can control the displacement component to move to an area that does not affect the movement and cleaning of the cleaning equipment; for example, the area that does not affect the movement and cleaning of the cleaning equipment can include a cleaned area, or an area in an uncleaned area where the degree of influence on the movement and / or rotation of the stair-climbing equipment is less than or equal to a degree threshold.

[0168] Through the above process, the stair-climbing equipment can control its position according to the actual cleaning status of the floor by the cleaning equipment, thereby reducing the negative impact on the cleaning status of the moving cleaning equipment.

[0169] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment, if the working status indicates that the cleaning device is in a mobile cleaning state, will control the displacement component to move to the waiting area based at least on the environmental information. In this way, precise control of whether the displacement component moves to the waiting area is achieved based on the actual working status of the cleaning device. Furthermore, when the cleaning robot auxiliary device is in the waiting area, its influence on the mobile cleaning state of the cleaning device is less than the degree threshold, which can reduce the negative impact of the cleaning robot auxiliary device on the mobile cleaning state of the cleaning device.

[0170] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure, if the relative position indicates that the cleaning robot auxiliary device carries the target device, and the second area corresponding to the environmental information does not meet the second condition, the processor determines the second position of the cleaning robot auxiliary device; and

[0171] Starting from the second position, control the main body of the equipment to move and search the area outside the cabin.

[0172] The second condition includes that the target equipment can be moved safely, the exit area must at least meet the second condition, and the target area includes the exit area.

[0173] Accordingly, if the relative position indicates that the cleaning assistance robot and the target device are in a state of separation, or if the environmental information meets the second condition, the operation of determining the second position may not be performed.

[0174] Accordingly, if the relative position indicates that the cleaning-assisted robot is carrying the target device, and the environmental information meets the second condition, then the second area can be the exit area.

[0175] In some embodiments, the cleaning-assisted robot carrying the target device may include a housing compartment to house the target device.

[0176] In some embodiments, the second condition includes that the target device can move safely, which may include: the degree to which the target device is jammed or blocked by the cleaning robot assist device during the removal of the container is less than or equal to a degree threshold, and / or the degree to which the target device is blocked by items and / or building components associated with the cleaning robot assist device during the removal of the container is less than or equal to a degree threshold; wherein, the items and / or building components associated with the cleaning robot assist device may include items and / or building components capable of blocking or jamming the target device from moving out of the container.

[0177] In some embodiments, the second condition may include the first condition in the foregoing embodiments, as well as the condition that the degree to which the target device is blocked by the cleaning robot-assisted equipment relative to the object or building component during the removal of the target device from the containment chamber is less than or equal to a degree threshold.

[0178] Figure 6 is a schematic diagram of the distribution structure of the second region provided in this embodiment of the present disclosure. As shown in Figure 6, if the cleaning robot auxiliary device is located in region five, when the target device's exit movement direction is the same as the direction of the arrow, the target device is easily blocked by the cleaning robot auxiliary device and the wall of floor 2. Therefore, region five does not meet the condition that the influence of the target device's movement state is less than or equal to the degree threshold in the second condition. If the cleaning robot auxiliary device is located in region six, when the target device's exit movement direction is the same as the direction of the arrow, the target device may move into the restricted area. At this time, region six does not meet the condition that the safety level of the target device's movement is greater than or equal to the safety threshold in the second condition. If the cleaning robot auxiliary device is located in region seven, when the target device's exit movement direction is the same as the direction of the arrow, the target device may be stuck by the threshold. At this time, region seven does not meet the condition that the stability level of the target device's movement is greater than or equal to the stability threshold in the second condition. In other words, none of the second regions shown in Figure 6, including regions five to seven, can meet the second condition.

[0179] In some embodiments, the exit area can be obtained by searching in the following ways:

[0180] When the displacement component moves to the third region, if the method provided in the aforementioned embodiment determines that the third region meets the first condition, the sensor component determines the actual distance between the third region and surrounding objects and / or building components. If the influence of the actual distance on the movement and / or rotation operation of the target device is less than or equal to the degree threshold, the third region is determined to meet the second condition, and the third region is determined to be the exit area. If the third region does not meet the second condition, the displacement component is controlled to continue moving to search for the exit area.

[0181] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment of the present disclosure determines the second position of the cleaning robot auxiliary device if the relative position indicates that the cleaning auxiliary robot carries the target device and the second area corresponding to the environmental information meets the second condition. In this way, the control of determining the second position is realized through the above method. Furthermore, the second condition includes that the target device can move safely. Thus, the second condition enables a comprehensive and multi-faceted accurate judgment of the second area corresponding to the environmental information. Based on this, the displacement component is controlled to move and search for the exit area starting from the second position, and the exit area included in the target area meets the second condition, thereby realizing precise control of the search exit area.

[0182] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure further includes a communication component connected to the device body; the device body also includes a housing compartment for accommodating the target device; wherein:

[0183] If the cleaning robot's auxiliary equipment moves to the exit area, the processor generates and sends an exit instruction to the communication component; the communication component then sends an exit instruction to the target device to instruct the target device to move outside the containment compartment.

[0184] Accordingly, if the displacement component does not move to the exit area, the processor may not generate and send an exit instruction to the communication component.

[0185] In some embodiments, the communication component can transmit the ex-vehicle instruction to the target device wirelessly, or transmit the ex-vehicle instruction to the target device through a data transmission channel established by the electrical connection of the first data interface and the second data interface.

[0186] Figure 7 is a schematic diagram of the exit process provided in the embodiments of this disclosure. In Figure 7, the target device is the cleaning device and the cleaning robot auxiliary device is the stair-climbing device. After the process starts, it can include two stages: determining the second condition and the search and exit process.

[0187] For example, the second condition can be a condition built into the stair-climbing device, which can be changed or adjusted.

[0188] For example, regarding the search and exit process, the system first determines whether there is a floor map. If there is a floor map, it performs a small-scale map positioning and determines whether the positioning is successful. If the positioning fails, it outputs a prompt message to indicate that the positioning failed. If the positioning is successful, it searches for the exit area and determines whether the exit area is locked. If the exit area is locked, it opens the hatch and the cleaning equipment exits the cabin.

[0189] For example, if the exit area is not locked, a small-scale movement search is attempted again, and it is determined again whether the exit area is locked. If the exit area is locked, the hatch is opened and the cleaning equipment exits the cabin; if the exit area is not locked, the current search process ends.

[0190] For example, if there is no floor map, a small-scale mobile search is performed, and it is determined whether the exit area is locked. If the exit area is locked, the hatch is opened and the cleaning equipment exits. If the exit area is not locked, the search ends.

[0191] The above process enables precise and flexible determination of the exit area, thereby improving the safety and stability of the cleaning equipment during the exit process.

[0192] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment, when moving to the exit area, sends an exit instruction generated by the processor to the target device, instructing the target device to move outside the containment compartment. This achieves synchronization of search results in the exit area between the cleaning robot auxiliary device and the target device, and also enables precise control of the target device's exit from the compartment.

[0193] Based on the foregoing embodiments, this disclosure also provides a device control method. Figure 8 is a flowchart illustrating the device control method provided in this disclosure. As shown in Figure 8, the process may include the following steps:

[0194] Step 801: Obtain environmental information about the environment in which the cleaning robot auxiliary equipment is located.

[0195] Step 802: Determine the relative position of the cleaning robot auxiliary equipment with respect to the target equipment.

[0196] Step 803: Based on environmental information, control the cleaning robot's auxiliary equipment to move and search the target area.

[0197] The target area indicates the adjustment of its relative position.

[0198] In some embodiments, the target device is capable of autonomous displacement; the target area indicates the safety of the target device's autonomous displacement.

[0199] In some embodiments, controlling the movement of a cleaning robot's auxiliary equipment to search for a target area based on environmental information includes:

[0200] If the relative position indicates that the target device and the cleaning assistance robot are in a separated state, obtain the working status of the target device;

[0201] Based on the working status and environmental information, the auxiliary equipment of the cleaning robot is controlled to move and search for the target area.

[0202] In some embodiments, based on the working status and environmental information, controlling the cleaning robot's auxiliary equipment to move and search for a target area includes:

[0203] If the working status indicates that the target device is not in a mobile cleaning state, and the first area corresponding to the environmental information does not meet the first condition, the first position of the cleaning robot auxiliary device is determined; wherein, the first condition includes that the target device can move safely; and

[0204] Starting from the first position, control the cleaning robot's auxiliary equipment to move and search for the entry area, wherein the entry area at least meets the first condition; the target area includes the entry area.

[0205] In some embodiments, the method further includes:

[0206] If the cleaning robot's auxiliary equipment moves and searches for the entry area, it sends an entry instruction to the target device to instruct the target device to move into the cleaning robot's containment compartment; wherein, the entry instruction includes at least the location of the entry area.

[0207] In some embodiments, the method further includes:

[0208] Send a search instruction to the target device to trigger the target device to move and search the cabin area.

[0209] In some embodiments, the method further includes:

[0210] If no entry area is found, control the cleaning robot's auxiliary equipment to move to the location of the target device and send a search instruction to the target device to trigger the target device to move and search for the entry area.

[0211] In some embodiments, the method further includes:

[0212] Receive the location information of the entry area sent by the target device; wherein, the entry area is obtained by the target device moving and searching based on the search instructions sent by the cleaning robot's auxiliary device;

[0213] Based on the location information of the entry area, the cleaning robot's auxiliary equipment is controlled to move to the entry area.

[0214] In some embodiments, the method further includes:

[0215] If the working status indicates that the target device is in a mobile cleaning state, the cleaning robot auxiliary device is controlled to move to the waiting area based on environmental information; wherein, when the cleaning robot auxiliary device is in the waiting area, the degree of influence of the cleaning robot auxiliary device on the mobile cleaning state of the target device is less than the degree threshold.

[0216] In some embodiments, controlling the movement of a cleaning robot's auxiliary equipment to search for a target area based on environmental information includes:

[0217] If the relative position indicates that the cleaning robot is carrying the target device and the second area corresponding to the environmental information does not meet the second condition, the second position of the cleaning robot's auxiliary device is determined; wherein, the second condition includes that the target device can move safely;

[0218] Starting from the second position, control the cleaning robot's auxiliary equipment to move and search for the exit area; wherein, the exit area at least meets the second condition; the target area includes the exit area.

[0219] In some embodiments, the method further includes:

[0220] If the cleaning robot's auxiliary equipment moves to the exit area, it sends an exit instruction to the target device to instruct the target device to move outside the cleaning robot's auxiliary equipment's containment compartment.

[0221] Based on the foregoing embodiments, this disclosure also provides a computer-readable storage medium storing a computer program; when the computer program is executed by a processor of an electronic device, it can implement the device control method as described in any of the preceding embodiments.

[0222] Figure 9 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this disclosure. As shown in Figure 9, the computer-readable storage medium 9 may be, for example, a memory 901 for storing a computer program 902. The memory may be volatile memory or non-volatile memory, or the memory may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), SynchLink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

[0223] Based on the foregoing embodiments, this disclosure also provides a computer program product, which includes a computer program; when the computer program is executed by the processor of an electronic device, it can implement the device control method as described above.

[0224] For example, a computer program can be a high-level language program or an executable object program.

[0225] Figure 10 is a schematic diagram of the storage structure of a computer program product provided in an embodiment of this disclosure. As shown in Figure 10, the computer program product 1001 can be stored in the memory 901; the computer program product may include program 1002; and program 1002 is finally converted into an executable object file that can be executed by a processor after processing such as preprocessing, compilation, assembly and linking.

[0226] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0227] The methods disclosed in the various method embodiments provided in this disclosure can be arbitrarily combined to obtain new method embodiments without conflict.

[0228] The features disclosed in the various product embodiments provided in this disclosure can be combined arbitrarily without conflict to obtain new product embodiments.

[0229] The features disclosed in the various method or device embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0230] It should be noted that the aforementioned computer-readable storage media can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various electronic devices that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0231] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0232] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0233] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0234] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0235] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0236] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0237] The above are merely embodiments of this disclosure and do not limit the patent scope of this disclosure. Any equivalent structural or procedural transformations made using the content of this disclosure and its drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this disclosure.

Claims

1. A cleaning robot auxiliary device, characterized in that, include: Equipment body; The sensor assembly is disposed on the main body of the device; A displacement component, connected to the device body, to guide the movement of the device body; A processor is integrated into the main body of the device and connected to the sensor assembly and the displacement assembly; The processor is capable of: Determine the relative position of the main body of the device with respect to the target device; and The system receives environmental information about the environment in which the cleaning robot auxiliary device is located, collected by the sensor components, and controls the displacement components to guide the main body of the device to move and search for the target area based on the environmental information. The target area indicates the adjustment of the relative position.

2. The cleaning robot auxiliary equipment according to claim 1, characterized in that, The main body of the device includes a housing compartment for accommodating the target device.

3. The cleaning robot auxiliary device according to claim 1 or 2, characterized in that, The target device is capable of autonomous displacement; and The target area indicates the safety of the target device's autonomous displacement.

4. The cleaning robot auxiliary device according to claim 1 or 2, characterized in that, The cleaning robot auxiliary device further includes a communication component connected to the processor, wherein if the relative position indicates that the target device and the cleaning robot auxiliary device are in a separated state, the processor: The operating status of the target device is obtained through the communication component, and Based on the operating status and the environmental information, the displacement component is controlled to guide the main body of the device to move and search for the target area.

5. The cleaning robot auxiliary device according to claim 4, characterized in that, The target device includes a cleaning device with a mobile cleaning function. If the working status indicates that the cleaning device is not in a mobile cleaning state, and the first area corresponding to the environmental information does not meet the first condition, the processor: Determine the first position of the cleaning robot auxiliary device; and Starting from the first position, control the displacement component to move and search for the cabin area; The first condition includes that the target device can be moved safely, the entry area at least meets the first condition, and the target area includes the entry area.

6. The cleaning robot auxiliary device according to claim 5, characterized in that, The main body of the equipment includes a accommodating compartment. If the main body of the equipment moves and locates the entry area of ​​the compartment, then... The processor generates and sends an entry instruction to the communication component; and The communication component sends the entry instruction to the cleaning equipment to instruct the cleaning equipment to move into the accommodating compartment. The cabin entry instruction includes at least the location of the cabin entry area.

7. The cleaning robot auxiliary device according to claim 5, characterized in that, The processor generates and sends a search instruction to the communication component; and The communication component sends a search instruction to the cleaning device to trigger the cleaning device to move and search the entry area.

8. The cleaning robot auxiliary device according to claim 5, characterized in that, If the aforementioned entry area is not found, then, The processor controls the displacement component to move to the location of the cleaning device, generates and sends a search instruction to the communication component; and The communication component sends the search instruction to the cleaning device to trigger the cleaning device to move and search the entry area.

9. The cleaning robot auxiliary device according to claim 5, characterized in that, The communication component receives the location information of the entry area sent by the cleaning device, wherein the entry area is obtained by the cleaning device through movement search based on the search instructions sent by the cleaning robot auxiliary device; The processor acquires the position information of the entry area and controls the displacement component to move to the entry area based on the position information of the entry area.

10. The cleaning robot auxiliary device according to claim 4, characterized in that, The target device includes a cleaning device with a mobile cleaning function, wherein the working status indicates that the cleaning device is in a mobile cleaning state: The processor controls the displacement component to move to the waiting area based at least on the environmental information. When the cleaning robot auxiliary device is in the waiting area, the degree of influence of the cleaning robot auxiliary device on the moving cleaning state of the cleaning device is less than the degree threshold.

11. The cleaning robot auxiliary device according to any one of claims 1 to 10, characterized in that, If the relative position indicates that the cleaning robot auxiliary device carries the target device, and the second area corresponding to the environmental information does not meet the second condition, the processor: Determine the second position of the cleaning robot auxiliary device; and Starting from the second position, control the main body of the device to move and search the exit area; The second condition includes that the target device can move safely, the exit area at least meets the second condition, and the target area includes the exit area.

12. The cleaning robot auxiliary device according to claim 11, characterized in that, The cleaning robot auxiliary device further includes a communication component connected to the main body of the device. The main body of the device also includes a housing compartment for accommodating the target device. If the cleaning robot auxiliary device moves to the exit area: The processor generates and sends an exit instruction to the communication component; The communication component sends an exit instruction to the target device to instruct the target device to move outside the containment compartment.

13. A device control method, characterized in that, The method includes: Obtain environmental information about the environment in which the cleaning robot's auxiliary equipment is located; Determine the relative position of the cleaning robot auxiliary device with respect to the target device; and Based on the environmental information, the cleaning robot's auxiliary equipment is controlled to move and search for the target area; The target area indicates the adjustment of the relative position.

14. The method according to claim 13, characterized in that, The target device is capable of autonomous displacement, and the target area indicates the safety of the autonomous displacement of the target device.

15. The method according to claim 13, characterized in that, The step of controlling the cleaning robot's auxiliary equipment to move and search for the target area based on the environmental information includes: If the relative position indicates that the target device and the cleaning robot auxiliary device are in a separated state, the working status of the target device is obtained; Based on the working status and the environmental information, the cleaning robot auxiliary equipment is controlled to move and search for the target area.

16. The method according to claim 15, characterized in that, The step of controlling the cleaning robot's auxiliary device to move and search the target area based on the working status and the environmental information includes: If the working status indicates that the target device is not in a mobile cleaning state, and the first area corresponding to the environmental information does not meet the first condition, the first position of the cleaning robot auxiliary device is determined, wherein the first condition includes that the target device can move safely; and Starting from the first position, control the cleaning robot's auxiliary equipment to move and search for the entry area. Wherein, the entry area at least satisfies the first condition, and the target area includes the entry area.

17. The method according to claim 16, characterized in that, The method further includes: If the cleaning robot auxiliary device locates the entry area, it sends an entry instruction to the target device, instructing the target device to move into the receiving compartment of the cleaning robot auxiliary device. The cabin entry instruction includes at least the location of the cabin entry area.

18. The method according to claim 16, characterized in that, The method further includes: A search instruction is sent to the target device to trigger the target device to move and search the entry area.

19. The method according to claim 16, characterized in that, The method further includes: If the entry area is not found, the cleaning robot auxiliary device is controlled to move to the location of the target device and a search instruction is sent to the target device to trigger the target device to move and search for the entry area.

20. The method according to claim 16, characterized in that, The method further includes: Receive the location information of the entry area sent by the target device. The entry area is obtained by the target device moving and searching based on the search instructions sent by the cleaning robot's auxiliary device; Based on the location information of the entry area, the cleaning robot auxiliary equipment is controlled to move to the entry area.

21. The method according to claim 15, characterized in that, Also includes: If the working status indicates that the target device is in a mobile cleaning state, the cleaning robot auxiliary device is controlled to move to the waiting area based at least on the environmental information; wherein, when the cleaning robot auxiliary device is in the waiting area, the degree of influence of the cleaning robot auxiliary device on the mobile cleaning state of the target device is less than a degree threshold.

22. The method according to any one of claims 13 to 21, characterized in that, The step of controlling the cleaning robot's auxiliary equipment to move and search for the target area based on the environmental information includes: If the relative position indicates that the cleaning robot auxiliary device is carrying the target device, and the second area corresponding to the environmental information does not meet the second condition, the second position of the cleaning robot auxiliary device is determined; wherein, the second condition includes that the target device can move safely; Starting from the second position, the cleaning robot's auxiliary equipment is controlled to move and search for the exit area; wherein, the exit area at least satisfies the second condition; and the target area includes the exit area.

23. The method according to any one of claims 13 to 22, characterized in that, The method further includes: If the cleaning robot auxiliary device moves to the exit area, it sends an exit instruction to the target device to instruct the target device to move outside the containment compartment of the cleaning robot auxiliary device.

24. A computer-readable storage medium, characterized in that, The storage medium stores a computer program; when the computer program is executed by the processor of the electronic device, it can implement the device control method as described in any one of claims 13 to 23.

25. A computer program product, characterized in that, The program product includes a computer program; when the computer program is executed by the processor of an electronic device, it is able to implement the device control method as described in any one of claims 13 to 23.

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