CN118902339A - Homing method and device of cleaning robot and cleaning robot system - Google Patents
Homing method and device of cleaning robot and cleaning robot system Download PDFInfo
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Abstract
The invention relates to the technical field of cleaning robots, and provides a homing method and device of a cleaning robot and a cleaning robot system. The homing method of the cleaning robot comprises the following steps: responding to the homing event, receiving a radio positioning signal from a cleaning robot base station by using a radio positioning signal receiving module, and obtaining the position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using the radio positioning signal transmitting module; planning a return path based on the position information of the cleaning robot base station; according to the return path, a homing region located within the cleaning robot base station is reached to perform a homing operation at the homing region. The invention is used for solving the problem of how to improve the homing efficiency and success rate of the cleaning robot, and can finish the homing task of the cleaning robot efficiently and with higher success rate.
Description
Technical Field
The present invention relates to the field of cleaning robots, and in particular, to a homing method and apparatus for a cleaning robot, and a cleaning robot system.
Background
As an intelligent home device, cleaning robots are increasingly used in modern households. One of the core functions is autonomous navigation homing, so that the electric energy is ensured to automatically return to a base station for charging when the electric energy is insufficient, and thus the continuous working capacity is maintained, or the electric energy is returned to a cleaning robot base station for dumping garbage, cleaning mopping and the like in the cleaning process. In the prior art, the homing mode of the cleaning robot can be divided into two kinds of pictographic homing and non-pictographic homing. Under the condition of the map, the cleaning robot can automatically plan the optimal return path based on the established map, so that the homing with high efficiency and high success rate is realized.
However, without a map, the cleaning robot needs to adopt a random navigation mode, and search infrared signals emitted by the cleaning robot base station by continuously trying and exploring different paths, so that homing is completed. Due to the complexity of the home environment, the infrared signals emitted by the base station of the cleaning robot are often blocked by obstacles such as furniture, and therefore, the homing method based on the infrared signals has the problems of low homing efficiency and high homing failure rate.
Therefore, how to improve the homing efficiency and success rate of the cleaning robot is a technical problem to be solved.
Disclosure of Invention
The invention provides a homing method of a cleaning robot, which is used for solving the defects of lower homing efficiency and higher homing failure rate of the cleaning robot in the prior art and improving the homing efficiency and success rate of the cleaning robot.
The invention provides a homing method of a cleaning robot, which is applied to a cleaning robot end, wherein a radio positioning signal receiving module is arranged in the cleaning robot, and the method comprises the following steps: responding to a homing event, receiving a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module, and obtaining position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module; planning a return path based on the position information of the cleaning robot base station; and according to the return path, reaching a homing area in the cleaning robot base station so as to execute tasks corresponding to the homing events in the homing area.
According to the homing method of the cleaning robot provided by the invention, the radio positioning signal receiving module is an ultra-wideband tag; the method for obtaining the position information of the cleaning robot base station according to the radio positioning signal, which responds to the homing event and receives the radio positioning signal from the cleaning robot base station by using the radio positioning signal receiving module, comprises the following steps: and responding to a homing event, receiving an ultra-wideband positioning signal from the cleaning robot base station by using the ultra-wideband tag, and acquiring the position information of the cleaning robot base station according to the ultra-wideband positioning signal.
According to the homing method of the cleaning robot provided by the invention, the method further comprises the following steps:
And in response to receiving an activation instruction for the radio positioning signal receiving module, activating the radio positioning signal receiving module so that the radio positioning signal receiving module establishes a pairing relationship with a radio positioning signal transmitting module of the cleaning robot base station according to a preset pairing rule.
The invention provides a homing method of a cleaning robot, which is applied to a cleaning robot base station, wherein a radio positioning signal transmitting module is arranged in the cleaning robot base station, and the method comprises the following steps: transmitting a radio positioning signal by using the radio positioning signal transmitting module in response to a positioning signal transmitting event so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal by using the radio positioning signal receiving module and acquires position information of the cleaning robot base station according to the radio positioning signal; planning a return path based on the position information of the cleaning robot base station; according to the return path, a homing area within the cleaning robot base station is reached.
According to the homing method of the cleaning robot, the radio positioning signal sending module is an ultra-wideband base station; the transmitting, with the radio positioning signal transmitting module, a radio positioning signal in response to a positioning signal transmitting event, comprising: and responding to the positioning signal transmitting event, and transmitting an ultra-wideband positioning signal by using the ultra-wideband base station.
The invention also provides a homing device of the cleaning robot, which is arranged at the end of the cleaning robot, wherein a radio positioning signal receiving module is arranged in the cleaning robot, and the device comprises: the receiving module is used for responding to the homing event, receiving a radio positioning signal from the cleaning robot base station by utilizing the radio positioning signal receiving module and obtaining the position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module; the planning module is used for planning a return path based on the position information of the cleaning robot base station; and the homing module is used for reaching a homing area in the cleaning robot base station according to the return path so as to execute tasks corresponding to the homing events in the homing area.
The invention also provides a homing device of the cleaning robot, comprising: the device is arranged at the base station end of the cleaning robot, a radio positioning signal transmitting module is arranged in the base station of the cleaning robot, and the device comprises: transmitting a radio positioning signal by using the radio positioning signal transmitting module in response to a positioning signal transmitting event so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal by using the radio positioning signal receiving module and acquires position information of the cleaning robot base station according to the radio positioning signal; planning a return path based on the position information of the cleaning robot base station; according to the return path, a homing area within the cleaning robot base station is reached.
The invention also provides a cleaning robot system, which comprises a cleaning robot and a cleaning robot base station, wherein a radio positioning signal receiving module is arranged in the cleaning robot, and a radio positioning signal transmitting module is arranged in the cleaning robot base station, and the cleaning robot system comprises: the cleaning robot base station transmits a radio positioning signal by using the radio positioning signal transmission module in response to a positioning signal transmission event; the cleaning robot responds to a homing event, and receives a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module and obtains the position information of the cleaning robot base station according to the radio positioning signal; the cleaning robot plans a return path based on the position information of the cleaning robot base station; and the cleaning robot reaches a homing area in the cleaning robot base station according to the return path so as to execute tasks corresponding to the homing event in the homing area.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the homing method of the cleaning robot as any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the homing method of a cleaning robot as described in any one of the above.
According to the homing method and device for the cleaning robot and the cleaning robot system, the cleaning robot responds to a homing event, and a radio positioning signal receiving module is used for receiving a radio positioning signal from a cleaning robot base station and obtaining position information of the cleaning robot base station according to the radio positioning signal; planning a return path based on the position information of the cleaning robot base station; according to the return path, reaching a homing region located in the cleaning robot base station to execute a task corresponding to the homing event in the homing region. Because the powerful anti-interference capability of the radio positioning signals and the capability of penetrating through obstacles are utilized, accurate position information of a cleaning robot base station is provided for the cleaning robot performing tasks in an indoor complex environment, and therefore the homing task of the cleaning robot can be completed efficiently and with a high success rate.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a homing method of a cleaning robot provided by the invention;
FIG. 2 is a second flow chart of a homing method of the cleaning robot according to the present invention;
FIG. 3 is a third flow chart of the homing method of the cleaning robot according to the present invention;
fig. 4 is a schematic structural view of a cleaning robot system provided by the present invention;
fig. 5 is a schematic structural view of a homing device of a cleaning robot according to the present invention;
FIG. 6 is a second schematic diagram of a homing device of a cleaning robot according to the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The homing method of the cleaning robot of the present invention is described below with reference to fig. 1 to 3.
Fig. 1 is a schematic flow chart of a homing method of a cleaning robot, which is applied to a cleaning robot end, as shown in fig. 1, and includes the following steps.
Step 101, responding to a homing event, utilizing a radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtaining the position information of the cleaning robot base station according to the radio positioning signal.
The cleaning robot homing refers to a process in which the cleaning robot can return to a homing area of a cleaning robot base station automatically or according to a received instruction to perform charging or other operations (e.g., standby, dumping garbage, cleaning mopping, etc.) during completion of a cleaning task or execution of the cleaning task.
In a specific implementation, the homing event may include, but is not limited to, a homing function of the cleaning robot being selected (e.g., a recharging key being pressed), a shortage of power of the cleaning robot requiring a return to the cleaning robot base station for charging or the cleaning robot requiring a return to the cleaning robot base station for dumping rubbish, cleaning mopping, etc. during a cleaning process.
The radio positioning signal is transmitted by the cleaning robot base station by using the radio positioning signal transmitting module.
The radio positioning signal receiving module is a module for receiving positioning information carried in radio waves. The radio positioning signal transmitting module is used for generating and transmitting radio wave signals carrying positioning information.
The radio positioning signal receiving module and the radio positioning signal transmitting module are mutually matched, and the accurate positioning of the target object can be realized by transmitting and receiving radio signals and combining a specific algorithm.
And the radio positioning signal transmitting module transmits radio signals through a built-in antenna. These signals may be continuous waves, pulsed waves, or other forms of electromagnetic waves.
And the radio positioning signal receiving module is used for receiving the radio positioning signal sent by the radio positioning signal sending module, converting the received radio positioning signal into a digital signal, and processing the digital signal through a specific algorithm to calculate the relative position between the radio positioning signal sending module and the radio positioning signal receiving module.
For example, the radio positioning signal transmitting module may be an Ultra Wideband (UWB) base station (ancor), and the radio positioning signal receiving module may be an Ultra wideband TAG (TAG).
For another example, the radio positioning signal transmitting module may be a reader/writer of an RFID (Radio Frequency Identification, radio frequency identification module), and the radio positioning signal receiving module may be a tag of an RFID (Radio Frequency Identification, radio frequency identification module).
In a specific implementation process, the radio positioning signal receiving module may calculate, according to the received radio positioning signal, the position information of the cleaning robot base station by using a preset algorithm (for example, an arrival time difference positioning method) inside the module.
In the implementation process, the radio positioning signal can be a pulse signal or a continuous electric signal, and is not limited by the expression of the specification.
In a specific implementation process, the cleaning robot activates the radio positioning signal receiving module after receiving an activation instruction for the radio positioning signal receiving module. After the radio positioning signal receiving module is activated, the pairing relation between the radio positioning signal receiving module and the radio positioning signal transmitting module of the cleaning robot base station is automatically established according to a preset pairing rule.
By way of example only, after a user installs the cleaning robot base station and the cleaning robot provided by the present invention at any location in a home or office, the power-on system of the cleaning robot base station is turned on, and the cleaning robot is turned on. The user performs networking pairing with the cleaning robot by using the mobile device, activates a radio positioning signal transmitting module in a base station of the cleaning robot and a radio positioning signal receiving module in the cleaning robot while activating and binding the cleaning robot, and automatically establishes a pairing relation according to a preset pairing rule after the radio positioning signal transmitting module and the radio positioning signal receiving module are activated.
Step 102, planning a return path based on the position information of the cleaning robot base station.
In the specific implementation process, the cleaning robot can plan the optimal return path based on the position information of the cleaning robot base station, and in the process of returning to the cleaning robot base station, the sensor (such as the camera equipment, the laser sensor and the like) on the robot body is used for exploring the strange environment, so that the time for returning to the cleaning robot base station can be effectively reduced, and the homing success rate is improved.
And 103, according to the return path, reaching a homing area in the base station of the cleaning robot so as to execute tasks corresponding to the homing event in the homing area.
In a specific implementation process, the cleaning robot can drive the motor according to the planned return path to reach a homing area in the cleaning robot base station.
Tasks corresponding to homing events may include, but are not limited to: charging, waiting, dumping waste, cleaning mops, etc.
In some embodiments, when the cleaning robot reaches within a preset range (e.g., within 0.5 meters) of the cleaning robot base station, the cleaning robot's infrared sensor starts to operate, assisting the robot in fine position adjustment, eventually completing docking with the cleaning robot base station and starting charging.
In some embodiments, the radio positioning signal receiving module is an ultra wideband tag, and a detailed description of the homing operation of the cleaning robot using the ultra wideband tag is referred to in fig. 2, and will not be repeated here.
Under the condition of no map homing or missing homing map, the scheme provided by the invention can be used, so that the cleaning robot can obtain accurate position information of the cleaning robot base station, and further return to the homing area efficiently.
Fig. 2 is a second flow chart of a homing method of the cleaning robot, which is applied to a cleaning robot end, as shown in fig. 2, and includes the following steps.
Step 201, receiving an ultra-wideband positioning signal from a cleaning robot base station by using an ultra-wideband tag in response to a homing event and acquiring position information of the cleaning robot base station according to the ultra-wideband positioning signal.
In the implementation process, the ultra-wideband tag calculates the distance between the ultra-wideband tag and the ultra-wideband base station by receiving nanosecond short pulse signals sent by the ultra-wideband base station and measuring the transmission time difference of the signals from the transmitter to the receiver, so that the position information of the cleaning robot base station is obtained. Because the time resolution of the ultra-wideband signal is high and the speed of signal propagation in space is very fast, higher positioning accuracy can be realized.
In a specific implementation, the ultra-wideband tag can be flexibly integrated into the cleaning robot. The ultra-wideband tag can be connected and integrated with the cleaning robot in a mode of directly inserting the USB, and can be embedded into a system of the cleaning robot in a mode of integrating a chip.
In the specific implementation process, the working frequency band of the ultra-wideband positioning signal can be set according to the actual situation, so that the signal interference is reduced, and the positioning accuracy is improved.
Step 202, planning a return path based on the position information of the cleaning robot base station.
For a detailed description of this step, refer to the relevant content in step 102, and will not be described here again.
And 203, reaching a homing area in the base station of the cleaning robot according to the return path so as to execute tasks corresponding to the homing event in the homing area.
For a detailed description of this step, refer to the relevant content in step 103, and will not be described here again.
In the embodiment provided by the invention, in response to a homing event, an ultra-wideband positioning signal from a cleaning robot base station is received by using an ultra-wideband tag, and the position information of the cleaning robot base station is acquired according to the ultra-wideband positioning signal. Because the time domain width of the ultra-wideband positioning signal is narrower, the cleaning robot can receive the positioning signal with high time resolution and stronger multipath resistance, so that the accurate position information of the cleaning robot base station can be obtained based on the positioning signal, and the cleaning robot can be quickly and accurately reset according to the position information.
Fig. 3 is a third flow chart of a homing method of a cleaning robot according to the present invention, which is applied to a base station of the cleaning robot, as shown in fig. 3, and the method includes the following steps.
Step 301, transmitting a radio positioning signal by using a radio positioning signal transmitting module in response to a positioning signal transmitting event.
In the specific implementation process, the positioning signal sending event can be determined according to the product function design of the cleaning robot and the cleaning robot base station, and is not limited by the expression of the specification. For example, the location signaling event may be the cleaning robot base station powering up, after which the radio location signal is automatically sent. For another example, the positioning signal transmission event may be a homing operation of the cleaning robot by switching through a radio positioning signal by using the terminal according to a user.
For detailed descriptions of the radio positioning signal transmitting module and the radio positioning signal, reference is made to relevant contents in fig. 1, and detailed descriptions thereof are omitted herein.
In some embodiments, the radio positioning signal transmitting module may be an ultra wideband base station, and the ultra wideband base station may be used to transmit the ultra wideband positioning signal.
In a specific implementation, the ultra-wideband base station can be flexibly integrated into the cleaning robot base station. The ultra-wideband base station can be connected and integrated with the cleaning robot base station in a mode of directly inserting USB, and can be embedded into a system of the cleaning robot base station in a mode of integrating a chip.
In the embodiment provided by the invention, the cleaning robot base station utilizes the ultra-wideband base station to send the ultra-wideband positioning signal, so that the cleaning robot can obtain the accurate position information of the cleaning robot base station by utilizing the ultra-wideband positioning signal. And the ultra-wideband positioning signal has short pulse duration and low duty cycle, and can effectively reduce power consumption relative to the information of the continuous carrier wave.
Under the condition that the indoor network is interrupted or the homing map is lost, the cleaning robot base station with the radio positioning signal transmitting module can continuously provide accurate position information for the cleaning robot with the radio positioning signal receiving module, and the cleaning robot is assisted to finish the homing function.
Fig. 4 is a schematic structural view of a cleaning robot system provided by the present invention, which includes a cleaning robot and a cleaning robot base station, as shown in fig. 4.
The interaction between the cleaning robot and the cleaning robot base station includes:
the cleaning robot base station transmits a radio positioning signal using the radio positioning signal transmission module in response to a positioning signal transmission event.
The cleaning robot responds to the homing event, receives the radio positioning signal from the cleaning robot base station by utilizing the radio positioning signal receiving module, and obtains the position information of the cleaning robot base station according to the radio positioning signal.
The cleaning robot plans a return path based on position information of the cleaning robot base station.
And the cleaning robot reaches a homing area in the cleaning robot base station according to the return path so as to execute tasks corresponding to the homing event in the homing area.
The homing device of the cleaning robot provided by the invention is described below, and the homing device of the cleaning robot described below and the homing method of the cleaning robot described above can be correspondingly referred to each other.
Fig. 5 is a schematic structural view of a homing device of a cleaning robot according to the present invention, the device is disposed at a cleaning robot end, a radio positioning signal receiving module is disposed in the cleaning robot, and as shown in fig. 5, the device 500 includes the following modules.
A receiving module 510, configured to receive, by using the radio positioning signal receiving module, a radio positioning signal from a cleaning robot base station in response to a homing event and obtain position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module.
And a planning module 520 for planning a return path based on the position information of the cleaning robot base station.
And the homing module 530 is configured to reach a homing area located in the cleaning robot base station according to the return path, so as to execute a task corresponding to the homing event in the homing area.
Fig. 6 is a second schematic structural diagram of a homing device of a cleaning robot according to the present invention, the device is disposed at a base station of the cleaning robot, and a radio positioning signal transmitting module is disposed in the base station of the cleaning robot, as shown in fig. 6, the device 600 includes the following modules.
A transmitting module 610 for transmitting a radio positioning signal using the radio positioning signal transmitting module in response to a positioning signal transmitting event, so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal using the radio positioning signal receiving module and acquires position information of the cleaning robot base station according to the radio positioning signal; planning a return path based on the position information of the cleaning robot base station; according to the return path, a homing area within the cleaning robot base station is reached.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. The processor 710 may call logic instructions in the memory 730 to perform a homing method of the cleaning robot, the method comprising: responding to a homing event, receiving a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module, and obtaining position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module; planning a return path based on the position information of the cleaning robot base station; and according to the return path, reaching a homing area in the cleaning robot base station so as to execute tasks corresponding to the homing events in the homing area.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method of homing a cleaning robot provided by the above methods, the method comprising: responding to a homing event, receiving a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module, and obtaining position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module; planning a return path based on the position information of the cleaning robot base station; and according to the return path, reaching a homing area in the cleaning robot base station so as to execute tasks corresponding to the homing events in the homing area.
In still another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided homing method of a cleaning robot, the method comprising: responding to a homing event, receiving a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module, and obtaining position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module; planning a return path based on the position information of the cleaning robot base station; and according to the return path, reaching a homing area in the cleaning robot base station so as to execute tasks corresponding to the homing events in the homing area.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A homing method of a cleaning robot, applied to a cleaning robot end, wherein a radio positioning signal receiving module is arranged in the cleaning robot, characterized in that the method comprises:
Responding to a homing event, receiving a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module, and obtaining position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module;
planning a return path based on the position information of the cleaning robot base station;
And according to the return path, reaching a homing area in the cleaning robot base station so as to execute tasks corresponding to the homing events in the homing area.
2. The homing method of a cleaning robot of claim 1, wherein said radio-locating signal receiving module is an ultra-wideband tag;
The method for obtaining the position information of the cleaning robot base station according to the radio positioning signal, which responds to the homing event and receives the radio positioning signal from the cleaning robot base station by using the radio positioning signal receiving module, comprises the following steps:
And responding to a homing event, receiving an ultra-wideband positioning signal from the cleaning robot base station by using the ultra-wideband tag, and acquiring the position information of the cleaning robot base station according to the ultra-wideband positioning signal.
3. The homing method of a cleaning robot according to claim 1 or 2, further comprising:
And in response to receiving an activation instruction for the radio positioning signal receiving module, activating the radio positioning signal receiving module so that the radio positioning signal receiving module establishes a pairing relationship with a radio positioning signal transmitting module of the cleaning robot base station according to a preset pairing rule.
4. A homing method of a cleaning robot, applied to a cleaning robot base station, wherein a radio positioning signal transmitting module is arranged in the cleaning robot base station, the method is characterized by comprising the following steps:
Transmitting a radio positioning signal by using the radio positioning signal transmitting module in response to a positioning signal transmitting event so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal by using the radio positioning signal receiving module and acquires position information of the cleaning robot base station according to the radio positioning signal; planning a return path based on the position information of the cleaning robot base station; according to the return path, a homing area within the cleaning robot base station is reached.
5. The homing method of a cleaning robot of claim 4, wherein said radio positioning signal transmitting module is an ultra wideband base station;
The transmitting, with the radio positioning signal transmitting module, a radio positioning signal in response to a positioning signal transmitting event, comprising:
And responding to the positioning signal transmitting event, and transmitting an ultra-wideband positioning signal by using the ultra-wideband base station.
6. A homing device of a cleaning robot, characterized by being disposed at a cleaning robot end, in which a radio positioning signal receiving module is disposed, the device comprising:
The receiving module is used for responding to the homing event, receiving a radio positioning signal from the cleaning robot base station by utilizing the radio positioning signal receiving module and obtaining the position information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is transmitted by the cleaning robot base station by using a radio positioning signal transmitting module;
the planning module is used for planning a return path based on the position information of the cleaning robot base station;
And the homing module is used for reaching a homing area in the cleaning robot base station according to the return path so as to execute tasks corresponding to the homing events in the homing area.
7. A homing device of a cleaning robot, characterized in that it is disposed at a cleaning robot base station, and a radio positioning signal transmitting module is disposed in the cleaning robot base station, the device comprising:
Transmitting a radio positioning signal by using the radio positioning signal transmitting module in response to a positioning signal transmitting event so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal by using the radio positioning signal receiving module and acquires position information of the cleaning robot base station according to the radio positioning signal; planning a return path based on the position information of the cleaning robot base station; according to the return path, a homing area within the cleaning robot base station is reached.
8. The utility model provides a cleaning robot system, includes cleaning robot and cleaning robot basic station, its characterized in that is provided with radio location signal receiving module in the cleaning robot, be provided with radio location signal transmitting module in the cleaning robot basic station, include:
the cleaning robot base station transmits a radio positioning signal by using the radio positioning signal transmission module in response to a positioning signal transmission event;
the cleaning robot responds to a homing event, and receives a radio positioning signal from a cleaning robot base station by using the radio positioning signal receiving module and obtains the position information of the cleaning robot base station according to the radio positioning signal;
the cleaning robot plans a return path based on the position information of the cleaning robot base station;
and the cleaning robot reaches a homing area in the cleaning robot base station according to the return path so as to execute tasks corresponding to the homing event in the homing area.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the homing method of the cleaning robot according to any one of claims 1 to 5 when the program is executed.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the homing method of a cleaning robot according to any one of claims 1 to 5.
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| CN202411086346.8A CN118902339A (en) | 2024-08-08 | 2024-08-08 | Homing method and device of cleaning robot and cleaning robot system |
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| CN202411086346.8A CN118902339A (en) | 2024-08-08 | 2024-08-08 | Homing method and device of cleaning robot and cleaning robot system |
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