CN118902339A - Homing method and device of cleaning robot and cleaning robot system - Google Patents

Abstract

The present invention relates to the technical field of cleaning robots, and provides a homing method, device and cleaning robot system for a cleaning robot. The homing method for the cleaning robot includes: in response to a homing event, using a radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtaining the location information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is sent by the cleaning robot base station using a radio positioning signal sending module; based on the location information of the cleaning robot base station, a return path is planned; according to the return path, a homing area located in the cleaning robot base station is reached to perform a homing operation in the homing area. The present invention is used to solve the problem of how to improve the efficiency and success rate of the homing of the cleaning robot, and can efficiently complete the homing task of the cleaning robot with a high success rate.

Description

Cleaning robot homing method, device and cleaning robot system

Technical Field

The present invention relates to the technical field of cleaning robots, and in particular to a cleaning robot homing method and device, and a cleaning robot system.

Background Art

As a smart home device, cleaning robots are increasingly used in modern families. One of its core functions is autonomous navigation and homing, to ensure that it can automatically return to the base station for charging when the battery is low, so as to maintain continuous working ability, or return to the cleaning robot base station during the cleaning process to perform operations such as dumping garbage and cleaning mops. In the prior art, the homing methods of cleaning robots can be divided into two types: homing with a map and homing without a map. In the case of a map, the cleaning robot can automatically plan the optimal return path based on the established map, thereby achieving efficient homing with a high success rate.

However, without a map, the cleaning robot needs to use random navigation to find the infrared signal emitted by the cleaning robot base station by constantly trying and exploring different paths, and then complete the homing. Due to the complexity of the home environment, the infrared signal emitted by the cleaning robot base station is often blocked by obstacles such as furniture. Therefore, the homing method based on infrared signals has the problems of low homing efficiency and high homing failure rate.

Therefore, how to improve the efficiency and success rate of the cleaning robot's homing is a technical problem that needs to be solved urgently.

Summary of the invention

The present invention provides a homing method for a cleaning robot, which is used to solve the defects of low homing efficiency and high homing failure rate of the cleaning robot in the prior art, and is used to improve the efficiency and success rate of the homing of the cleaning robot.

The present invention provides a homing method for a cleaning robot, which is applied to a cleaning robot end, wherein a radio positioning signal receiving module is provided in the cleaning robot, and the method comprises: in response to a homing event, using the 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; wherein the radio positioning signal is sent by the cleaning robot base station using a radio positioning signal sending module; based on the position information of the cleaning robot base station, a return path is planned; according to the return path, a homing area located in the cleaning robot base station is reached to perform the task corresponding to the homing event in the homing area.

According to a homing method for a cleaning robot provided by the present invention, the radio positioning signal receiving module is an ultra-wideband tag; in response to a homing event, the radio positioning signal receiving module is used to receive a radio positioning signal from a base station of the cleaning robot and obtain the location information of the base station of the cleaning robot according to the radio positioning signal, including: in response to a homing event, the ultra-wideband tag is used to receive an ultra-wideband positioning signal from the base station of the cleaning robot and obtain the location information of the base station of the cleaning robot according to the ultra-wideband positioning signal.

According to a homing method of a cleaning robot provided by the present invention, the method further comprises:

In response to receiving an activation instruction for the radio positioning signal receiving module, the radio positioning signal receiving module is activated so that the radio positioning signal receiving module establishes a pairing relationship with the radio positioning signal sending module of the cleaning robot base station according to a preset pairing rule.

The present invention provides a homing method for a cleaning robot, which is applied to a base station end of the cleaning robot. A radio positioning signal sending module is provided in the base station of the cleaning robot. The method comprises: in response to a positioning signal sending event, using the radio positioning signal sending module to send a radio positioning signal, so that a cleaning robot paired with the base station of the cleaning robot receives the radio positioning signal by using a radio positioning signal receiving module and obtains the position information of the base station of the cleaning robot according to the radio positioning signal; based on the position information of the base station of the cleaning robot, a return path is planned; and according to the return path, a homing area located in the base station of the cleaning robot is reached.

According to a homing method for a cleaning robot provided by the present invention, the radio positioning signal sending module is an ultra-wideband base station; the step of sending a radio positioning signal by using the radio positioning signal sending module in response to a positioning signal sending event comprises: sending an ultra-wideband positioning signal by using the ultra-wideband base station in response to the positioning signal sending event.

The present invention also provides a homing device for a cleaning robot, which is arranged at the end of the cleaning robot, and a radio positioning signal receiving module is arranged in the cleaning robot. The device includes: a receiving module, which is used to respond to a homing event, and use the radio positioning signal receiving module to receive a radio positioning signal from a base station of the cleaning robot and obtain the location information of the base station of the cleaning robot according to the radio positioning signal; wherein the radio positioning signal is sent by the base station of the cleaning robot using a radio positioning signal sending module; a planning module, which is used to plan a return path based on the location information of the base station of the cleaning robot; and a homing module, which is used to reach a homing area located in the base station of the cleaning robot according to the return path, so as to perform the task corresponding to the homing event in the homing area.

The present invention also provides another homing device for a cleaning robot, comprising: a radio positioning signal sending module is arranged at the base station end of the cleaning robot, and the cleaning robot base station is provided with the radio positioning signal sending module, and the device comprises: in response to a positioning signal sending event, using the radio positioning signal sending module to send a radio positioning signal, so that the cleaning robot paired with the cleaning robot base station uses the radio positioning signal receiving module to receive the radio positioning signal and obtain the location information of the cleaning robot base station according to the radio positioning signal; based on the location information of the cleaning robot base station, a return path is planned; according to the return path, a homing area located in the cleaning robot base station is reached.

The present invention also provides a cleaning robot system, comprising a cleaning robot and a cleaning robot base station, wherein the cleaning robot is provided with a radio positioning signal receiving module, and the cleaning robot base station is provided with a radio positioning signal sending module, comprising: the cleaning robot base station, in response to a positioning signal sending event, sends a radio positioning signal by utilizing the radio positioning signal sending module; the cleaning robot, in response to a homing event, receives the radio positioning signal from the cleaning robot base station by utilizing the radio positioning signal receiving module and obtains the location information of the cleaning robot base station according to the radio positioning signal; the cleaning robot plans a return path based on the location information of the cleaning robot base station; the cleaning robot reaches a homing area located in the cleaning robot base station according to the return path, so as to perform the task corresponding to the homing event in the homing area.

The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-described methods for homing the cleaning robot are implemented.

The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the homing method of the cleaning robot as described in any one of the above are implemented.

The present invention provides a homing method, device and cleaning robot system for a cleaning robot. In response to a homing event, the cleaning robot uses a radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtains the location information of the cleaning robot base station based on the radio positioning signal; a return path is planned based on the location information of the cleaning robot base station; and according to the return path, the cleaning robot reaches a homing area located in the cleaning robot base station to perform a task corresponding to the homing event in the homing area. By utilizing the powerful anti-interference ability of the radio positioning signal and the ability to penetrate obstacles, the cleaning robot that performs tasks in a complex indoor environment is provided with accurate location information of the cleaning robot base station, so that the homing task of the cleaning robot can be completed efficiently and with a high success rate.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of a flow chart of a homing method of a cleaning robot provided by the present invention;

FIG2 is a second flow chart of the homing method of the cleaning robot provided by the present invention;

FIG3 is a third flow chart of the homing method of the cleaning robot provided by the present invention;

FIG4 is a schematic structural diagram of a cleaning robot system provided by the present invention;

FIG5 is a schematic diagram of the structure of the homing device of the cleaning robot provided by the present invention;

FIG6 is a second schematic diagram of the structure of the homing device of the cleaning robot provided by the present invention;

FIG7 is a schematic diagram of the structure of an electronic device provided by the present invention;

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

The homing method of the cleaning robot of the present invention is described below in conjunction with FIG. 1 to FIG. 3 .

FIG. 1 is one of the flow charts of the homing method of the cleaning robot provided by the present invention. The method is applied to the cleaning robot end. As shown in FIG. 1 , the method includes the following steps.

Step 101, in response to a homing event, using a radio positioning signal receiving module, receiving a radio positioning signal from a cleaning robot base station and obtaining location information of the cleaning robot base station based on the radio positioning signal.

Cleaning robot homing refers to the process in which the cleaning robot can automatically or according to the received instructions return to the homing area of the cleaning robot base station for charging or other operations (for example, standby, dumping garbage, cleaning the mop, etc.) after completing the cleaning task or in the process of performing the cleaning task.

During the specific implementation process, the homing event may include but is not limited to the homing function of the cleaning robot being selected (for example, the recharge button is pressed), the cleaning robot is low on power and needs to return to the cleaning robot base station for charging, or the cleaning robot needs to return to the cleaning robot base station during the cleaning process to perform operations such as dumping garbage and cleaning the mop.

The radio positioning signal is sent by the cleaning robot base station using a radio positioning signal sending module.

The radio positioning signal receiving module is a module for receiving positioning information carried in radio waves. The radio positioning signal sending module is a module for generating and sending radio wave signals carrying positioning information.

The radio positioning signal receiving module and the radio positioning signal sending module cooperate with each other, and by sending and receiving radio signals, combined with specific algorithms, accurate positioning of the target object can be achieved.

The radio positioning signal sending module transmits radio signals through the built-in antenna. These signals can be continuous waves, pulse waves or other forms of electromagnetic waves.

The radio positioning signal receiving module is used to receive the radio positioning signal sent by the radio positioning signal sending module, convert the received radio positioning signal into a digital signal, and process it 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 sending module may be an ultra wide band (UWB, Ultra Wide Band) base station (ANCHOR), and the radio positioning signal receiving module may be an ultra wide band tag (TAG).

For another example, the radio positioning signal sending module may be a RFID (Radio Frequency Identification) reader/writer, and the radio positioning signal receiving module may be a RFID (Radio Frequency Identification) tag.

In the specific implementation process, the radio positioning signal receiving module can use the preset algorithm inside the module (for example, arrival time difference positioning method, etc.) to calculate the location information of the cleaning robot base station based on the received radio positioning signal.

In the specific implementation process, the radio positioning signal can be a pulse signal or a continuous electrical signal, and is not limited by the description in this specification.

In the specific implementation process, after receiving the activation instruction for the radio positioning signal receiving module, the cleaning robot activates the radio positioning signal receiving module. After the radio positioning signal receiving module is activated, it automatically establishes a pairing relationship with the radio positioning signal sending module of the cleaning robot base station according to a preset pairing rule.

As an example only, after the user installs the cleaning robot base station and the cleaning robot provided by the present invention at any location in the home or office, the user turns on the power startup system of the cleaning robot base station and turns on the cleaning robot. The user uses a mobile device to network and pair with the cleaning robot. While activating and binding the cleaning robot, the user activates the radio positioning signal sending module in the cleaning robot base station and the radio positioning signal receiving module in the cleaning robot. After the radio positioning signal sending module and the radio positioning signal receiving module are activated, a pairing relationship is automatically established according to a preset pairing rule.

Step 102: Plan a return path based on the location information of the cleaning robot base station.

During the specific implementation process, the cleaning robot can plan the optimal return path based on the location information of the cleaning robot base station. In the process of returning to the cleaning robot base station, it relies on the sensors on the body (for example, cameras, laser sensors, etc.) to explore the unfamiliar environment, which can effectively reduce the time to return to the cleaning robot base station and improve the success rate of homing.

Step 103: Arrive at a homing area located in the cleaning robot base station according to the return path, so as to perform a task corresponding to the homing event in the homing area.

During the specific implementation process, the cleaning robot can drive the motor according to the planned return path to reach the homing area located in the cleaning robot base station.

The tasks corresponding to the homing event may include, but are not limited to: charging, standby, dumping garbage, and cleaning the mop.

In some embodiments, when the cleaning robot reaches a preset range of the cleaning robot base station (for example, within 0.5 meters), the infrared sensor of the cleaning robot starts working to assist the robot in making fine position adjustments, and finally completes docking with the cleaning robot base station and starts charging.

In some embodiments, the radio positioning signal receiving module is an ultra-wideband tag. For a detailed description of using the ultra-wideband tag to perform the homing operation of the cleaning robot, please refer to the relevant content in Figure 2, which will not be repeated here.

In the case of no homing map or loss of the homing map, the solution provided by the present invention can be used to enable the cleaning robot to obtain accurate location information of the cleaning robot base station and then return to the homing area efficiently.

FIG2 is a second flow chart of the homing method of the cleaning robot provided by the present invention. The method is applied to the cleaning robot end. As shown in FIG2 , the method includes the following steps.

Step 201: In response to a homing event, an ultra-wideband tag is used to receive an ultra-wideband positioning signal from a cleaning robot base station and obtain location information of the cleaning robot base station according to the ultra-wideband positioning signal.

In the specific implementation process, the UWB tag receives nanosecond short pulse signals sent by the UWB base station and measures the transmission time difference of these signals from the transmitter to the receiver to calculate the distance between the UWB tag and the UWB base station, thereby obtaining the location information of the cleaning robot base station. Since the UWB signal has a high time resolution and the signal propagates very fast in space, a high positioning accuracy can be achieved.

In the specific implementation process, 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 by directly inserting the USB, or it can be embedded into the system of the cleaning robot by integrating the chip.

In the specific implementation process, the operating frequency band of the ultra-wideband positioning signal can be set according to actual conditions to reduce signal interference and improve positioning accuracy.

Step 202: Plan a return path based on the location information of the cleaning robot base station.

For a detailed description of this step, please refer to the relevant content in step 102, which will not be repeated here.

Step 203: according to the return path, arrive at the homing area located in the base station of the cleaning robot to perform the task corresponding to the homing event in the homing area.

For a detailed description of this step, please refer to the relevant content in step 103, which will not be repeated here.

In the embodiment provided by the present invention, in response to the homing event, an ultra-wideband tag is used to receive an ultra-wideband positioning signal from a cleaning robot base station and obtain the location information of the cleaning robot base station according to the ultra-wideband positioning signal. Since the time domain width of the ultra-wideband positioning signal is relatively narrow, the cleaning robot can receive a positioning signal with high time resolution and strong anti-multipath capability, so that the precise location information of the cleaning robot base station can be obtained based on the positioning signal, and the homing can be performed quickly and accurately according to the location information.

FIG3 is a third flow chart of the homing method of the cleaning robot provided by the present invention. The method is applied to the base station end of the cleaning robot. As shown in FIG3 , the method includes the following steps.

Step 301: In response to a positioning signal sending event, a radio positioning signal sending module is used to send a radio positioning signal.

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 description of this specification. For example, the positioning signal sending event can be that the cleaning robot base station is powered on, and after the cleaning robot base station is powered on, a radio positioning signal is automatically sent. For another example, the positioning signal sending event can be based on the user switching the cleaning robot to a homing operation through a radio positioning signal by using a terminal.

For a detailed description of the radio positioning signal sending module and the radio positioning signal, please refer to the relevant content in Figure 1, which will not be repeated here.

In some embodiments, the radio positioning signal sending module may be an ultra-wideband base station, and the ultra-wideband base station may be used to send an ultra-wideband positioning signal.

In the specific implementation process, 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 by directly inserting a USB, or it can be embedded into the system of the cleaning robot base station by an integrated chip.

In the embodiment provided by the present invention, the cleaning robot base station uses the ultra-wideband base station to send an ultra-wideband positioning signal, so that the cleaning robot uses the ultra-wideband positioning signal to obtain accurate location information of the cleaning robot base station. In addition, the ultra-wideband positioning signal pulse duration is short and the duty cycle is low, which can effectively reduce power consumption compared to sending continuous carrier information.

In the event of indoor network interruption or loss of the homing map, the cleaning robot base station with a radio positioning signal sending module can continue to provide accurate location information to the cleaning robot with a radio positioning signal receiving module, assisting the cleaning robot in completing the homing function.

FIG4 is a schematic diagram of the structure of the cleaning robot system provided by the present invention. As shown in FIG4 , the cleaning robot system includes a cleaning robot and a cleaning robot base station.

The interaction between the cleaning robot and the cleaning robot base station includes:

The cleaning robot base station, in response to a positioning signal sending event, uses the radio positioning signal sending module to send a radio positioning signal.

In response to a homing event, the cleaning robot utilizes the radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtains location information of the cleaning robot base station based on the radio positioning signal.

The cleaning robot plans a return path based on the location information of the cleaning robot base station.

The cleaning robot reaches a homing area located in a cleaning robot base station according to the return path, so as to perform a task corresponding to the homing event in the homing area.

The homing device of the cleaning robot provided by the present invention is described below. The homing device of the cleaning robot described below and the homing method of the cleaning robot described above can be referred to each other.

FIG5 is one of the structural schematic diagrams of the homing device of the cleaning robot provided by the present invention. The device is arranged at the end of the cleaning robot. The cleaning robot is provided with a radio positioning signal receiving module. As shown in FIG5 , the device 500 includes the following modules.

The receiving module 510 is used to respond to a homing event, utilize the radio positioning signal receiving module to receive a radio positioning signal from the cleaning robot base station and obtain the location information of the cleaning robot base station based on the radio positioning signal; wherein, the radio positioning signal is sent by the cleaning robot base station using the radio positioning signal sending module.

The planning module 520 is used to plan a return path based on the location information of the cleaning robot base station.

The homing module 530 is used to reach a homing area located in the cleaning robot base station according to the return path, so as to perform the task corresponding to the homing event in the homing area.

FIG6 is a second schematic diagram of the structure of the homing device of the cleaning robot provided by the present invention. The device is arranged at the base station end of the cleaning robot. A radio positioning signal sending module is arranged in the base station of the cleaning robot. As shown in FIG6 , the device 600 includes the following modules.

The sending module 610, in response to a positioning signal sending event, uses the radio positioning signal sending module to send a radio positioning signal, so that the cleaning robot paired with the cleaning robot base station uses the radio positioning signal receiving module to receive the radio positioning signal and obtain the location information of the cleaning robot base station according to the radio positioning signal; plans a return path based on the location information of the cleaning robot base station; and reaches a homing area located within the cleaning robot base station according to the return path.

FIG7 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG7 , the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the homing method of the cleaning robot, the method comprising: in response to a homing event, using the radio positioning signal receiving module, receiving a radio positioning signal from a cleaning robot base station and obtaining the location information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is sent by the cleaning robot base station using the radio positioning signal sending module; based on the location information of the cleaning robot base station, planning a return path; according to the return path, reaching a homing area located in the cleaning robot base station, so as to perform the task corresponding to the homing event in the homing area.

In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute the cleaning robot homing method provided by the above-mentioned methods, and the method includes: in response to a homing event, using the radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtain the location information of the cleaning robot base station based on the radio positioning signal; wherein the radio positioning signal is sent by the cleaning robot base station using the radio positioning signal sending module; based on the location information of the cleaning robot base station, a return path is planned; according to the return path, a homing area located in the cleaning robot base station is reached to perform the task corresponding to the homing event in the homing area.

On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned homing methods of the cleaning robot, the method comprising: in response to a homing event, using the radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtaining the location information of the cleaning robot base station based on the radio positioning signal; wherein the radio positioning signal is sent by the cleaning robot base station using a radio positioning signal sending module; based on the location information of the cleaning robot base station, a return path is planned; according to the return path, a homing area located within the cleaning robot base station is reached to perform the task corresponding to the homing event in the homing area.

The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

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

Claims (10)

1. A homing method for a cleaning robot, applied to a cleaning robot end, wherein the cleaning robot is provided with a radio positioning signal receiving module, characterized in that the method comprises: In response to a homing event, the radio positioning signal receiving module is used to receive a radio positioning signal from a cleaning robot base station and obtain the location information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is sent by the cleaning robot base station using a radio positioning signal sending module; Planning a return path based on the location information of the cleaning robot base station; According to the return path, the robot reaches a homing area located in the cleaning robot base station, so as to perform a task corresponding to the homing event in the homing area. 2. The homing method of the cleaning robot according to claim 1, characterized in that the radio positioning signal receiving module is an ultra-wideband tag; The method of responding to the homing event, using the radio positioning signal receiving module to receive the radio positioning signal from the cleaning robot base station and obtaining the location information of the cleaning robot base station according to the radio positioning signal, comprises: In response to a homing event, the ultra-wideband tag is used to receive an ultra-wideband positioning signal from the cleaning robot base station and obtain the location information of the cleaning robot base station according to the ultra-wideband positioning signal. 3. The homing method of the cleaning robot according to claim 1 or 2, characterized in that the method further comprises: In response to receiving an activation instruction for the radio positioning signal receiving module, the radio positioning signal receiving module is activated so that the radio positioning signal receiving module establishes a pairing relationship with the radio positioning signal sending module of the cleaning robot base station according to a preset pairing rule. 4. A homing method for a cleaning robot, applied to a cleaning robot base station, wherein the cleaning robot base station is provided with a radio positioning signal sending module, characterized in that the method comprises: In response to a positioning signal sending event, the radio positioning signal sending module is used to send a radio positioning signal, so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal using a radio positioning signal receiving module and obtains the location information of the cleaning robot base station based on the radio positioning signal; plans a return path based on the location information of the cleaning robot base station; and reaches a homing area located within the cleaning robot base station according to the return path. 5. The homing method of the cleaning robot according to claim 4, characterized in that the radio positioning signal sending module is an ultra-wideband base station; The method of sending a radio positioning signal by using the radio positioning signal sending module in response to the positioning signal sending event comprises: In response to the positioning signal sending event, an ultra-wideband positioning signal is sent using the ultra-wideband base station. 6. A homing device for a cleaning robot, characterized in that it is arranged at the end of the cleaning robot, the cleaning robot is provided with a radio positioning signal receiving module, and the device comprises: A receiving module, used for responding to a homing event, using the radio positioning signal receiving module to receive a radio positioning signal from a cleaning robot base station and obtaining location information of the cleaning robot base station according to the radio positioning signal; wherein the radio positioning signal is sent by the cleaning robot base station using the radio positioning signal sending module; A planning module, used for planning a return path based on the location information of the cleaning robot base station; A homing module is used to reach a homing area located in the cleaning robot base station according to the return path, so as to perform a task corresponding to the homing event in the homing area. 7. A homing device for a cleaning robot, characterized in that it is arranged at a base station end of the cleaning robot, wherein a radio positioning signal sending module is arranged in the base station of the cleaning robot, and the device comprises: In response to a positioning signal sending event, the radio positioning signal sending module is used to send a radio positioning signal, so that the cleaning robot paired with the cleaning robot base station receives the radio positioning signal using a radio positioning signal receiving module and obtains the location information of the cleaning robot base station based on the radio positioning signal; plans a return path based on the location information of the cleaning robot base station; and reaches a homing area located within the cleaning robot base station according to the return path. 8. A cleaning robot system, comprising a cleaning robot and a cleaning robot base station, wherein the cleaning robot is provided with a radio positioning signal receiving module, and the cleaning robot base station is provided with a radio positioning signal sending module, comprising: The cleaning robot base station, in response to a positioning signal sending event, uses the radio positioning signal sending module to send a radio positioning signal; In response to the homing event, the cleaning robot receives the radio positioning signal from the cleaning robot base station 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 location information of the cleaning robot base station; The cleaning robot reaches a homing area located in a cleaning robot base station according to the return path, so as to perform a task corresponding to the homing event in the homing area. 9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the homing method of the cleaning robot as described in any one of claims 1 to 5 when executing the program. 10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the homing method of the cleaning robot as claimed in any one of claims 1 to 5 are implemented.