WO2022121745A1

WO2022121745A1 - Method for self-cleaning mobile robot to return to base station and self-cleaning mobile robot

Info

Publication number: WO2022121745A1
Application number: PCT/CN2021/134734
Authority: WO
Inventors: 王旭宁; 田宏图; 余杰
Original assignee: 尚科宁家(中国)科技有限公司
Priority date: 2020-12-10
Filing date: 2021-12-01
Publication date: 2022-06-16

Abstract

The embodiments of the present application relate to the technical field of self-cleaning mobile robots, and provide a method for a self-cleaning mobile robot to return to a base station. The self-cleaning mobile robot is provided with a sensing detection element, and the base station is provided with a sensing element corresponding to the sensing detection element. The method comprises: controlling the self-cleaning mobile robot to travel to the base station; once the sensing element is sensed by means of the sensing detection element, controlling the self-cleaning mobile robot to turn around; and once the self-cleaning mobile robot turns around, controlling the self-cleaning mobile robot to retreat so as to return to the base station. By using the present application, the risk of damage occurring during the process in which the self-cleaning mobile robot turns back and returns to the base station can be reduced.

Description

Method for returning a self-cleaning mobile robot to a base station and self-cleaning mobile robot

This application requires a Chinese patent application with an application number of 202011434336.0 and an invention titled “Path Planning Method and Cleaning Robot for Cleaning Robots” to be filed with the China Patent Office on December 10, 2020, and a Chinese patent application filed with the China Patent Office on February 6, 2021, The priority of the Chinese patent application with the application number of 202110165311.3 and the invention title of "method for returning from a mobile robot to a base station and a self-mobile robot", the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of self-cleaning mobile robots, and in particular, to a method for returning a self-cleaning mobile robot to a base station and a self-cleaning mobile robot.

Background technique

In the related art, self-cleaning mobile robots (such as mopping robots, sweeping robots, and sweeping and mopping integrated robots) need to retreat into the base station, so that the base station can be docked with the charging electrode at the rear of the self-cleaning mobile robot for charging, or the base station can be used for self-cleaning. Move the wiper on the rear of the robot for cleaning.

However, the collision sensors, cliff sensors and other sensors of the self-cleaning mobile robot that prevent the self-cleaning mobile robot from colliding and falling are usually installed at the front end of the self-cleaning mobile robot, and the environment at the rear of the self-cleaning mobile robot cannot be detected by the sensors during the backward process. In this case, the self-cleaning mobile robot will be damaged in the process of returning to the base station.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a method for returning a self-cleaning mobile robot to a base station and a self-cleaning mobile robot, which can reduce the risk of damage during the process of returning the self-cleaning mobile robot to the base station. The specific technical solutions are as follows:

In a first aspect, a method for returning a self-cleaning mobile robot to a base station is provided, the front end of the self-cleaning mobile robot is provided with an induction detection element, the bottom of the rear end of the self-cleaning mobile robot is provided with a mopping component, and the base station is provided with There is a cleaning tank for cleaning the mopping component and a guide surface gradually extending downward from one side of the cleaning tank. The base station is provided with an inductive element corresponding to the inductive detection element, and the inductive element being arranged on the guide surface, the method includes:

controlling the self-cleaning mobile robot to travel to the base station;

After sensing the sensing element through the sensing detecting element, controlling the self-cleaning mobile robot to turn around;

After the self-cleaning mobile robot makes a U-turn, the self-cleaning mobile robot is controlled to back up to return to the base station.

Optionally, the inductive detection element is a Hall sensor, and the inductive element is a magnetic strip;

Alternatively, the inductive detection element is a reed switch, and the inductive element is a magnetic strip;

Alternatively, the inductive detection element is an infrared receiving tube, and the inductive element is an infrared emission tube.

Optionally, the induction element is arranged at the entrance of the base station.

Optionally, the method further includes:

When the self-cleaning mobile robot is in the walking mode along the wall, when the sensing element is sensed by the sensing element, the self-cleaning mobile robot is controlled to move to the side of the sensing element away from the base station offset.

Optionally, the controlling the self-cleaning mobile robot to turn around after the sensing element is sensed by the sensing detecting element, including:

After the sensing element is sensed by the sensing detecting element, the self-cleaning mobile robot is controlled to rotate on the spot to make a U-turn; or,

After the sensing element is sensed by the sensing element, the self-cleaning mobile robot is controlled to retreat, and after the self-cleaning mobile robot retreats, the self-cleaning mobile robot is controlled to rotate in place to perform a U-turn.

Optionally, the base station is provided with an infrared transmitting tube for transmitting infrared guidance signals, and the front end of the self-cleaning mobile robot is provided with a first infrared receiving tube for receiving the infrared guidance signals,

The controlling the self-cleaning mobile robot to travel to the base station includes:

Under the guidance of the infrared guidance signal received by the first infrared receiving tube, the self-cleaning mobile robot is controlled to travel to the base station.

Optionally, the rear end of the self-cleaning mobile robot is provided with a second infrared receiving tube for receiving the infrared guidance signal,

The controlling the self-cleaning mobile robot to back up to return to the base station includes:

Under the guidance of the infrared guidance signal received by the second infrared receiving tube, the self-cleaning mobile robot is controlled to retreat to return to the base station.

Optionally, the number of the infrared transmitting tubes for transmitting infrared guidance signals is multiple, each infrared transmitting tube is used for transmitting infrared guidance signals of different codes, and the number of the first infrared receiving tubes is multiple,

The method also includes:

After sensing the inductive element through the inductive detection element, determine a combination of infrared guidance signals that can be received by a plurality of the first infrared receiving tubes;

If the determined combination of infrared guidance signals belongs to a preset combination of infrared guidance signals indicating that the deviation angle of the self-cleaning mobile robot is greater than the set threshold, the self-cleaning mobile robot is controlled to move away from the base station by the first preset combination distance, and then return to the step of controlling the self-cleaning mobile robot to travel to the base station.

Optionally, the rear end of the self-cleaning mobile robot is provided with a first charging electrode for receiving electrical energy, and the base station is provided with a second charging electrode corresponding to the first charging electrode for supplying electrical energy.

Optionally, before the controlling the self-cleaning mobile robot to travel to the base station, the method further includes: cleaning the area to be cleaned;

The cleaning of the area to be cleaned includes:

Planning a cleaning path covering the to-be-cleaned area according to the contour of the to-be-cleaned area as a static path;

when an obstacle is sensed during cleaning along the static path, edge-cleaning the obstacle to obtain an obstacle profile;

For the area that does not contain the obstacle covered by the static path intersecting with the obstacle contour, re-plan to form a dynamic path, and replace the static path intersecting with the obstacle contour with the dynamic path to form a new path. cleaning path;

Clean along the new cleaning path.

In a second aspect, a self-cleaning mobile robot is provided, the front end of the self-cleaning mobile robot is provided with an inductive detection element, and the bottom of the rear end is provided with a mopping component; the self-cleaning mobile robot further includes a processor and a machine-readable A storage medium storing machine-executable instructions executable by the processor, the processor being caused by the machine-executable instructions to perform any of the method steps of the first aspect.

A method for returning a self-cleaning mobile robot to a base station and a self-cleaning mobile robot provided by the embodiments of the present application can control the self-cleaning mobile robot to travel to the base station, and control the self-cleaning mobile robot to turn around after sensing the inductive element through the inductive detection element. , after the self-cleaning mobile robot turns around, control the self-cleaning mobile robot to back up to return to the base station. Since the sensing element is arranged on the base station, the self-cleaning mobile robot will turn around and retreat after sensing the sensing element through the sensing detection element, so that the travel of the self-cleaning mobile robot to enter the base station is shorter, which reduces the need for the self-cleaning mobile robot to return to the base station. There is a risk of damage during the process, and all or most of the backward travel is on the base station, making the possibility of obstacles in the backward travel extremely low, reducing the risk of damage during the process of returning the self-cleaning mobile robot to the base station. .

In addition, the method of returning to the base station of the present application is to make the self-cleaning mobile robot advance to the sensing element of the base station first, and then turn around and retreat. In the method of returning to the base station of the present application, the self-cleaning mobile robot cannot move to the sensing element, and naturally it will not perform the subsequent U-turn and retreat process. Compared with the prior art, in this scenario, the tail of the self-cleaning mobile robot collides with the obstacles surrounding the entrance of the base station. damage to objects, this application can avoid this situation.

In addition, when the self-cleaning mobile robot is in the walking mode along the wall, when the sensing element is sensed by the sensing element, the self-cleaning mobile robot is controlled to shift to the side of the sensing element away from the base station, so that the sensing element can play the role of The role of the virtual wall prevents the self-cleaning mobile robot from entering the base station when cleaning along the wall.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of a base station according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a self-cleaning mobile robot according to an embodiment of the present application;

3 is a flowchart of a method for returning a self-cleaning mobile robot to a base station according to an embodiment of the present application;

4 is a schematic diagram of a self-cleaning mobile robot traveling to a base station according to an embodiment of the present application;

5A is a schematic diagram of in-situ U-turn when sensing a sensing element according to an embodiment of the present application;

FIG. 5B is a schematic diagram of returning to the base station after the U-turn shown in FIG. 5A according to an embodiment of the present application;

FIG. 6A is a schematic diagram of a reverse U-turn when sensing a sensing element according to an embodiment of the present application;

FIG. 6B is a schematic diagram of returning to the base station after the U-turn shown in FIG. 6A according to an embodiment of the present application;

7 is a schematic walking diagram of the self-cleaning mobile robot when the deviation angle between the self-cleaning mobile robot and the base station is too large when sensing a sensing element according to an embodiment of the present application;

8 is a schematic diagram of a self-cleaning mobile robot walking along a wall according to an embodiment of the present application;

9 is a flowchart of another method for returning a self-cleaning mobile robot to a base station according to an embodiment of the present application;

10 is a flowchart of a method for planning a path of a robot according to an embodiment of the present application;

11A is a schematic outline diagram of an area to be cleaned according to an embodiment of the present application;

FIG. 11B is a schematic diagram of a cleaning path of the area to be cleaned shown in FIG. 11A according to an embodiment of the present application;

12A is a schematic outline diagram of another area to be cleaned provided by an embodiment of the present application;

FIG. 12B is a schematic diagram of the largest outline of the area to be cleaned shown in FIG. 12A according to an embodiment of the present application;

FIG. 12C is a schematic diagram of a cleaning path of the area to be cleaned shown in FIG. 12A according to an embodiment of the present application;

FIG. 13 is a schematic diagram of the edge of the robot when there is an obstacle in the area to be cleaned shown in FIG. 11A according to an embodiment of the application;

14 is a schematic diagram of a cleaning path when an obstacle exists in the area to be cleaned shown in FIG. 11A according to an embodiment of the present application;

FIG. 15 is a schematic diagram of a cleaning path when there are concave obstacles in the area to be cleaned shown in FIG. 11A according to an embodiment of the present application;

FIG. 16 is a schematic structural diagram of a self-cleaning mobile robot according to an embodiment of the present application.

Reference number:

1. Base station; 101, Induction element; 102, Guide plate; 103, Cleaning tank; 104, Second charging electrode; 105, Infrared emission tube; 105A, A infrared emission tube; 105B, B infrared emission tube; Emission tube; 105D, D infrared emission tube; 106, guide surface; 107, clean water tank; 108, sewage tank; 109, protrusion; 2, self-cleaning mobile robot; 201, driving wheel; 202, induction detection element; 203, Lidar; 204, the first infrared receiving tube; 205, the second infrared receiving tube; 204A, the first infrared receiving tube A; 204B, the first infrared receiving tube B.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The embodiment of the present application provides a method for returning a self-cleaning mobile robot to a base station. The self-cleaning mobile robot is provided with an inductive detection element, and the base station is provided with an inductive element corresponding to the inductive detection element. The method includes: controlling the self-cleaning mobile robot Proceed to the base station; after sensing the sensing element through the induction detection element, control the self-cleaning mobile robot to turn around; after the self-cleaning mobile robot turns around, control the self-cleaning mobile robot to back up to return to the base station, which can reduce the self-cleaning mobile robot to back up and return to the base station risk of damage during the process.

Wherein, the inductive detection element can be a Hall sensor, and the inductive element can be a magnetic strip; or, the inductive detection element can be a reed switch, and the inductive element can be a magnetic strip; or, the inductive detection element can be an infrared receiving tube, and the inductive element can be For the infrared emission tube. Wherein, the induction element can be arranged at the entrance of the base station.

As shown in FIG. 1 , the base station 1 includes a cleaning tank 103 for cleaning the mopping member of the self-cleaning mobile robot.

Wherein, the base station 1 further includes a guide surface 106 extending downward gradually from one side of the cleaning tank 103 and a guide plate 102 arranged on both sides of the guide surface 106. The guide surface 106 is used to guide the self-cleaning mobile robot into the base station 1, and is arranged on the The guide plates 102 on both sides of the guide surface 106 are used to adjust the traveling direction of the robot, so that the self-cleaning mobile robot can reach the cleaning position in the base station 1 .

Among them, the cleaning tank 103 is provided with a protrusion 109 for friction cleaning of the mopping member of the self-cleaning mobile robot.

The sensing element 101 is disposed on the guide surface 106 , such as the top side or the bottom side of the guide surface 106 . The sensing element 101 can be a magnetic strip, which is laterally disposed on the guide surface 106 , and the lateral extension of the magnetic strip can intersect with the guide plate 102 .

The base station 1 further includes a clean water tank 107 and a water supply pipeline connected with the clean water tank 107 for supplying water to the cleaning tank 103 .

Wherein, the bottom of the cleaning tank 103 is also provided with a water leakage tank, and the bottom wall of the cleaning tank 103 is provided with a water leakage hole, so that the cleaning tank 103 drains the sewage after cleaning the mopping member into the water leakage tank through the water leakage hole.

Wherein, the base station 1 further includes a sewage tank 108 and a sewage pipeline connected with the sewage tank 108 and the leakage tank, so as to discharge the sewage in the leakage tank into the sewage tank 108 through the sewage pipeline.

Wherein, the base station 1 may further include a second charging electrode 104 for supplying electric power to charge the self-cleaning mobile robot and an infrared emitting tube 105 for emitting infrared guiding signals, and the number of the infrared emitting tubes 105 may be multiple.

As shown in FIG. 2 , the self-cleaning mobile robot includes an inductive detection element 202. The inductive detection element 202 can be arranged at the front end of the self-cleaning mobile robot. The number of inductive detection elements 202 can be multiple, and can be dispersed at the front end of the self-cleaning mobile robot. For example, the number of induction detection elements 202 is two, one is located on the left side of the front end of the self-cleaning mobile robot, and the other is located on the right side of the front end of the self-cleaning mobile robot.

The self-cleaning mobile robot may further include a lidar 203 to establish an environment map by detecting environmental information through the lidar 203 .

The self-cleaning mobile robot may further include driving wheels 201 to move through the driving wheels 201 .

The front end of the self-cleaning mobile robot can also be provided with a first infrared receiving tube 204 for receiving infrared guidance signals, so that the self-cleaning mobile robot can receive the infrared guidance signal emitted by the base station 1 through the first infrared receiving tube 204, and receive the infrared guidance signal in the infrared guidance signal. Under the guidance of , head forward to the base station 1. Wherein, the number of the first infrared receiving tubes 204 may be multiple.

The rear end of the self-cleaning mobile robot can also be provided with a second infrared receiving tube 205 for receiving infrared guidance signals, so that the self-cleaning mobile robot can receive the infrared guidance signal emitted by the base station 1 through the second infrared receiving tube 205, and conduct the infrared guidance Under the guidance of the signal, it travels to the base station 1 in a backward manner (ie, travels to the base station 1 in a tail-forward manner). Wherein, the number of the second infrared receiving tubes 205 may be multiple.

The bottom of the rear end of the self-cleaning mobile robot may also be provided with a mopping member for mopping the ground, and the mopping member may be a fixed mopping cloth or a rotatable turntable mopping member.

The rear end of the self-cleaning mobile robot may also be provided with a first charging electrode for receiving electrical energy, so as to receive the electrical energy provided by the second charging electrode 104 on the base station 1 to charge the self-cleaning mobile robot.

The front end of the self-cleaning mobile robot can also be provided with a collision sensor, so that when the front end of the self-cleaning mobile robot encounters an obstacle, the self-cleaning mobile robot can sense the collision sensor.

A wall sensor may also be provided on the side of the front end of the self-cleaning mobile robot, so that the self-cleaning mobile robot can detect its distance from the wall/obstacle through the wall sensor, so as to walk along the wall/obstacle.

The front end of the self-cleaning mobile robot can also be equipped with a cliff sensor.

When the self-cleaning mobile robot returns to the base station 1 in a backward manner, that is, returns to the docking position with the base station 1, the first charging electrode is in contact with the second charging electrode 104, and the base station 1 can charge the self-cleaning mobile robot. At the same time, the mopping member of the self-cleaning mobile robot is placed in the cleaning tank 103 of the base station 1, and the base station 1 can clean the mopping member of the self-cleaning mobile robot.

The method for returning the self-cleaning mobile robot to the base station provided by the embodiment of the present application will be described in detail below with reference to the specific implementation manner, as shown in FIG. 3 , and the specific steps are as follows:

Step 301, controlling the self-cleaning mobile robot to travel to the base station.

In the embodiment of the present application, the self-cleaning mobile robot may control the self-cleaning mobile robot to travel to the base station by means of navigation. In an implementation manner, the self-cleaning mobile robot can establish an environment map through the lidar 203, and obtain the position of the base station 1 in the environment map, and control the self-cleaning mobile robot by means of navigation according to the position of the base station 1 in the environment map. Proceed to base station 1.

Alternatively, the self-cleaning mobile robot can travel to the base station 1 by means of infrared guidance. In one implementation, the base station 1 is provided with an infrared transmitting tube for transmitting infrared guidance signals, the front end of the self-cleaning mobile robot is provided with a first infrared receiving tube 204 for receiving infrared guidance signals, and the self-cleaning mobile robot is Under the guidance of the infrared guidance signal received by the tube 204 , the self-cleaning mobile robot is controlled to travel to the base station 1 .

Alternatively, the self-cleaning mobile robot can travel to the base station 1 by a combination of navigation and infrared guidance. In an implementation manner, the self-cleaning mobile robot can establish an environment map through the lidar 203, and obtain the position of the base station 1 in the environment map, and the self-cleaning mobile robot can determine a transfer point in front of the base station 1 according to the environment map, Then the self-moving machine can navigate the self-cleaning mobile robot to the transfer point according to the transfer point in the environment map, and then the self-cleaning mobile robot is guided by the infrared guidance signal received by the first infrared receiving tube 204 to control the self-cleaning mobile robot. The cleaning mobile robot travels to the base station 1 .

4 , the self-cleaning mobile robot is controlled to move towards the base station 1 with its head forward. When the sensing element 202 approaches the sensing element 101, the self-cleaning mobile robot can sense the sensing element 101 through the sensing element 202, Indicates that the self-cleaning mobile robot travels to base station 1.

Step 302 , after sensing the sensing element through the sensing detecting element, control the self-cleaning mobile robot to turn around.

Step 303, after the self-cleaning mobile robot turns around, control the self-cleaning mobile robot to back up to return to the base station.

In this embodiment of the present application, when the self-cleaning mobile robot travels to the base station 1, the sensing element 202 gradually approaches the sensing element 101. When the sensing element 202 approaches the sensing element 101, the self-cleaning mobile robot can pass the sensing element 202. The sensing element 101 is sensed, indicating that the self-cleaning mobile robot travels to the base station 1 . When the sensing element 101 is sensed by the sensing detecting element 202 , the self-cleaning mobile robot is controlled to turn around; after the self-cleaning mobile robot is turned around, the self-cleaning mobile robot is controlled to retreat to return to the base station 1 .

In one implementation, referring to FIG. 5A , after the sensing element 101 is sensed by the sensing element 202 , the self-cleaning mobile robot is controlled to rotate in place to perform a U-turn. Referring to FIG. 5B , after the self-cleaning mobile robot makes a U-turn, the self-cleaning mobile robot is controlled to retreat to return to the base station 1 .

In another implementation, referring to FIG. 6A , after the sensing element 101 is sensed by the sensing detecting element 202 , the self-cleaning mobile robot is controlled to retreat, and after the self-cleaning mobile robot retreats, the self-cleaning mobile robot is controlled to rotate on the spot to Make a U-turn. Wherein, the self-cleaning mobile robot may retreat until it leaves the base station 1 and then turn around on the spot, so as to avoid interference with the base station 1 during the rotation of the self-cleaning mobile robot. Referring to FIG. 6B , after the self-cleaning mobile robot makes a U-turn, the self-cleaning mobile robot is controlled to retreat to return to the base station 1 .

The in-situ rotation angle may be 170 degrees to 190 degrees, for example, 170 degrees, 175 degrees, 185 degrees, 190 degrees, and preferably 180 degrees.

There are various implementations for controlling the self-cleaning mobile robot to retreat to return to the base station 1 .

In one implementation, the self-cleaning mobile robot can move back in a straight line.

In another implementation manner, the rear end of the self-cleaning mobile robot is provided with a second infrared receiving tube 205 for receiving infrared guidance signals, and the self-cleaning movement is controlled under the guidance of the infrared guidance signals received by the second infrared receiving tube 205 The robot backs up to return to the base station.

Optionally, in order to avoid the problem of backward collision/stuck in the later stage due to the excessive deviation angle between the self-cleaning mobile robot and the base station 1 when sensing the sensing element 101, the number of infrared emission tubes used for transmitting infrared guidance signals is The number of the first infrared receiving tubes 204 is multiple. A combination of infrared guidance signals that can be received by the first infrared receiving tube 204; if the determined combination of infrared guidance signals belongs to a preset combination of infrared guidance signals representing that the deviation angle of the self-cleaning mobile robot is greater than the set threshold, the self-cleaning mobile robot is controlled to move The robot moves a first preset distance in a direction away from the base station 1 , and then returns to the step of controlling the self-cleaning mobile robot to travel to the base station 1 .

The combination of the infrared guidance signals that can be received by the plurality of first infrared receiving tubes 204 indicates which infrared guidance signals emitted by the infrared transmitting tubes 105 are received by each of the first infrared receiving tubes 204 . The first preset distance may be 30 cm-1 meter.

In the embodiment of the present application, the deviation angles of the self-cleaning mobile robot relative to the base station 1 are different, and the infrared guidance signals that can be received by the first infrared receiving tube 204 are different.

For example, referring to FIG. 7 , if the self-cleaning mobile robot deviates to the left, when the deviation angle is greater than the set threshold, the infrared guidance signal that can be received by the first infrared receiving tube 204A is emitted by the infrared transmitting tube 105C, and the first infrared receiving The infrared guide signal that the tube 204B can receive is emitted by the infrared emission tube 105A and the infrared emission tube 105B; when the deviation angle is less than the set threshold, the infrared guide signal that the first infrared receiving tube 204A can receive is the infrared emission tube 105A The infrared guiding signal that can be received by the first infrared receiving tube 204B is emitted by the infrared transmitting tube 105B.

In the above description, the orientation word "front" refers to the forward direction of the self-cleaning mobile robot, the direction opposite to "front" is "rear", and the "left" and "right" are opposite to "front" and "rear". definition.

In an implementation manner, the self-cleaning mobile robot can preset a combination of infrared guidance signals indicating that the deviation angle of the self-cleaning mobile robot is greater than a set threshold, and then the self-cleaning mobile robot can determine the capabilities of the plurality of first infrared receiving tubes. Whether the received infrared guidance signal combination belongs to the preset infrared guidance signal combination, if so, it indicates that the deviation angle between the self-cleaning mobile robot and the base station is large. After the self-cleaning mobile robot turns around and backs up, it cannot enter the base station. , control the self-cleaning mobile robot to move a first preset distance away from the base station, and then return to step 301 to make the self-cleaning mobile robot go back to the base station again.

In another implementation manner, the self-cleaning mobile robot can judge whether the combination of infrared guidance signals received by the plurality of first infrared receiving tubes is based on the degree of symmetry of the infrared guidance signals received by each of the first infrared receiving tubes. It belongs to the preset infrared guidance signal combination. For example, referring to FIG. 7 , the infrared guiding signals emitted by the infrared emission tube 105A and the infrared emission tube 105B are symmetrical, and the infrared guiding signals emitted by the infrared emission tube 105C and the infrared emission tube 105D are symmetrical. If the number of infrared guide signals symmetrical to the infrared guide signal received by the first infrared receiving tube 204B is greater than the first set threshold, and the first infrared receiving tube 204B receives the infrared guide signal In the infrared guide signals received by the tube 204A, if the number of infrared guide signals that are asymmetric with the infrared guide signals received by the first infrared receiving tube 204B is less than the second set threshold, it is determined that a plurality of the first infrared guide signals The combination of infrared guidance signals that the receiver tube can receive does not belong to the preset combination of infrared guidance signals. Otherwise, it is determined that the combination of infrared guidance signals that can be received by the plurality of the first infrared receiving tubes belongs to the preset combination of infrared guidance signals, indicating that the deviation angle between the self-cleaning mobile robot and the base station is relatively large, and the self-cleaning mobile robot turns around and retreats. After that, the base station cannot be entered. At this time, the self-cleaning mobile robot is controlled to move a first preset distance away from the base station, and then returns to step 301 to make the self-cleaning mobile robot return to the base station again.

The specific process of controlling the self-cleaning mobile robot to move away from the base station by the first preset distance can be seen in FIG. 7 . distance, and then make a U-turn.

Optionally, in order to prevent the self-cleaning mobile robot from entering the base station by mistake when working along the wall, the method further includes: when the self-cleaning mobile robot is in a walking mode along the wall, after sensing the inductive element through the inductive detection element, the method further includes: The self-cleaning mobile robot is controlled to be offset to the side of the sensing element away from the base station.

In the embodiment of the present application, the self-cleaning mobile robot may be provided with a sensor along the wall, and the self-cleaning mobile robot may walk along the wall by using the sensor along the wall. Referring to FIG. 8 , when the self-cleaning mobile robot walks along the wall to the entrance of the base station 1, the self-cleaning mobile robot automatically moves along the wall. The cleaning mobile robot can sense the induction element 101 through the induction detection element 202, and when the induction detection element 202 senses the induction element 101, the self-cleaning mobile robot is controlled to shift to the side of the induction element 101 away from the base station 1, so that The sensing element 101 can also function as a virtual wall to prevent the self-cleaning mobile robot from entering the base station 1 when cleaning along the wall.

As shown in FIG. 9 , the embodiment of the present application also provides an example of a method for returning a self-cleaning mobile robot to a base station. The specific steps are as follows:

Step 901, under the guidance of the infrared guidance signal, control the self-cleaning mobile robot to travel to the base station.

Step 902, after sensing the sensing element through the sensing detecting element, determine whether the combination of infrared guidance signals that can be received by the plurality of first infrared receiving tubes belongs to a preset characterizing that the deviation angle of the self-cleaning mobile robot is greater than the set value. Thresholded combination of infrared pilot signals.

Step 903 , if yes, control the self-cleaning mobile robot to move the first preset distance away from the base station, and return to step 901 .

Step 904, if not, the self-cleaning mobile robot is controlled to back away from the base station, and then turn around on the spot.

Step 905, under the guidance of the infrared guidance signal, control the self-cleaning mobile robot to retreat to return to the base station.

For the specific implementation process of step 901 to step 905, reference may be made to step 301 to step 303, which is not repeated in this embodiment.

Optionally, before controlling the self-cleaning mobile robot to travel to the base station, it further includes: cleaning the area to be cleaned, that is, performing path planning cleaning of the area to be cleaned, as shown in FIG. 10 , and FIG. A path planning method for a robot, the specific steps are as follows:

Step 1001: Plan a cleaning path covering the to-be-cleaned area according to the outline of the to-be-cleaned area as a static path.

In the embodiment of the present application, the robot can walk along the cleaning area to obtain the outline of the area to be cleaned. Wherein, the edge of the cleaning area may be a solid edge and/or a virtual edge, the solid edge refers to the boundary formed by an actual object (such as a wall), and the virtual edge refers to the virtual boundary of the area to be cleaned. Or virtual boundaries can define the area to be cleaned. The corresponding walking along the edge can also be walking along the physical edge and/or walking along the virtual edge. For example, the outline of the cleaning area obtained by the robot walking along the edge is shown in Figure 11 and Figure 12 . The solid line in Figure 11 and Figure 12 represents the boundary formed by the actual object, and the dashed line represents the virtual boundary.

The robot can determine the largest contour of the area to be cleaned according to the contour of the area to be cleaned obtained along the edge, where the largest contour refers to the contour formed by the outermost boundary points of the contour obtained along the edge. For example, taking the contour of the area to be cleaned as shown in FIG. 11A as an example, the outermost boundary points include points A1, B1, C1 and D1, and the maximum contour formed is consistent with the contour obtained along the edge. The robot can The contour obtained along the edge is directly determined as the largest contour of the area to be cleaned; taking the contour of the area to be cleaned shown in FIG. 12A as an example, the outermost boundary points include: A2 point, B2 point, C2 point and D2 point, The resulting maximum profile is shown by the solid line box in Figure 12B.

The robot can plan a cleaning path covering the area to be cleaned according to the determined maximum contour. For example, the path can be planned in a bow-shaped covering method. The specific steps can be: starting from a corner of the largest contour, along the X direction (horizontal direction or vertical direction). ) to plan a cleaning path; at the endpoint of the cleaning path, move a preset distance (for example, the cleaning width of the robot or the body width of the robot) along the Y direction (perpendicular to the X direction); after moving, in the X direction Plan a cleaning path in the opposite direction of the robot; move a preset distance in the Y direction (for example, the cleaning width of the robot or the body width of the robot); after moving, return to the plan in the X direction (horizontal direction or vertical direction) The steps of a cleaning path until the planned cleaning path covers the area to be cleaned. The cleaning path planned in this step may be called a static path.

For example, the cleaning path planned for the area to be cleaned shown in FIG. 11A is shown in FIG. 11B , the lines with arrows in the figure represent the cleaning paths, and each cleaning path has two endpoints, which are the starting endpoint and the ending endpoint, respectively. Travel sequence of the robot for cleaning: S1_2, S1_1, S2_1, S2_2, S3_2, S3_1, S4_1, S4_2, S5_2, S5_1, S6_1, S6_2, S7_2, S7_1, S8_1, S8_2, S9_2, S9_1, S10_1, S10_2, S11_2, S11_1 . The cleaning path at the planned outline of the area to be cleaned shown in FIG. 12A is shown by the lines with arrows in FIG. 12C .

Step 1002, when an obstacle is sensed during the cleaning process along the static path, perform edge cleaning on the obstacle to obtain the obstacle contour.

In the embodiment of the present application, the robot is provided with an obstacle detection component, and the obstacle detection component may be a collision sensor, a distance sensor, or an image detection module. During the cleaning process along the planned cleaning path, when the robot detects an obstacle through the obstacle detection component, it can clean the obstacle along the edge to obtain the outline of the obstacle. Correspondingly, the robot may be provided with edgewise sensors for walking along the edge.

For example, see Fig. 13, Fig. 13 is a schematic diagram of the robot along the edge, the thick solid line with arrows in the figure is the cleaning path that has been traveled, the point S6_3 is the point where the obstacle is sensed, H1 is the obstacle, at the point S6_3 the robot pair The obstacles are cleaned along the edge counterclockwise, of course, the robot can also clean the obstacles clockwise along the edge.

Step 1003, re-planning to form a dynamic path for the area not including obstacles covered by the static path intersecting with the contour of the obstacle, and replacing the static path intersecting with the contour of the obstacle with a dynamic path to form a new cleaning path.

Step 1004, cleaning along the new cleaning path.

In the embodiment of the present application, since part of the static path intersects the contour of the obstacle, the robot cannot continue to clean along the static path, and the area covered by the static path intersecting with the contour of the obstacle does not contain obstacles, re-planning to form a dynamic path. Among them, both the dynamic path and the static path are cleaning paths, and they are called differently to distinguish the two cleaning paths. The robot can then replace the static path that intersects the obstacle contour with a dynamic path to form a new cleaning path.

For example, referring to Fig. 13, the static paths S1, S2 and S3 intersect with the obstacle contour, and the robot re-plans the cleaning path of the area covered by S1, S2 and S3 that does not contain obstacles, as a dynamic path, for example, re-planning in the horizontal direction Plan the cleaning path or re-plan the cleaning path in the vertical direction, and clean according to the re-planned cleaning path. After cleaning according to the re-planned cleaning path, continue cleaning along the uncleaned cleaning path above it.

Compared with the prior art, the present application only re-plans the cleaning path (ie, dynamic path) of the area covered by the static path intersecting with the contour of the obstacle when an obstacle is sensed, and does not need to re-plan the cleaning path of all remaining uncleaned areas , improving the planning efficiency. In addition, the original static path that does not intersect with obstacles and has not been cleaned is retained, so that the cleaning path of the entire to-be-cleaned area has high continuity and unity, and makes the user feel better. In addition, in the early stage of this application, the static path is only planned according to the outline of the cleaning area, and the obstacle information in the cleaning area is not used for path planning, because during the cleaning process of the robot along the static path, the obstacles may move (for example, moving to (outside the area to be cleaned), in this way, cleaning along the originally planned static path may cause missed sweeps. This application only updates the cleaning path in time when an obstacle is sensed during the cleaning process, which can avoid the above missed sweeping phenomenon. .

Optionally, for the area that does not contain obstacles covered by the static path intersecting the contour of the obstacle, the specific processing process of re-planning to form the dynamic path can be: The static path intersected by objects is divided into at least two parts, which are used as dynamic paths; wherein, each part of the dynamic path covers an area, which is used as a divided area. Correspondingly, cleaning along the new cleaning path includes: cleaning the divided areas one by one along the dynamic path in the new cleaning path; after cleaning the divided areas, following the uncleaned static path in the new cleaning path Continue cleaning.

Wherein, when the outline of the obstacle is a convex figure, the parts that the obstacle divides the static path intersecting with the obstacle include: parts located on both sides of the obstacle respectively. For example, referring to Figure 14, a static path that intersects an obstacle is split into two parts: one to the left of the obstacle and one to the right of the obstacle, as a dynamic path. The area covered by the part on the left side of the obstacle (dynamic path) is R1 (that is, the segmentation area R1), and the area covered by the part on the right side of the obstacle (dynamic path) is R2 (that is, the segmentation area R2).

When the contour of the obstacle is a concave shape, the parts that the obstacle divides the static path intersecting with it include: the parts located on both sides of the obstacle and the part located at the concave of the obstacle, as the dynamic path. For example, referring to Figure 15, a static path that intersects an obstacle is divided into three parts: one to the left of the obstacle, one to the right of the obstacle, and one in the depression of the obstacle. The area covered by the part on the left side of the obstacle (dynamic path) is R1 (that is, the segmentation area R1), and the area covered by the part on the right side of the obstacle (dynamic path) is R2 (that is, the segmentation area R2), which is located in the obstacle The area covered by the part (dynamic path) at the recess of the object is R3 (ie, the segmented area R3).

The robot can clean the divided areas one by one along the dynamic path. Taking the divided areas shown in Figure 14 as an example, the cleaning sequence of the divided areas can be: R1, R2, or R2, R1. Taking the divided area shown in FIG. 15 as an example, the cleaning sequence of the divided area can be: R1, R2, R3, or R1, R3, R2, or R2, R1, R3, or R2, R3, R1, or is R3, R1, R2, or R3, R2, R1.

In this application, the part where the static path intersects with the obstacle is removed, so as to divide the static path intersecting with the obstacle into at least two parts, each part of the dynamic path covers an area, which is used as a divided area; the divided areas are cleaned one by one along the dynamic path. Because only the part where the static path intersects the obstacle is removed, the original part of the static path is retained, and no cleaning path is newly added, so that the cleaning path of the entire area to be cleaned has high continuity and unity. In addition, cleaning the divided areas one by one along the dynamic path, compared to mixing the divided areas for cleaning, the robot does not need to go back and forth between the divided areas multiple times, reducing the travel path and improving the cleaning efficiency.

Optionally, the specific process of cleaning the segmented areas one by one along the dynamic path in the new cleaning path may include: finally cleaning the segmented area closest to the first starting endpoint, where the first starting endpoint is: in the new cleaning path. , the starting endpoint of the uncleaned static path closest to the obstacle.

In the embodiment of the present application, after the robot has cleaned all the divided areas, it also needs to clean along the uncleaned static path. In order to shorten the distance from the last divided area to the uncleaned static path, the travel path of the robot is reduced. , the robot can finally clean the segmented area closest to the first starting endpoint.

Among them, when the outline of the obstacle is a convex figure, the segmentation area includes: the segmentation area located on the left side of the obstacle and the segmentation area located on the right side of the obstacle; clean the segmentation areas one by one along the dynamic path, including: if located on the left side of the obstacle If the segmented area located on the right side of the obstacle is closest to the first starting endpoint, then the segmented area located on the right side of the obstacle and the segmented area located on the left side of the obstacle will be cleaned in turn; The split area on the left side of the obstacle, the split area on the right side of the obstacle.

For example, referring to Fig. 14, S9_2 is the first starting point, and the segmented area closest to S9_2 is R2. The robot can clean the segmented area R1 first, and then clean the segmented area R2 at the end. Continue cleaning with uncleaned static paths.

Wherein, when the outline of the obstacle is a concave shape, the segmentation area includes: the segmentation area located on the left side of the obstacle, the segmentation area located on the right side of the obstacle, and the segmentation area located in the concave part of the obstacle; clean segmentation along the dynamic path one by one area, including: if the segmentation area located on the left side of the obstacle is closest to the first starting endpoint, then sequentially clean the segmentation area located on the right side of the obstacle, the segmentation area located in the recessed part of the obstacle, and the segmentation area located on the left side of the obstacle; If the segmented area on the right side of the obstacle is closest to the first starting point, then clean the segmented area located on the left side of the obstacle, the segmented area located at the recessed portion of the obstacle, and the segmented area located on the right side of the obstacle.

In the above description of the cleaning path, the orientation or positional relationship indicated by the orientation words "left" and "right" is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and should not be understood as Limitations of the present invention.

For example, referring to Fig. 15, S9_2 is the first starting point, and the segmented area closest to S9_2 is R2. The robot can first clean the segmented area R1, then clean the segmented area R3, and finally clean the segmented area R2. After the segmented area R2 is cleaned, Move to S9_2 and continue cleaning along the uncleaned cleaning path.

Optionally, when cleaning each divided area, start from the end point of the dynamic path closest to the cleaned area in the dynamic path corresponding to the divided area, and clean along the dynamic path corresponding to the divided area. .

Wherein, the part (ie, the dynamic path) divided by the static path intersecting with the obstacle retains the original cleaning direction, and the cleaning direction refers to the traveling direction of a cleaning path (for example, as shown in FIG. 14 from S8_1 to The direction of S8_2), and the direction of crossing from one cleaning path to another cleaning path (eg, the direction from bottom to top as shown in FIG. 14).

Referring to FIG. 14 , when starting to clean the divided region R1, the cleaning starts from the endpoint S7_3, and the cleaning sequence is: S7_3, S7_1, S8_1, and S8_3. When cleaning the divided region R2, cleaning is performed from the endpoint S6_4, and the cleaning sequence is: S6_4, S6_2, S7_2, S7_4, S8_4, S8_2.

In the embodiment of the present application, when cleaning each divided area, start from the end point of the dynamic path closest to the cleaned area in the dynamic path corresponding to the divided area, and follow the dynamic path corresponding to the divided area. For cleaning, after the last segmented area is cleaned, the robot is closest to the starting point of the uncleaned static path. For example, see Figure 14. After cleaning the last segmented area R2, the robot is at the position S8_2, which is a distance from the uncleaned location. The starting point S9_2 of the static path is recently, and the path for the robot to move to this starting point is short, which reduces the travel path of the robot and improves the cleaning efficiency.

In addition, when the robot cleans each divided area, it starts from the end point of the dynamic path closest to the cleaned area in the dynamic path corresponding to the divided area, and cleans along the dynamic path corresponding to the divided area. The travel path for the robot to clean the divided area has continuity and unity with the original static path (refer to the cleaning paths shown in Figures 14 and 15 ), which can improve the user's perception.

Wherein, the robot can communicate with a mobile terminal (eg, a tablet computer or a mobile phone), and the mobile terminal acquires the map and the cleaning path constructed by the robot, and displays them.

An embodiment of the present application also provides a self-cleaning mobile robot, as shown in FIG. 16 , including a processor 1601, a communication interface 1602, a memory 1603, and a communication bus 1604, wherein the processor 1601, the communication interface 1602, and the memory 1603 communicate through The bus 1604 completes mutual communication, the memory 1603 is used to store computer programs; the processor 1601 is used to implement the above method steps of returning the self-cleaning mobile robot to the base station when executing the program stored in the memory 1603 .

The communication bus mentioned in the above electronic device may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus or the like. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the above electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM), and may also include non-volatile memory (Non-Volatile Memory, NVM), such as at least one disk storage. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

The above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processing, DSP), dedicated integrated Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In another embodiment provided by the present application, a computer-readable storage medium is also provided, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any of the above self-cleaning movements is implemented Steps of the robot return to the base station method.

In yet another embodiment provided by the present application, a computer program product including instructions is also provided, which, when running on a computer, enables the computer to execute any one of the method steps of the self-cleaning mobile robot returning to the base station in the above-mentioned embodiments.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center is by wire (eg, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), and the like.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Each embodiment in this specification is described in a related manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the self-cleaning mobile robot, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for related parts, please refer to some descriptions of the method embodiments.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application are included in the protection scope of this application.

Claims

A method for returning a self-cleaning mobile robot to a base station, characterized in that the front end of the self-cleaning mobile robot is provided with an inductive detection element, the bottom of the back end of the self-cleaning mobile robot is provided with a mopping component, and the base station is provided with a Cleaning the cleaning tank of the mopping assembly and the guide surface extending downward gradually from one side of the cleaning tank, the base station is provided with an inductive element corresponding to the inductive detection element, and the inductive element is arranged on the On the guide surface, the method includes:

controlling the self-cleaning mobile robot to travel to the base station;

After sensing the sensing element through the sensing detecting element, controlling the self-cleaning mobile robot to turn around;

After the self-cleaning mobile robot makes a U-turn, the self-cleaning mobile robot is controlled to back up to return to the base station.
The method according to claim 1, wherein the inductive detection element is a Hall sensor, and the inductive element is a magnetic strip;

Alternatively, the inductive detection element is a reed switch, and the inductive element is a magnetic strip;

Alternatively, the inductive detection element is an infrared receiving tube, and the inductive element is an infrared emission tube.
The method according to claim 1, wherein the sensing element is arranged at the entrance of the base station.
The method according to claim 3, wherein the method further comprises:

When the self-cleaning mobile robot is in the walking mode along the wall, when the sensing element is sensed by the sensing element, the self-cleaning mobile robot is controlled to move to the side of the sensing element away from the base station offset.
The method according to claim 1, wherein the controlling the self-cleaning mobile robot to turn around after the sensing element is sensed by the sensing detecting element, comprising:

After the sensing element is sensed by the sensing detecting element, the self-cleaning mobile robot is controlled to rotate on the spot to make a U-turn; or,

After the sensing element is sensed by the sensing element, the self-cleaning mobile robot is controlled to retreat, and after the self-cleaning mobile robot retreats, the self-cleaning mobile robot is controlled to rotate in place to perform a U-turn.
The method according to claim 1, wherein the base station is provided with an infrared transmitting tube for transmitting infrared guidance signals, and the front end of the self-cleaning mobile robot is provided with a first infrared receiving tube for receiving the infrared guidance signals ,

The controlling the self-cleaning mobile robot to travel to the base station includes:

Under the guidance of the infrared guidance signal received by the first infrared receiving tube, the self-cleaning mobile robot is controlled to travel to the base station.
The method according to claim 6, wherein the rear end of the self-cleaning mobile robot is provided with a second infrared receiving tube for receiving the infrared guidance signal,

The controlling the self-cleaning mobile robot to back up to return to the base station includes:

Under the guidance of the infrared guidance signal received by the second infrared receiving tube, the self-cleaning mobile robot is controlled to retreat to return to the base station.
The method according to claim 6, wherein the number of the infrared emitting tubes for emitting infrared guidance signals is multiple, and each infrared emitting tube is used for emitting different coded infrared guidance signals, and the first infrared emitting tube The number of receiving pipes is multiple,

The method also includes:

After sensing the inductive element through the inductive detection element, determine a combination of infrared guidance signals that can be received by a plurality of the first infrared receiving tubes;

If the determined combination of infrared guidance signals belongs to a preset combination of infrared guidance signals indicating that the deviation angle of the self-cleaning mobile robot is greater than the set threshold, the self-cleaning mobile robot is controlled to move away from the base station by the first preset combination distance, and then return to the step of controlling the self-cleaning mobile robot to travel to the base station.
The method according to claim 1, wherein before the controlling the self-cleaning mobile robot to travel to the base station, the method further comprises: cleaning the area to be cleaned;

The cleaning of the area to be cleaned includes:

Planning a cleaning path covering the to-be-cleaned area according to the contour of the to-be-cleaned area as a static path;

when an obstacle is sensed during cleaning along the static path, edge-cleaning the obstacle to obtain an obstacle profile;

For the area that does not contain the obstacle covered by the static path intersecting with the obstacle contour, re-plan to form a dynamic path, and replace the static path intersecting with the obstacle contour with the dynamic path to form a new path. cleaning path;

Clean along the new cleaning path.
A self-cleaning mobile robot, characterized in that the front end of the self-cleaning mobile robot is provided with an induction detection element, and the bottom of the rear end is provided with a mopping component; the self-cleaning mobile robot further includes a processor and a machine-readable storage medium , the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is caused by the machine-executable instructions to implement the following method steps:

controlling the self-cleaning mobile robot to travel to the base station;

After sensing the sensing element through the sensing detecting element, controlling the self-cleaning mobile robot to turn around;

After the self-cleaning mobile robot makes a U-turn, the self-cleaning mobile robot is controlled to back up to return to the base station.