CN112205926B

CN112205926B - Cleaning robot system and control method and device thereof

Info

Publication number: CN112205926B
Application number: CN201910623221.7A
Authority: CN
Inventors: 张士松; 钟红风; 谭一云; 谢明健
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-07-11
Filing date: 2019-07-11
Publication date: 2022-07-12
Anticipated expiration: 2039-07-11
Also published as: WO2021003937A1; CN112205926A

Abstract

The invention provides a cleaning robot system and a control method and device thereof, wherein the cleaning robot system comprises: a main base station, at least one cleaning robot; the control method comprises the following steps: receiving a request instruction which is sent by at least one cleaning robot and applies for calling a main base station; allocating the at least one cleaning robot according to the request instruction and the current state of the main base station and according to a preset main base station allocation requirement, so that the at least one cleaning robot can be maintained on the main base station respectively; the request instruction comprises task information returned by the cleaning robot, wherein the task information comprises task information of returning and charging with the residual electric quantity smaller than a preset value, task information of replacing components in the cleaning robot and task information of returning and dust collection. The embodiment of the application provides a cleaning robot system capable of reducing occupied space and using cost and improving intellectualization, and a control method and a control device thereof.

Description

Cleaning robot system and control method and device thereof

Technical Field

The invention relates to the field of sweeping robots, in particular to a cleaning robot system and a control method and device thereof.

Background

When cleaning, there are two different cleaning methods, sweeping and mopping. However, the conventional cleaning robot system is often provided with only one cleaning method, for example, only cleaning, only mopping, or two cleaning methods. However, the cleaning robot system with two cleaning methods is usually mainly one cleaning method and is auxiliary, that is, the cleaning effect of the other cleaning method is poor. For example, cleaning robot systems that are primarily intended for sweeping are less effective in mopping. The cleaning robot system mainly for mopping has a poor cleaning effect.

In order to have the effects of two cleaning methods, a plurality of cleaning robot systems are generally equipped in a household. Such as a robot system for cleaning, a robot system for mopping. But each robot system has its own maintenance system and charging system. Thus when multiple robotic systems are equipped, there will be multiple maintenance or charging systems. Therefore, the occupied space is large, the use cost is high, and the intelligent degree is low.

Therefore, there is a need to provide a cleaning robot system, a control method and a control device thereof, which overcome the above-mentioned disadvantages.

Disclosure of Invention

In view of this, the present disclosure provides a cleaning robot system, a control method and a device thereof, which can reduce occupied space and use cost and improve intelligence.

The above object of the present invention can be achieved by the following technical solutions: a control method of a cleaning robot system, the cleaning robot system comprising: a main base station, at least one cleaning robot; the control method comprises the following steps: receiving a request instruction which is sent by at least one cleaning robot and applies for calling a main base station; and allocating the at least one cleaning robot according to the request instruction and the current state of the main base station and according to a preset main base station allocation requirement, so that the at least one cleaning robot can be maintained on the main base station respectively.

As a preferred embodiment, the request instruction includes task information returned by the cleaning robot, and the task information includes one of: returning charge task information, replacing parts in the cleaning robot, returning dust collection task information, returning suction paper task information, and returning dust collection and suction paper task information.

In a preferred embodiment, the task information is derived from remote information and/or from information local to the cleaning robot.

As a preferred embodiment, the remote information has a higher priority than the local information of the cleaning robot.

In a preferred embodiment, the request command further includes position information of the cleaning robot.

As a preferred embodiment, the cleaning robot system further includes: and the auxiliary base station is used for the cleaning robot to stop.

As a preferred embodiment, the step of allocating the at least one cleaning robot according to preset main base station allocation requirements according to the request instruction and the current state of the main base station includes: judging the number of the request instructions; when the number of the request instructions is 1, judging whether the current state of the main base station is idle; when the current state of the main base station is idle, allocating the main base station to the cleaning robot that transmits the request instruction.

As a preferred embodiment, the step of allocating the at least one cleaning robot according to a preset main base station allocation requirement according to the request instruction and the current state of the main base station further includes: when the number of the request instructions is larger than 1, carrying out priority ranking on the cleaning robots, and selecting the cleaning robot with the highest priority as the cleaning robot to be maintained currently; judging the current state of the main base station; and when the current state of the main base station is idle, distributing the main base station to the current cleaning robot to be maintained.

As a preferred embodiment, after the steps of prioritizing the cleaning robots and selecting the cleaning robot with the highest priority as the cleaning robot to be currently maintained, the method further includes: assigning the cleaning robots of other priorities to the auxiliary base station.

In a preferred embodiment, the auxiliary base station is provided with a charging unit for charging the cleaning robot.

In a preferred embodiment, the auxiliary base station is a virtual docking point and/or a base station with a charging function.

In a preferred embodiment, the position of the virtual stop point is set in one of the following ways: user-defined, preset and robot random determination.

As a preferred embodiment, the step of assigning the cleaning robots of other priorities to the auxiliary base station specifically includes: acquiring position information of the cleaning robot of each other priority; and distributing the corresponding cleaning robot to the auxiliary base station closest to the corresponding cleaning robot according to each piece of position information.

As a preferred embodiment, the step of allocating the at least one cleaning robot according to a preset main base station allocation requirement according to the request instruction and the current state of the main base station further includes: when the current state of the main base station is busy, judging the emergency degree of the cleaning robot sending a request instruction; when the cleaning robot that issued the request instruction is in an emergency state, controlling the main base station to give way to the cleaning robot in a maintenance state, and allocating the main base station to the cleaning robot in the emergency state.

As a preferred embodiment, the step of allocating the at least one cleaning robot according to a preset main base station allocation requirement according to the request instruction and the current state of the main base station further includes: when the cleaning robot that issued the request instruction is in a non-emergency state, the cleaning robot in the non-emergency state is assigned to an auxiliary base station.

As a preferred embodiment, it further comprises: and the cleaning robot in the auxiliary base station sends a request instruction for applying for calling the main base station.

As a preferred embodiment, it further comprises: the main base station maintains the cleaning robot therein; and after the maintenance of the cleaning robot is finished, controlling the main base station to go out of the cleaning robot of which the maintenance is finished so as to enable the current state of the main base station to be idle.

A control device of a cleaning robot system, comprising: the first receiving module is used for receiving a request instruction which is sent by at least one cleaning robot and applies for calling the main base station; and the allocating module is used for allocating the at least one cleaning robot according to the request instruction and the current state of the main base station and according to a preset main base station allocating requirement, so that the at least one cleaning robot can be maintained on the main base station respectively.

A cleaning robot system comprising a cleaning robot, a main base station, an auxiliary base station, and a control unit, the main base station comprising: for performing maintenance on the cleaning robot; the auxiliary base station is arranged on the main base station and is used for the cleaning robot to stop; a control unit for deploying the cleaning robot so that the cleaning robot can perform maintenance on the main base station and/or stop on the auxiliary base station.

As a preferred embodiment, the cleaning robot system further includes a lifting mechanism for lifting the cleaning robot to the auxiliary base station.

In a preferred embodiment, the lifting mechanism includes a lifting mechanism for lifting the cleaning robot to the auxiliary base station substantially in a straight line.

As a preferred embodiment, the lifting mechanism comprises at least one roller and a lifting rope; the lifting rope is used for lifting the cleaning robot when at least one roller rotates.

In a preferred embodiment, a balance weight is provided on the lifting rope for balancing the weight of the cleaning robot.

In a preferred embodiment, the lifting mechanism includes a telescopic member which is telescopic in the up-down direction.

In a preferred embodiment, the lifting mechanism comprises a reciprocating hydraulic rod.

As a preferred embodiment, the lifting mechanism comprises a swinging mechanism.

As a preferred embodiment, the oscillating mechanism comprises at least one crank.

The cleaning robot system and the control method and device thereof have the advantages that: the cleaning robot system, the control method and the control device thereof according to the embodiment of the application allocate at least one cleaning robot according to the preset main base station allocation requirement by receiving a request instruction for applying for calling the main base station, which is sent by at least one cleaning robot, and according to the request instruction and the current state of the main base station, so that the at least one cleaning robot can be maintained on the main base station respectively. So that a plurality of cleaning robot systems for cleaning are equipped in a household. For example, when a cleaning robot system for cleaning and a cleaning robot system for mopping are equipped, at least one cleaning robot can be allocated according to a request command for calling the main base station and the current state of the main base station, which are sent by at least one cleaning robot, and according to preset allocation requirements of the main base station, so that at least one cleaning robot can be maintained on the main base station respectively. This enables the respective cleaning robots to share one main base station. I.e. avoiding equipping each cleaning robot with a maintenance system. And then the quantity of maintenance system has been reduced to reduce occupation space and use cost and can realize intellectuality through allotting at least one cleaning machines people. Therefore, the embodiment of the application provides a cleaning robot system, a control method and a control device thereof, which can reduce the occupied space and the use cost and improve the intellectualization.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a control method of a cleaning robot system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a control method of a cleaning robot system according to an embodiment of the present invention;

fig. 3 is a block diagram of a control apparatus of a cleaning robot system according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a cleaning robot system according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of another cleaning robot system according to an embodiment of the present invention;

FIG. 6 is a schematic view of a lifting mechanism provided in accordance with an embodiment of the present invention;

FIG. 7 is a schematic illustration of the lifting mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic view of another embodiment of a lifting mechanism according to the present invention;

FIG. 9 is a schematic view of another embodiment of a lifting mechanism according to the present invention;

FIG. 10 is a schematic view of another embodiment of a lifting mechanism according to the present invention;

fig. 11 is a schematic view of another lifting mechanism provided in the embodiment of the present invention.

Description of reference numerals:

109. a master base station; 13. a secondary base station; 15. a frame; 21. a first docking portion; 23. a lifting mechanism; 25. a roller; 27. a lifting rope; 29. a pulling section; 31. a first extension section; 33. a second extension section; 35. a third extension section; 37. a counterbalance; 39. a crank; 41. a rotating shaft; 43. a first portion; 45. a second portion; 51. a support plate; 53. a first roller; 55. a second roller; 57. a first crank; 59. a second crank; 50. a first receiving module; 52. and a blending module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Please refer to fig. 1. In one embodiment, a method for controlling a cleaning robot 107 system includes: a main base station 109, at least one cleaning robot 107; the control method comprises the following steps: step S11: receiving a request instruction for applying for calling the main base station 109 sent by at least one cleaning robot 107; step S13: and allocating the at least one cleaning robot 107 according to the request instruction and the current state of the main base station 109 and according to preset allocation requirements of the main base station 109, so that the at least one cleaning robot 107 can be maintained on the main base station 109 respectively.

The technical scheme shows that: the control method of the cleaning robot 107 system according to the embodiment of the present application allocates at least one cleaning robot 107 according to the preset allocation requirement of the main base station 109 by receiving the request instruction for requesting to invoke the main base station 109 sent by at least one cleaning robot 107 and according to the request instruction and the current state of the main base station 109, so that at least one cleaning robot 107 can perform maintenance on the main base station 109, respectively. So that a plurality of cleaning robot 107 systems for cleaning are equipped in a home. For example, when a cleaning robot 107 system for cleaning and a cleaning robot 107 system for mopping are provided, at least one cleaning robot 107 can be deployed according to a request command for calling the main base station 109 and the current state of the main base station 109, which are sent by at least one cleaning robot 107, and a preset deployment request of the main base station 109, so that at least one cleaning robot 107 can be maintained on the main base station 109. This enables the respective cleaning robots 107 to share one main base station 109. I.e. avoiding equipping each cleaning robot 107 with a maintenance system. Thereby reducing the number of maintenance systems, reducing the occupied space and the use cost and enabling intellectualization by deploying at least one cleaning robot 107.

In the present embodiment, the cleaning robot 107 system includes: a main base station 109, at least one cleaning robot 107. Wherein the main base station 109 is used for maintenance of at least one cleaning robot 107. The cleaning robot 107 includes a cleaning robot that can only perform cleaning. Or the cleaning robot 107 may comprise a mopping robot that can only perform mopping. Or the cleaning robot 107 may include a sweeping and mopping integrated robot capable of cleaning and mopping.

Further, the sweeping and mopping integrated robot comprises a dust suction assembly and a wiping module. The dust collection assembly is used for recovering dust on a working surface. That is, the dust collection assembly is used for recovering and treating dust on a working surface so as to realize the cleaning effect. The wiping module is used for wiping a working surface. That is, the wiping module is used for wiping the working surface to realize the wiping effect.

Further, the wiping module can comprise a rolling brush and an edge brush, and is used for cleaning sundries such as dust on the ground, corners and the like, relatively concentrating the sundries in the rolling brush for treatment through the edge brush, and collecting the dust to the dust collecting box.

In the present embodiment, step S11: a request instruction for calling the main base station 109 transmitted by at least one cleaning robot 107 is received. Further, the execution subject of step S11 is the control unit. In particular, the control unit may be an independently provided component having control and data processing functions, i.e. may be an independently provided controller. Of course, the separate component is not limited to be provided on the main base station 109, and may be provided on a server or the cleaning robot 107. Of course, the control unit may be a component having control and processing functions on the main charging station, the server, the cleaning robot 107, or the like, instead of a component separately provided, and this application is not limited thereto. For convenience of description, the components of both of the above cases are referred to as a control unit in the present application.

Further, the request instruction includes task information returned by the cleaning robot 107. The task information includes one of: task information of returning charge, task information of replacing a component in the cleaning robot 107, task information of returning suction, and task information of returning suction and suction. So that when each cleaning robot 107 sends the request instruction to the control unit, the control unit can know the task that the corresponding cleaning robot 107 needs to complete through the request instruction of the respective cleaning robot 107. The task information of the regression charging may be, for example, a case where the remaining capacity is smaller than a preset value or larger than the preset value. During the return charging, the return charging may be performed when the electric quantity is less than a preset value, that is, when the electric quantity is insufficient, or the return charging may be performed when the electric quantity is detected to be insufficient after the work is completed, that is, the electric quantity is greater than the preset value, where the preset value may be 20%.

Specifically, when the task information is that the residual capacity is smaller than the preset value for return charging, the cleaning robot returns that the task to be completed is to perform charging. The remaining capacity may be less than 20%, for example. When the task information is to replace a component in the cleaning robot 107, the cleaning robot returns that the task to be completed is to replace the component. The component may be a working head, for example. Of course, the member is not limited to the working head, and may be another member, and the like, and the present application is not limited thereto. When the task information is return dust collection, the cleaning robot returns that the task to be completed is to clean dust in the cleaning robot. When the task information is return suction paper, the cleaning robot returns that the task to be completed is to replace the wiping piece in the cleaning robot. When the task information is returning to dust collection and paper suction, the cleaning robot returns to the task to be completed, namely, the cleaning robot needs to clean dust in the cleaning robot and replace a wiping piece in the cleaning robot.

Further, the task information is from remote information and/or cleaning robot 107 local information. The remote information may be information transmitted from a device other than the cleaning robot. The apparatus may be a computer program. Such as app (application). Of course, the device is not limited to a computer program, and may also be a hardware device, such as a single chip microcomputer. This application is not intended to be limited thereto. The local information may be information sent from the cleaning robot 107 itself.

Preferably, the remote information has a higher priority than the local information of the cleaning robot 107. The higher the priority, the higher the chance that the corresponding cleaning robot preferentially obtains the use right of the main base station. So that the priority of each cleaning robot 107 can be judged by the task information.

Further, the request instruction also contains position information of the cleaning robot 107. So that when each cleaning robot 107 transmits the request instruction to the control unit, the control unit can know the position of the corresponding cleaning robot 107 through the request instruction of the respective cleaning robot 107.

Further, the number of the cleaning robots 107 is at least 1. That is, the number of the cleaning robots 107 may be 1, 2, 3, or 4, etc. This application is not intended to be limited thereto. Further, each cleaning robot 107 sends a request instruction for applying for calling the main base station 109 to the control unit. In other words, that is, each cleaning robot 107 sends a request instruction to the control unit to be able to call up the main base station 109. That is, each cleaning robot 107 desires to call up the main base station 109. In order to call up the main base station 109, each cleaning robot 107 transmits a request command to the control unit to apply for it.

Further, as shown in fig. 1, step S11: before receiving a request instruction for calling the main base station 109 sent by at least one cleaning robot 107, the method may further include:

step S8: the control unit judges whether a request instruction exists currently. That is, the control unit determines whether it has received a request instruction for calling the main base station 109.

Step S9: when there is no request instruction, the control unit sends an inquiry instruction to the cleaning robot 107 whether or not it is necessary to apply for calling the main base station 109. That is, the control unit does not receive the request instruction, the control unit transmits an inquiry instruction whether or not it is necessary to apply for calling the main base station 109 to the cleaning robot 107. Thus, by sending the inquiry command to the cleaning robots 107 when there is no request command for the cleaning robots 107 to request for calling the main base station 109 to the control unit, the control unit enhances the control of each cleaning robot 107, thereby improving the maintenance efficiency of each cleaning robot 107.

Step S10: the cleaning robot 107 receives the inquiry command, and determines whether or not a request instruction for calling the main base station 109 needs to be transmitted to the control unit based on the inquiry command. Thus, when the cleaning robot 107 receives the inquiry command, the cleaning robot 107 determines whether it is necessary to transmit a request command for calling the main base station 109 to the control unit according to its own state. The maintenance efficiency of each cleaning robot 107 can be improved by the inquiry command of the control unit.

Further, the main base station 109 transmits its current state to the control unit so that the control unit can acquire the current state of the main base station 109. The current state of the primary base station 109 may be idle. The idle state may be that the main base station 109 is in an idle state. That is, the main base station 109 does not perform maintenance on any cleaning robot 107. The status of the main base station 109 may also be busy. The busy state may be that the main base station 109 is in an operating state. That is, the main base station 109 is performing maintenance on the cleaning robot 107 therein.

In the present embodiment, step S13: and allocating the at least one cleaning robot 107 according to the request instruction and the current state of the main base station 109 and according to preset allocation requirements of the main base station 109, so that the at least one cleaning robot 107 can be maintained on the main base station 109 respectively. So that each cleaning robot 107 can perform maintenance on the main base station 109 by the deployment of the control unit. This enables the respective cleaning robots 107 to share one main base station 109. I.e. avoiding equipping each cleaning robot 107 with a maintenance system. And further, the number of maintenance systems is reduced, so that the occupied space and the use cost are reduced, and the allocation of the main base station 109 by the control unit can be intelligentized. The main base station 109 may perform maintenance of the cleaning robot 107 by replacing parts, charging, storing, and the like, and this application does not limit the present invention. The preset main base station 109 may be configured such that when the main base station 109 receives request commands issued by a plurality of cleaning robots 107, the main base station 109 selects the cleaning robot 107 according to the sequence in which the main base station 109 receives the request commands issued by the respective cleaning robots 107. Specifically, when the main base station 109 receives request instructions issued by a plurality of cleaning robots 107, the main base station 109 selects the cleaning robot 107 that has received the issued request instruction earliest for maintenance.

In one embodiment, as shown in fig. 2, step S13: according to the request instruction and the current state of the main base station 109, allocating at least one cleaning robot 107 according to preset allocation requirements of the main base station 109, including:

step S131: the number of request instructions is determined. Since the number of the cleaning robots 107 is at least 1, when only one cleaning robot 107 issues a request command for applying for calling the main base station 109, the number of the request command is 1. When a plurality of cleaning robots 107 issue request commands for requesting to call the main base station 109, the number of the request commands is plural. However, since the main base station 109 can maintain only one cleaning robot 107 at a time, the control unit first needs to determine the number of request commands after receiving the request commands transmitted from the cleaning robot 107.

Step S132: when the number of request instructions is 1, it is determined whether the current state of the main base station 109 is idle. That is, when only one cleaning robot 107 issues a request instruction for applying for calling the main base station 109, the control unit judges the current state of the main base station 109. Since the current state of the main base station 109 may be either idle or busy, the control unit needs to determine whether the current state of the main base station 109 is idle.

Step S133: when the current state of the main base station 109 is idle, the main base station 109 is assigned to the cleaning robot 107 so that the cleaning robot 107 can perform maintenance on the main base station 109. That is, when the main base station 109 does not perform maintenance on any cleaning robot 107 at this time, the control unit can directly assign the main base station 109 to the cleaning robot 107 that has uniquely applied for calling the main base station 109, thereby enabling the cleaning robot 107 to perform maintenance on the main base station 109.

In one embodiment, as shown in fig. 2, step S13: allocating at least one cleaning robot 107 according to the request instruction and the current state of the main base station 109 and according to preset allocation requirements of the main base station 109, further comprising:

step S134: when the number of request instructions is greater than 1, the cleaning robots 107 are prioritized, and the cleaning robot 107 with the highest priority is selected as the cleaning robot 107 currently to be maintained. That is, when there are a plurality of cleaning robots 107 that issue request commands for calling up the main base station 109, the control unit first prioritizes the cleaning robots 107 that issue the request commands, so that the cleaning robot 107 with the highest priority can be selected as the cleaning robot 107 to be currently maintained. The prioritization may be a prioritization according to task information of the respective cleaning robots 107. Specifically, it is possible to determine whether the task information of the cleaning robot 107 is from the remote information; the respective cleaning robots 107 are prioritized by determining how much the cleaning robots 107 have a remaining power amount, by determining whether the cleaning robots 107 need to replace a certain component, and the like.

Further, the priority of each cleaning robot 107 is, in order from high to low: the task information is from a cleaning robot 107 of remote information, a cleaning robot 107 with the residual capacity less than a predetermined value, a cleaning robot 107 requiring part replacement, task information of return dust suction, task information of return paper suction, task information of return dust suction and paper suction, and a cleaning robot 107 with the residual capacity higher than a predetermined value, wherein the priority of the cleaning robot 107 requiring part replacement, the task information of return dust suction, the task information of return paper suction, the task information of return dust suction and paper suction is juxtaposed. I.e., the task information is highest priority from the telematic cleaning robot 107. The priority of the cleaning robot 107 having the remaining capacity less than the predetermined value is the second place. The cleaning robot 107 requiring the replacement of the component has the third priority. The priority of the cleaning robot 107 having the remaining power higher than the predetermined value is the fourth place. Since the remaining capacity of the cleaning robot 107 is about to be exhausted when the remaining capacity is smaller than the predetermined value, if the cleaning robot 107 is not charged in time, the normal operation of the cleaning robot 107 will be affected. Therefore, the cleaning robot 107 having the remaining capacity less than the predetermined value has a higher priority. When the remaining power is higher than the predetermined value, the remaining power of the cleaning robot 107 is relatively sufficient, i.e., the cleaning robot 107 can still be used for a period of time, and therefore the priority is relatively low. The predetermined value may be set as desired. For example, the predetermined value is 20%. Of course, the predetermined value is not limited to 20%, and may be other values, which are not specified in the present application. The remote information may be information transmitted from a device other than the cleaning robot. The apparatus may be a computer program. Such as app (application). Of course, the device is not limited to a computer program, and may also be a hardware device, such as a single chip microcomputer. This application does not specify this. The cleaning robot 107 requiring component replacement may be, for example, a cleaning robot 107 requiring work head replacement. I.e. the component may be a working head. Of course, the member is not limited to the working head, and may be other members such as a mop, and the present application does not limit the present invention. The returning can also be that the returning main base station executes the work of dust absorption, paper absorption and the like.

Further, for example, in step S134, there are 4 cleaning robots 107, and the 4 cleaning robots 107 are the cleaning robot 107 whose task information comes from the remote information, the cleaning robot 107 whose remaining power is less than a predetermined value, the cleaning robot 107 whose component needs to be replaced, and the cleaning robot 107 whose remaining power is higher than the predetermined value, respectively. Then the cleaning robot 107 whose task information is from the remote information is selected as the cleaning robot 107 currently to be maintained.

step S136: the control unit determines the current state of the main base station 109. When the current state of the main base station 109 is idle, the control unit assigns the main base station 109 to the cleaning robot 107 currently to be maintained. Since the current state of the main base station 109 may be idle or busy, when the control unit selects the cleaning robot 107 with the highest priority as the cleaning robot 107 to be currently maintained, if the main base station 109 is idle at this time, the control unit may assign the main base station 109 to the cleaning robot 107 with the highest priority. So that the cleaning robot 107 of the highest priority can perform maintenance on the main base station 109. The main base station 109 is assigned to the cleaning robot 107 whose task information comes from remote information, for example. If the main base station 109 is busy at this time, the control unit cannot immediately assign the main base station 109 to the cleaning robot 107 with the highest priority at this time.

In one embodiment, as shown in fig. 2, step S134: after the cleaning robots 107 are prioritized and the cleaning robot 107 with the highest priority is selected as the cleaning robot 107 to be currently maintained, the method further includes:

step S135: cleaning robots 107 of other priorities are assigned to the auxiliary base station 13. For example, the number of the cleaning robots 107 is 4, and the 4 cleaning robots 107 are the cleaning robot 107 whose task information is from remote information, the cleaning robot 107 whose remaining power is less than a predetermined value, the cleaning robot 107 whose component needs to be replaced, and the cleaning robot 107 whose remaining power is higher than a predetermined value, respectively. The cleaning robots 107 of the other priorities are the cleaning robot 107 having the remaining power less than the predetermined value, the cleaning robot 107 requiring the replacement of the parts, and the cleaning robot 107 having the remaining power higher than the predetermined value. That is, the control unit distributes the cleaning robot 107 having the remaining power amount smaller than the predetermined value, the cleaning robot 107 requiring the replacement of the component, and the cleaning robot 107 having the remaining power amount higher than the predetermined value to the subsidiary base station 13. Thereby enabling the cleaning robots 107 of other priorities to wait on the subsidiary base station 13 by assigning the cleaning robots 107 of other priorities to the subsidiary base station 13. Thus, on the one hand, it is ensured that the cleaning robot 107 of the other priority does not affect the maintenance of the cleaning robot 107 of the highest priority, and on the other hand, after the main base station 109 finishes the maintenance of the cleaning robot 107 of the highest priority, the main base station 109 can perform the maintenance of the cleaning robot 107 of the other priority.

In this embodiment, the cleaning robot system further includes: the secondary base station 13. The auxiliary base station 13 is used for the cleaning robot 107 to stop. The subsidiary base station 13 is provided outside the main base station 109. For example, as shown in fig. 4, the subsidiary base station 13 is provided above the main base station 109. Of course, the subsidiary base station 13 is not limited to be provided above the main base station 109. But may be located elsewhere. For example, the subsidiary base station 13 is provided below the main base station 109. This application is not intended to be limited thereto. The auxiliary base station 13 is used for parking another cleaning robot 107 when the cleaning robot 107 is parked on the main base station 109. So that a plurality of robot systems for cleaning are equipped in a home. For example, when a robot system for cleaning or a robot system for mopping is provided, while one robot system is parked on the main base station 109, the other robot system can be parked on the auxiliary base station 13. When the maintenance of the robot system parked in the rack 15 is completed in this way, the robot system in the auxiliary base station 13 can enter the main base station 109 for maintenance. This enables the respective robot systems to share one main base station 109. I.e. avoiding equipping each robot system with a maintenance system. And then reduced the quantity of maintenance system to reduce occupation space and use cost and realize intellectuality.

Further, the auxiliary base station 13 is provided with a charging unit for charging the cleaning robot 107. So that the cleaning robot 107 in the subsidiary base station 13 can be charged on the subsidiary base station 13. This improves the efficiency of use of the cleaning robot 107 system according to the embodiment of the present application. Of course, the charging unit may not be provided in the auxiliary base station 13, and the present application does not limit this. The charging unit may be, for example, a charging socket.

In one embodiment, the auxiliary base station 13 is provided with an identifier for the cleaning robot 107 to recognize. In particular, the identification may be, for example, a bar code alternating between black and white. Thereby enabling the cleaning robot 107 to quickly locate the subsidiary base station 13 by the identification to quickly stop in the subsidiary base station 13.

Further, the subsidiary base station 13 is a virtual stop point and/or a base station with a charging function. For example, the auxiliary base station 13 is an area other than the main base station 109.

The position of the virtual stop point is set in one of the following ways: user-defined, preset and robot random determination. That is, the assisting base station 13 may be a user-defined location. The assisting base station 13 may be a predetermined position. The auxiliary base station 13 may also be an area where the cleaning robot 107 randomly determines, i.e. parks itself. Such as a sofa bottom, a bed bottom, etc.

Further, a distance measuring sensor is provided on the cleaning robot 107. So that when the cleaning robot 107 parks by itself, the distance between the cleaning robot 107 and the obstacle can be measured by the ranging sensor to control the cleaning robot 107 to leave the obstacle. The distance of the cleaning robot 107 from the bed bottom is measured by the distance measuring sensor, for example.

Preferably, step S135: assigning the cleaning robots 107 of other priorities to the auxiliary base station 13 specifically includes:

step S1351: position information of each of the other cleaning robots 107 of the priority poles is acquired. Specifically, for example, there are 4 cleaning robots 107, and the 4 cleaning robots 107 are respectively a cleaning robot 107 whose task information comes from remote information, a cleaning robot 107 whose remaining power amount is less than a predetermined value, a cleaning robot 107 whose component needs to be replaced, and a cleaning robot 107 whose remaining power amount is higher than a predetermined value. The cleaning robots 107 of the other priorities are the cleaning robot 107 having the remaining power less than the predetermined value, the cleaning robot 107 requiring the replacement of the component, and the cleaning robot 107 having the remaining power higher than the predetermined value. The control unit acquires the position information of the cleaning robot 107 having the remaining power less than a predetermined value, the position information of the cleaning robot 107 requiring the replacement of parts, and the position information of the cleaning robot 107 having the remaining power greater than the predetermined value, respectively.

Step S1352: the corresponding cleaning robot 107 is assigned to the auxiliary base station 13 closest to the corresponding cleaning robot 107 according to each position information. Specifically, for example, there are 4 cleaning robots 107, and the 4 cleaning robots 107 are respectively a cleaning robot 107 whose task information comes from remote information, a cleaning robot 107 whose remaining power amount is less than a predetermined value, a cleaning robot 107 whose component needs to be replaced, and a cleaning robot 107 whose remaining power amount is higher than a predetermined value. The cleaning robots 107 of the other priorities are the cleaning robot 107 having the remaining power less than the predetermined value, the cleaning robot 107 requiring the replacement of the component, and the cleaning robot 107 having the remaining power higher than the predetermined value. The control unit allocates the cleaning robot 107 having the remaining power less than the predetermined value to the auxiliary base station 13 closest to the cleaning robot 107 having the remaining power less than the predetermined value according to the position information of the cleaning robot 107 having the remaining power less than the predetermined value. The control unit assigns the cleaning robot 107 requiring component replacement to the auxiliary base station 13 closest to the cleaning robot 107 requiring component replacement according to the position information of the cleaning robot 107 requiring component replacement. The control unit allocates the cleaning robot 107 having the remaining power higher than the predetermined value to the subsidiary base station 13 nearest to the cleaning robot 107 having the remaining power higher than the predetermined value according to the position information of the cleaning robot 107 having the remaining power higher than the predetermined value.

Preferably, the location information is contained within the request instruction. That is, the request command not only includes information for requesting to invoke the main base station 109, but also includes location information. For example, the request instruction of the task information from the remote information cleaning robot 107 includes the position information of the task information from the remote information cleaning robot 107. The request instruction of the cleaning robot 107 having the remaining power amount smaller than the predetermined value includes the position information of the cleaning robot 107 having the remaining power amount smaller than the predetermined value. The request command of the cleaning robot 107 having the remaining power higher than the predetermined value includes the position information of the cleaning robot 107 having the remaining power higher than the predetermined value. The request instruction of the cleaning robot 107 requiring the replacement of the component includes the position information of the cleaning robot 107 requiring the replacement of the component.

step S137: when the current state of the main base station 109 is busy, the urgency level of the cleaning robot 107 that issued the request instruction is determined. That is, when the main base station 109 is performing maintenance on the cleaning robot 107 therein, the control unit determines the degree of urgency of the cleaning robot 107 that issued the request instruction. The cleaning robot 107 that issues the request instruction may be the only cleaning robot 107 that issues the request instruction. Or the cleaning robot 107 with the highest priority. That is, when only one cleaning robot 107 transmits a request command for requesting to call the main base station 109 to the control unit, the cleaning robot 107 that has transmitted the request command is the cleaning robot 107 that transmits the request command for requesting to call the main base station 109 to the control unit. When there are a plurality of cleaning robots 107 transmitting a request instruction for applying for calling the main base station 109 to the control unit, the cleaning robot 107 that has transmitted the request instruction is the cleaning robot 107 with the highest priority.

Specifically, for example, when the cleaning robot 107 that has issued the request instruction is a cleaning robot 107 whose task information comes from remote information, the degree of urgency of the cleaning robot 107 that has issued the request instruction is urgent. When the cleaning robot 107 that has issued the request instruction is a cleaning robot 107 whose remaining power is less than a predetermined value, the degree of urgency of the cleaning robot 107 that has issued the request instruction is urgent. When the cleaning robot 107 that has issued the request instruction is a cleaning robot 107 that needs to replace a component, the degree of urgency of the cleaning robot 107 that has issued the request instruction is non-urgent. When the cleaning robot 107 that issues the request instruction is a cleaning robot 107 having a remaining power higher than a predetermined value, the degree of urgency of the cleaning robot 107 that issues the request instruction is non-urgent. Of course, the determination of the urgency of the cleaning robot 107 to issue the request command is not limited to the above example, and other methods are possible, and the present application is not limited thereto.

Step S138: when the cleaning robot 107 that has issued the request instruction is in the emergency state, the main base station 109 is controlled to give the cleaning robot 107 in the maintenance state, and the main base station 109 is assigned to the cleaning robot 107 in the emergency state. That is, when the degree of urgency of the cleaning robot 107 which has issued the request instruction is urgent, the control unit causes the cleaning robot 107 within the main base station 109 to give way so that the main base station 109 is changed from a busy state to an idle state, thus enabling the control unit to assign the main base station 109 in the idle state to the cleaning robot 107 whose degree of urgency is urgent. For example, when the cleaning robot 107 that has issued the request instruction is the cleaning robot 107 whose task information is from the remote information, the control unit controls the main base station 109 to let out the cleaning robot 107 in the maintenance state and assigns the main base station 109 to the cleaning robot 107 whose task information is from the remote information.

In one embodiment, step S13: allocating at least one cleaning robot 107 according to the request instruction and the current state of the main base station 109 and according to preset allocation requirements of the main base station 109, further comprising:

step S139: when the cleaning robot 107 that has issued the request instruction is in the non-emergency state, the cleaning robot 107 in the non-emergency state is assigned to the auxiliary base station 13. That is, when the degree of urgency of the cleaning robot 107 that has issued the request instruction is non-urgent, the control unit assigns the non-urgent cleaning robot 107 to the auxiliary base station 13. Thereby enabling the main base station 109 to continue maintenance of the cleaning robot 107 in the maintenance state. That is, when the degree of urgency of the cleaning robot 107 which has issued the request instruction is non-urgent, the main base station 109 does not give away the busy cleaning robot 107 therein. And the control unit assigns the non-emergency cleaning robot 107 to the auxiliary base station 13. So that the non-emergency cleaning robot 107 can wait on the auxiliary base station 13. This ensures that the non-emergency cleaning robot 107 does not affect the cleaning robot 107 which is busy in the main base station 109. On the other hand, when the main base station 109 finishes the maintenance of the cleaning robot 107 therein, the main base station 109 can perform the maintenance of the cleaning robot 107 which is not in an emergency. For example, when the cleaning robot 107 that has issued the request instruction is a cleaning robot 107 having a remaining power higher than a predetermined value, the control unit assigns the cleaning robot 107 having the remaining power higher than the predetermined value to the subsidiary base station 13.

Further, when the cleaning robot 107 applying for maintenance is in the non-emergency state, the step S139 of allocating the cleaning robot 107 in the non-emergency state to the auxiliary base station 13 specifically includes:

step S1391: the control unit acquires the position information of the cleaning robot 107 in a non-emergency state. Specifically, for example, the cleaning robot 107 in the non-emergency state is the cleaning robot 107 having the remaining electric power higher than the predetermined value. The control unit acquires the position information of the cleaning robot 107 in which the remaining power is higher than the predetermined value.

Step S1392: when the cleaning robot 107 which applies for maintenance is in a non-emergency state, the control unit allocates the cleaning robot 107 in the non-emergency state to the auxiliary base station 13 closest to the cleaning robot 107 in the non-emergency state according to the position information. Specifically, for example, the cleaning robot 107 in the non-emergency state is the cleaning robot 107 having the remaining electric power higher than the predetermined value. The control unit allocates the cleaning robot 107 having the remaining power higher than the predetermined value to the subsidiary base station 13 nearest to the cleaning robot 107 having the remaining power higher than the predetermined value according to the position information of the cleaning robot 107 having the remaining power higher than the predetermined value.

Preferably, the location information is contained within the request instruction. That is, the request command not only includes information for requesting to invoke the main base station 109, but also includes location information. For example, the request command of the cleaning robot 107 having the remaining power higher than the predetermined value includes the position information of the cleaning robot 107 having the remaining power higher than the predetermined value.

In one embodiment, the method for controlling the cleaning robot 107 system according to the embodiment of the present application further includes: step S15: the cleaning robot 107 in the auxiliary base station 13 sends a request instruction to the control unit. The cleaning robots 107 in the auxiliary base station 13 include cleaning robots 107 of other priorities and cleaning robots 107 of non-emergency degrees. Thereby, by sending a request instruction to the control unit so that the control unit can make an adjustment to the main base station 109 according to the request instruction and the current state of the main base station 109, the cleaning robot 107 in the subsidiary base station 13 can perform maintenance on the main base station 109 in turn.

In one embodiment, step S15: the cleaning robot 107 in the auxiliary base station 13 sends a request instruction to the control unit, which specifically includes:

step S151: the control unit acquires the current state of the main base station 109, and determines whether the current state of the main base station 109 is idle. Specifically, the main base station 109 transmits its current state to the control unit. Thereby enabling the control unit to determine whether the current state of the main base station 109 is idle.

Step S152: when the current state of the main base station 109 is idle, the control unit transmits the current state of the main base station 109 to the cleaning robot 107 within the subsidiary base station 13. So that the cleaning robot 107 in the auxiliary base station 13 can know that the current state of the main base station 109 is idle. Thus, the control unit can transmit the current state of the main base station 109 to the cleaning robot 107 in the auxiliary base station 13, so that the cleaning robot 107 in the auxiliary base station 13 can know the current state of the main base station 109 in time, and the maintenance efficiency of the cleaning robot 107 in the auxiliary base station 13 can be improved.

Step S153: the cleaning robot 107 in the subsidiary base station 13 transmits a request instruction to the control unit according to the current state of the main base station 109. That is, after the cleaning robot 107 in the auxiliary base station 13 receives the current state of the main base station 109 sent by the control unit, the cleaning robot 107 in the auxiliary base station 13 can send a request instruction for calling the main base station 109 to the control unit. In this way, when the cleaning robot 107 in the subsidiary base station 13 knows the current state of the main base station 109, the cleaning robot 107 in the subsidiary base station 13 can immediately transmit a request instruction, thus improving maintenance efficiency.

In one embodiment, the method for controlling the cleaning robot 107 system according to the embodiment of the present application further includes:

step S17: the main base station 109 performs maintenance of the cleaning robot 107 therein. That is, when the control unit assigns the main base station 109 to the cleaning robot 107, the main base station 109 performs maintenance on the cleaning robot 107.

Step S19: when the maintenance of the cleaning robot 107 which has applied for maintenance is completed, the control unit controls the main base station 109 to let the cleaning robot 107 whose maintenance is completed therein go out so that the current state of the main base station 109 is idle. Thus, the resources of the main base station 109 can be released in time to allow maintenance of the other cleaning robot 107.

Please refer to fig. 3. In one embodiment, the present application provides a control device for a cleaning robot 107 system, the cleaning robot 107 system including: a main base station 109, at least one cleaning robot 107; the control device includes: a first receiving module 50, wherein the first receiving module 50 is configured to receive a request instruction sent by at least one cleaning robot 107 for calling the main base station 109; a deployment module 52, where the deployment module 52 is configured to deploy the at least one cleaning robot 107 according to a preset deployment requirement of the main base station 109 according to the request instruction and the current state of the main base station 109, so that the at least one cleaning robot 107 can perform maintenance on the main base station 109, respectively.

The technical scheme shows that: the control device of the cleaning robot 107 system according to the embodiment of the present application receives a request command for calling the main base station 109 sent by at least one cleaning robot 107 through the first receiving module 50, and the allocating module 52 allocates the at least one cleaning robot 107 according to a preset allocation requirement of the main base station 109 according to the request command and the current state of the main base station 109, so that the at least one cleaning robot 107 can perform maintenance on the main base station 109. So that a plurality of cleaning robot 107 systems for cleaning are equipped in a home. For example, when a cleaning robot 107 system for cleaning and a cleaning robot 107 system for mopping are provided, at least one cleaning robot 107 can be deployed according to a request command for calling the main base station 109 and the current state of the main base station 109, which are sent by at least one cleaning robot 107, and a preset deployment request of the main base station 109, so that at least one cleaning robot 107 can be maintained on the main base station 109. This enables the respective cleaning robots 107 to share one main base station 109. I.e. avoiding equipping each cleaning robot 107 with a maintenance system. Thereby reducing the number of maintenance systems, reducing the occupied space and the use cost and enabling intellectualization by deploying at least one cleaning robot 107.

As shown in fig. 5, the cleaning robot system provided by one embodiment of the present application includes a cleaning robot 107, a main base station 109, an auxiliary base station 13, and a control unit; the main base station 109 is used for maintenance of the cleaning robot 107; the auxiliary base station 13 is disposed on the main base station 109, and is used for the cleaning robot 107 to stop; a control unit for adapting the cleaning robot 107 such that the cleaning robot 107 can perform maintenance on the main base station 109 and/or make a stop on the auxiliary base station.

According to the technical scheme, the method comprises the following steps: in the cleaning robot 107 system according to the embodiment of the present invention, a plurality of cleaning robot 107 systems for cleaning are provided in a home by providing the cleaning robot 107, the main base station 109, and the auxiliary base station 13. For example, when a cleaning robot system for cleaning and a cleaning robot 107 system for mopping are provided, one cleaning robot 107 can be parked on the auxiliary base station 13 while the other cleaning robot 107 is maintained on the main base station 109. When the maintenance of the cleaning robot 107 parked on the main base station 109 is completed in this manner, the cleaning robot 107 in the auxiliary base station 13 can enter the main base station 109 for maintenance. This enables the respective cleaning robots 107 to share one main base station 109. I.e. avoiding equipping each cleaning robot 107 with a maintenance system. And then reduced the quantity of maintenance system to reduce occupation space and use cost and realize the intellectuality.

In the present embodiment, the main base station 109 includes the chassis 15. As shown, for example, in fig. 5, the frame 15 includes a first section 43 and a second section 45 arranged horizontally. The first portion 43 is located to the left of the second portion 45. The first portion 43 is higher than the second portion 45. The second portion 45 has an upwardly facing surface. And the upward surface forms a first parking portion 21 for the cleaning robot 107 to park. The first section 43 is provided with a first maintenance section for performing maintenance on the cleaning robot 107. Of course, the first maintenance part is not limited to be provided on the first part 43, and may be provided on the second part 45. But may of course also be provided on the first and

second portions

43, 45. This application is not intended to be limited thereto. The first maintenance unit may be used for charging, replacing parts, storing, and the like of the cleaning robot 107, and this application is not limited thereto. The first maintenance unit may have a conventional structure, and the present application does not provide any description.

In the present embodiment, the auxiliary base station 13 is provided on the rack 15. Specifically, the subsidiary base station 13 may be a support plate extending in a horizontal direction. The support plate is used to support the cleaning robot 107. Further, the support plate is fixed to the frame 15. For example, the support plate is fixed to the second portion 45. Of course the support plate is not limited to being fixed to the second portion 45. And may also be secured to the first portion 43. No provision is made for this application. The fixing mode can be screw fixation, bolt fixation, welding fixation, integral forming and the like. Of course, the auxiliary base station 13 is not limited to a support plate, and may have other structures, which is not specified in the present application. Further, the subsidiary base station 13 is located above the first docking portion 21. I.e. the support plate is located above the upward facing surface of the second portion 45. So that the two cleaning robots 107 can be stopped on the first stopping portion 21 and the support plate in the up-down direction, respectively, thus saving the floor space.

Specifically, the auxiliary base station 13 is used for the cleaning robot 107 to stop. Thus, a plurality of cleaning robot 107 systems for cleaning are provided in a home. For example, when a cleaning robot 107 system for cleaning and a cleaning robot 107 system for mopping are provided, when one cleaning robot 107 is maintained in the first maintenance section, the other cleaning robot 107 can stop at the auxiliary base station 13. When the maintenance of the cleaning robot 107 parked on the first docking portion 21 is completed in this manner, the cleaning robot 107 in the auxiliary base station 13 can enter the first docking portion 21 to be maintained by the first maintenance portion. This enables the respective cleaning robots 107 to share one main base station 109. I.e. avoiding equipping each cleaning robot 107 with a maintenance system. And then reduced the quantity of maintenance system to reduce occupation space and use cost and realize intellectuality. Of course, the cleaning robot 107 in the auxiliary base station 13 is not limited to performing maintenance using the first maintenance unit. For example, a third maintenance part is provided in each of the auxiliary base stations 13. Each of the third maintenance parts is used for maintenance by one cleaning robot 107. So that while one cleaning robot 107 performs maintenance on the first dock 21, the other cleaning robot 107 can perform maintenance on the auxiliary base station 13.

In this embodiment, the control unit is adapted to adapt the cleaning robot 107 such that the cleaning robot 107 can perform maintenance on the main base station 109 and/or make a stop on said auxiliary base station. The control unit may be a computer. Of course, the control unit is not limited to a computer, and may be a computer program or the like, and the present application is not limited thereto.

In the present embodiment, as shown in fig. 7, the cleaning robot 107 system further includes a lifting mechanism 23. Further, the lifting mechanism 23 is used to lift the cleaning robot 107 onto the auxiliary base station 13. The lifting mechanism 23 may be provided on the frame 15. Specifically, the lifting mechanism 23 is provided to the second portion 45. Of course, the lifting mechanism 23 is not limited to being provided to the second portion 45. The lifting mechanism 23 may also be provided to the first portion 43. This application is not intended to be limited thereto. The lifting mechanism 23 is used to lift the cleaning robot 107 onto the auxiliary base station 13. So that the lifting and lowering of the cleaning robot 107 on the auxiliary base station 13 can be achieved by the lifting mechanism 23.

In one embodiment, when the cleaning robot 107 returns, a notification message of returning to docking is sent to the control unit, and the control unit receives the notification message of docking thereof and detects the distance between the cleaning robot 107 and the base station by using the detection unit in the control unit. When the distance is detected to meet the preset range, an instruction is sent to control the cleaning robot to stop working, and the lifting mechanism 23 is used for lifting the cleaning robot 107 from the current position to the secondary base station on the second floor.

Further, the lifting mechanism 23 includes a lifting mechanism. The lifting mechanism is used to lift the cleaning robot 107 to the auxiliary base station 13 substantially in a straight line.

Further, the lifting mechanism comprises at least one roller and a lifting rope 27; the lifting rope 27 is used to lift the cleaning robot 107 when at least one roller is rotated. Specifically, the lifting mechanism includes a roller 25 disposed on the frame 15 and capable of rotating, and a lifting rope 27 surrounding the roller 25. The lifting rope 27 is provided with a lifting part 29 for lifting the cleaning robot 107. The roller 25 is in transmission connection with a rotating shaft of a driving motor; the driving motor is used for driving the roller 25 to rotate so that the lifting rope 27 can lift the lifting part 29. That is, when the rotation shaft of the driving motor is rotated, the roller 25 is rotated to move the lifting rope 27, so that the lifting portion 29 can be lifted.

Further, the number of the rollers 25 is two. The two rollers 25 are spaced apart in the horizontal direction. For example, as shown in fig. 6 and 7, the two rollers 25 are a first roller 53 on the left side and a second roller 55 on the right side. The lifting rope 27 is arranged around the two rollers 25. For example, as shown in fig. 6 and 7, the lifting rope 27 is enclosed outside the first roller 53 and the second roller 55. And a pull-up portion 29 is provided on the hoist rope 27 between the two rollers 25. For example, as shown in fig. 6 and 7, the portion of the lifting cord 27 between the first roller 53 and the second roller 55 is bent. Further, a support plate 51 is provided on the hoist rope 27. The pallet 51 is located between the two rollers 25. The pallet 51 is used to support the cleaning robot 107. Each roller 25 is in transmission connection with a rotating shaft of a driving motor; so that each roller 25 can be rotated when the rotation shaft of the driving motor is rotated, and thus the blade 51 can be moved up and down along with the hoist rope 27 to lift the cleaning robot 107.

Specifically, the hoist rope 27 includes first and

second extension sections

31 and 33 extending downward and a third extension section 35 located between the first and

second extension sections

31 and 33. The third extension 35 is enclosed on the two rollers 25, and the first extension 31 and the second extension 33 are located on opposite sides of the two rollers 25. For example, as shown in fig. 6 and 7, the first extension 31 is located on the left side of the first roller 53. The second extension 33 is located to the right of the second roller 55. The third extension 35 is located between the first roller 53 and the second roller 55.

Further, a balance weight 37 is provided on the hoist rope 27 for balancing the weight of the cleaning robot 107. Specifically, the balance weight 37 is disposed at an end of the first extension 31 opposite to the second extension 33. For example, as shown in fig. 6 and 7, the weight 37 is provided at the lower end of the first extension 31. The end of the second extension 33 facing away from the first extension 31 is provided with a counterweight 37. For example, as shown in fig. 6 and 7, the balance weight 37 is provided at the lower end of the second extension 33. Each balance weight 37 is used to balance the weight of the cleaning robot 107. Thereby reducing the power requirements on the drive motor.

In one embodiment, the lift mechanism includes a hydraulic ram that reciprocates. Specifically, the hydraulic rod is arranged in the hydraulic cylinder in a penetrating mode. The hydraulic cylinder can apply hydraulic pressure to the hydraulic rod, so that the hydraulic rod can move up and down under the action of the hydraulic pressure. Thereby lifting the cleaning robot 107.

In one embodiment, the lifting mechanism includes a telescopic member that is telescopic in the up-down direction. The telescopic member is telescopic in a length direction so that the cleaning robot 107 will be lifted. The length direction of the telescopic piece is the up-down direction. The telescopic member may be, for example, a plurality of tubes sleeved inside and outside.

In the present embodiment, the lifting mechanism 23 includes a swing mechanism. The swing mechanism can swing back and forth. So that the cleaning robot 107 can be lifted onto the auxiliary base station 13.

In one embodiment, the oscillating mechanism comprises at least one crank 39. As shown in fig. 8 to 11, for example, the crank 39 is rod-shaped as a whole. One end of the crank 39 is rotatably provided on the frame 15. As shown in fig. 8 to 11, for example, the lower end of the crank 39 is rotatably provided on the frame 15. Further, the lower end of the crank 39 is connected to the frame 15 through a rotating shaft 41. So that the crank 39 can rotate about the rotation axis 41. A support portion for supporting the cleaning robot 107 is provided on the other end of the crank 39. The support part can lift the cleaning robot 107 when the crank 39 rotates around the frame 15. The support portion may be a support wheel. As shown in fig. 8 to 11, for example, the upper end of the crank 39 is provided with a support wheel. The support wheels are used to support the cleaning robot 107.

Further, the crank 39 is two. As shown in fig. 8-11, for example, the two cranks 39 are a first crank 3957 on the left and a second crank 59 on the right. Each crank 39 is drivingly connected to the shaft of the drive mechanism. As shown in fig. 8 to 11, for example, the rotating shaft 41 of the first crank 57 is in transmission connection with the rotating shaft of the driving mechanism. So that when the rotating shaft of the driving mechanism rotates, the rotating shaft 41 of the first crank 57 can drive the first crank 57 to rotate. The rotating shaft 41 of the second crank 59 is in transmission connection with the rotating shaft of the driving mechanism. So that when the rotating shaft of the driving mechanism rotates, the rotating shaft 41 of the second crank 59 can drive the second crank 59 to rotate. The driving mechanism is used for driving the two cranks 39 to rotate synchronously, so that the extending directions of the two cranks 39 can be kept parallel when the two cranks rotate. The two cranks 39 can be always kept parallel in the extending direction, so that the stability of the lifting process can be realized. Specifically, as shown in fig. 8 to 11, the extending directions of the two cranks 39 can be always parallel during the movement of the two cranks 39, so that the position of the cleaning robot 107 can be maintained unchanged.

It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A control method of a cleaning robot system, the cleaning robot system comprising: a main base station, at least one cleaning robot; the control method is characterized by comprising the following steps:

receiving a request instruction which is sent by at least one cleaning robot and applies for calling a main base station;

allocating the at least one cleaning robot according to the request instruction and the current state of the main base station and according to a preset main base station allocation requirement, so that the at least one cleaning robot can be maintained on the main base station respectively, comprising:

judging the number of the request instructions;

when the number of the request instructions is larger than 1, carrying out priority ranking on the cleaning robots, and selecting the cleaning robot with the highest priority as the cleaning robot to be maintained currently; the cleaning robot has the following priorities: the cleaning robot with the task information from the remote information is prior to the cleaning robot with the residual electric quantity less than the preset value, the cleaning robot with the residual electric quantity less than the preset value is superior to the cleaning robot with the part needing to be replaced, the task information of the regression dust collection, the task information of the regression paper suction, the task information of the regression dust collection and the paper suction, and the cleaning robot with the part needing to be replaced, the task information of the regression dust collection, the task information of the regression paper suction, and the task information of the regression dust collection and the paper suction are superior to the cleaning robot with the residual electric quantity greater than the preset value;

judging the current state of the main base station; and when the current state of the main base station is idle, distributing the main base station to the current cleaning robot to be maintained.

2. The control method of a cleaning robot system according to claim 1, characterized in that: the request instruction comprises task information returned by the cleaning robot, and the task information comprises one of the following items: returning charge task information, replacing parts in the cleaning robot, returning dust collection task information, returning suction paper task information, and returning dust collection and suction paper task information.

3. The control method of a cleaning robot system according to claim 2, characterized in that: the task information is from remote information and/or local information of the cleaning robot.

4. The control method of a cleaning robot system according to claim 3, characterized in that: the remote information has a higher priority than the local information of the cleaning robot.

5. The control method of a cleaning robot system according to claim 1, characterized in that: the request instruction also includes position information of the cleaning robot.

6. The control method of a cleaning robot system according to claim 1, wherein: the cleaning robot system further includes: and the auxiliary base station is used for stopping the cleaning robot.

7. The method of claim 6, wherein the step of allocating the at least one cleaning robot according to a preset main base station allocation requirement based on the request command and the current state of the main base station comprises:

when the number of the request instructions is 1, judging whether the current state of the main base station is idle;

and when the current state of the main base station is idle, distributing the main base station to the cleaning robot which sends the request instruction.

8. The method of controlling a cleaning robot system according to claim 6, wherein after the steps of prioritizing the cleaning robots and selecting the cleaning robot with the highest priority as the cleaning robot currently to be maintained, further comprising:

assigning the cleaning robots of other priorities to the auxiliary base station.

9. The method of claim 8, wherein a charging unit for charging the cleaning robot is provided at the auxiliary base station.

10. The control method of a cleaning robot system according to claim 8, wherein the auxiliary base station is a virtual docking point and/or a base station having a charging function.

11. The control method of a cleaning robot system according to claim 10, wherein the position of the virtual stop is set in one of: user-defined, preset and robot random determination.

12. The method of controlling a cleaning robot system according to claim 8, wherein the step of assigning the cleaning robots of other priorities to auxiliary base stations specifically comprises:

acquiring position information of the cleaning robot of each of the other priorities;

and distributing the corresponding cleaning robot to the auxiliary base station closest to the corresponding cleaning robot according to each piece of position information.

13. The method of claim 1, wherein the step of allocating the at least one cleaning robot according to a preset main base station allocation requirement based on the request command and a current state of the main base station further comprises:

when the current state of the main base station is busy, judging the emergency degree of the cleaning robot sending a request instruction;

when the cleaning robot that issued the request instruction is in an emergency state, controlling the main base station to give way to the cleaning robot in a maintenance state, and allocating the main base station to the cleaning robot in the emergency state.

14. The method of claim 13, wherein the step of allocating the at least one cleaning robot according to a preset main base station allocation requirement based on the request command and a current state of the main base station further comprises:

when the cleaning robot that issued the request instruction is in a non-emergency state, the cleaning robot in the non-emergency state is assigned to an auxiliary base station.

15. The control method of a cleaning robot system according to claim 8 or 14, characterized by further comprising:

and the cleaning robot in the auxiliary base station sends a request instruction for applying for calling the main base station.

16. The control method of a cleaning robot system according to claim 1, characterized by further comprising:

the main base station maintains the cleaning robot therein;

and after the maintenance of the cleaning robot is finished, controlling the main base station to go out of the cleaning robot of which the maintenance is finished so as to enable the current state of the main base station to be idle.

17. The control method of a cleaning robot system according to claim 6,

the main base station is used for maintaining the cleaning robot;

the auxiliary base station is arranged on the main base station and is used for the cleaning robot to stop; the cleaning robot system further includes: a control unit for allocating the cleaning robot so that the cleaning robot can perform maintenance on the main base station and/or stop at the auxiliary base station.

18. The control method of a cleaning robot system according to claim 17, wherein: the cleaning robot system further comprises a lifting mechanism for lifting the cleaning robot to the auxiliary base station.

19. The control method of a cleaning robot system according to claim 18, wherein: the lifting mechanism comprises a lifting mechanism for lifting the cleaning robot to the auxiliary base station substantially along a straight line.

20. The control method of a cleaning robot system according to claim 19, wherein: the lifting mechanism comprises at least one roller and a lifting rope; the lifting rope is used for lifting the cleaning robot when at least one roller rotates.

21. The control method of a cleaning robot system according to claim 20, wherein: the lifting rope is provided with a balance block for balancing the weight of the cleaning robot.

22. The control method of a cleaning robot system according to claim 19, wherein: the lifting mechanism comprises a telescopic piece which can be stretched in the vertical direction.

23. The control method of a cleaning robot system according to claim 19, wherein: the lifting mechanism comprises a hydraulic rod which moves in a reciprocating manner.

24. The control method of a cleaning robot system according to claim 18, wherein: the lifting mechanism comprises a swing mechanism.

25. The control method of a cleaning robot system according to claim 24, wherein: the oscillating mechanism comprises at least one crank.

26. A control device of a cleaning robot system, characterized by comprising:

the first receiving module is used for receiving a request instruction which is sent by at least one cleaning robot and applies for calling the main base station;

a deployment module, configured to deploy the at least one cleaning robot according to the request instruction and the current state of the master base station and according to a preset master base station deployment requirement, so that the at least one cleaning robot can be maintained on the master base station, specifically including: judging the number of the request instructions; when the number of the request instructions is larger than 1, the cleaning robots are subjected to priority ranking, the cleaning robot with the highest priority is selected as the cleaning robot to be maintained currently, and the priority of the cleaning robot is as follows: the cleaning robot with the task information from the remote information is prior to the cleaning robot with the residual electric quantity less than the preset value, the cleaning robot with the residual electric quantity less than the preset value is superior to the cleaning robot with the part needing to be replaced, the task information of the regression dust collection, the task information of the regression paper suction, the task information of the regression dust collection and the paper suction, and the cleaning robot with the part needing to be replaced, the task information of the regression dust collection, the task information of the regression paper suction, and the task information of the regression dust collection and the paper suction are superior to the cleaning robot with the residual electric quantity greater than the preset value; judging the current state of the main base station; and when the current state of the main base station is idle, distributing the main base station to the current cleaning robot to be maintained.