CN112783146A

CN112783146A - Self-moving equipment guiding method and device and self-moving equipment

Info

Publication number: CN112783146A
Application number: CN201911096798.3A
Authority: CN
Inventors: 施敏杰
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2019-11-11
Filing date: 2019-11-11
Publication date: 2021-05-11

Abstract

The application provides a self-moving equipment guiding method, a self-moving equipment guiding device and self-moving equipment, wherein the method comprises the following steps: the method comprises the steps of establishing a coordinate system, determining the position of the self-moving equipment relative to a charging station according to the distance measured by the wireless distance measuring unit in the coordinate system, controlling the self-moving equipment to move towards the charging station according to the position of the self-moving equipment relative to the charging station, enabling the self-moving equipment to move to a preset range of the charging station, achieving the distance measured based on the established coordinate system and the wireless distance measuring unit, enabling the self-moving equipment to return in a wireless signal coverage range, expanding the action range of the return, guiding the self-moving equipment to return and dock without walking along a specific route and additionally arranging guide lines, reducing the complexity of return and dock of the self-moving equipment, improving the return dock efficiency, and solving the technical problems of low return dock efficiency and complex implementation in the prior art.

Description

Self-moving equipment guiding method and device and self-moving equipment

Cross Reference to Related Applications

The present application claims priority of chinese patent application No. 201910164690.7 entitled "self-moving device boot method, apparatus and self-moving device" filed on 5.3.2019 by suzhou shoddy power tools limited.

Technical Field

The application relates to the technical field of robot control, in particular to a self-moving device guiding method and device and a self-moving device.

Background

The life that people had been brought the facility for intelligent robot's use, and intelligent robot need recall the robot in the use, and the guide robot returns preset position, for example, after the robot low electricity, need guide the robot to return and reach the position that fills electric pile place to charge to the robot.

In the related art, the robot is guided to return, and one way is to guide the return by using a boundary line of a working area of the robot, and the return way needs the robot to walk along the boundary line, so that the return efficiency is low; the second way is to guide the robot to return according to a closed-loop or open-loop guide line, and the return way needs to additionally lay a guide line, thus the cost is high and the complexity is certain; the other mode can also guide regression by using an ultrasonic mode, and the mode has a small action range and poor regression efficiency.

Disclosure of Invention

The present application is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the self-moving equipment guiding method is provided, the position of the self-moving equipment relative to the charging station is determined based on the established coordinate system and the distance between the self-moving equipment and the charging station measured by the wireless ranging unit, guiding the self-moving equipment to return to the charging station is achieved according to the relative position, and the efficiency of returning the self-moving equipment to the charging station is improved.

The application provides a guiding device from a mobile device.

The application provides a self-moving device.

The present application provides a computer-readable storage medium.

An embodiment of an aspect of the present application provides a method for guiding a self-moving device to move to a charging station, where the self-moving device includes a wireless ranging unit for measuring a distance to the charging station;

the guiding method comprises the following steps:

establishing a coordinate system;

in the coordinate system, determining the position of the self-moving equipment relative to the charging station according to the distance measured by the wireless ranging unit;

and controlling the self-moving equipment to move to the charging station according to the position of the self-moving equipment relative to the charging station, so that the self-moving equipment moves to be within a preset range of the charging station.

The embodiment of the application in a further aspect provides a self-moving device guiding device for guiding the self-moving device to move to a charging station, wherein the self-moving device comprises a wireless ranging unit for measuring the distance between the self-moving device and the charging station; the device comprises:

the establishing module is used for establishing a coordinate system;

the determining module is used for determining the position of the mobile equipment relative to the charging station according to the distance measured by the wireless ranging unit in the coordinate system;

the control module is used for controlling the self-moving equipment to move to the charging station according to the position of the self-moving equipment relative to the charging station, so that the self-moving equipment moves to the preset range of the charging station.

In yet another aspect of the present application, a self-moving device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the self-moving device booting method according to the foregoing aspect is implemented.

Yet another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the self-moving device booting method of the aforementioned aspect.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

establishing a coordinate system, determining the position of the self-moving equipment relative to the charging station according to the distance measured by the wireless distance measuring unit in the coordinate system, controlling the self-moving equipment to move to the charging station according to the position of the self-moving equipment relative to the charging station, moving the self-moving equipment to the preset range of the charging station, realizing the distance measured by the self-moving equipment and the wireless distance measuring unit based on the established coordinate system, guiding the self-moving equipment to move to the preset range of the charging station, enabling the self-moving equipment to return within the coverage range of wireless signals, expanding the action range of the return, guiding the self-moving equipment to walk along a specific route when the self-moving equipment returns for docking, and not additionally arranging guide lines, thereby reducing the complexity of the return docking of the self-moving equipment, improving the return docking efficiency, and solving the problems of low return docking efficiency, low return docking efficiency, The technical problem of complex realization.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart illustrating a first method for guiding a self-mobile device according to an embodiment of the present application;

fig. 2 is a flowchart illustrating a second method for guiding a self-mobile device according to an embodiment of the present application;

fig. 3 is a flowchart illustrating a third method for guiding a self-mobile device according to an embodiment of the present application;

fig. 4 is a flowchart illustrating a fourth method for guiding a self-mobile device according to an embodiment of the present application;

FIG. 5 is a schematic diagram of the operation of an ultrasonic receiver from a mobile device;

FIG. 6 is a schematic view of the mobile device moving toward the central axis;

FIG. 7 is a diagram illustrating a method for wireless docking of a mobile device;

FIG. 8 is a schematic diagram of ultrasonic signal detection in a target region;

fig. 9 is a flowchart illustrating a fifth method for guiding a self-mobile device according to an embodiment of the present application;

FIG. 10 is a schematic diagram of coordinate system establishment and wireless guided regression;

fig. 11 is a schematic structural diagram of a first guiding apparatus for a self-moving device according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of a second guiding apparatus for a self-moving device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a third guiding apparatus for a self-moving device according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of a fourth guiding apparatus for a self-moving device according to an embodiment of the present application; and

fig. 15 is a schematic structural diagram of a self-moving device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The self-moving device booting method, apparatus and self-moving device of the embodiments of the present application are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart illustrating a method for booting from a mobile device according to an embodiment of the present disclosure.

As shown in fig. 1, the self-moving device booting method includes the steps of:

step 101, establishing a coordinate system.

In order to enable the self-moving device to approach the charging station to interface with the charging station for wireless charging, the self-moving device needs to determine the position of the self-moving device relative to the charging station. In general, the position of one object relative to another object includes the distance and direction between the two objects, and the direction of one object relative to the other object is determined by the coordinate positions of the two objects. Thus, in this embodiment, a coordinate system may be established, and the position between the mobile device and the charging station may be determined based on the coordinate system.

As a possible implementation manner, when the coordinate system is established, the coordinate system may be established according to the moving position of the mobile device. The specific implementation process of establishing the coordinate system according to the mobile position of the mobile device will be described in the following, and in order to avoid repetition, the detailed description is omitted here.

And 102, determining the position of the mobile equipment relative to the charging station according to the distance measured by the wireless ranging unit in the coordinate system.

Wherein the position of the self-moving device relative to the charging station comprises a distance between the self-moving device and the charging station, and/or a direction in which the self-moving device is located relative to the charging station.

In the embodiment of the present application, the distance between the mobile device and the charging station is measured by the wireless ranging unit, wherein the wireless ranging unit may specifically be a radio frequency transceiver, a carrier-free communication unit, an infrared ranging unit, and the like, and any method that the distance between the mobile device and the charging station is measured in a wireless manner is within the protection scope of the embodiment of the present application.

As a possible implementation manner, the wireless ranging unit may be a radio frequency transceiver, and specifically, the radio frequency transceiver is disposed on both the front end of the self-moving device and the charging station. The radio frequency transmitter transmits a wireless signal, the radio frequency receiver receives the wireless signal, and under the condition that the radio frequency receiver and the radio frequency transmitter do not need time synchronization, the distance between the mobile equipment and the charging station, namely the distance measured by the radio frequency transceiver, can be determined according to the difference between the wireless signal transmitted by the radio frequency transmitter and the wireless signal received by the radio frequency receiver. The difference may be, for example, a frequency shift, an intensity attenuation, etc. Of course, the distance between the mobile device and the charging station can also be determined from the time difference between the transmitted radio signal and the received radio signal, in the case of time synchronization of the radio frequency receiver and the radio frequency transmitter.

As another possible implementation manner, the wireless ranging unit may be a carrier-less communication unit, specifically, one carrier-less communication unit, that is, an Ultra Wide Band (UWB) transceiver, is respectively disposed on the self-moving device and the charging station, and the distance between the self-moving device and the charging station, that is, the distance measured by the carrier-less communication unit, is determined by using the time of flight of the signal between the UWB transmitter and the UWB receiver according to the time synchronization between the UWB transmitter on the self-moving device and the UWB receiver on the charging station.

It should be noted that, for the method for measuring the distance between the mobile device and the charging station by using other wireless distance measuring units, for example, in an infrared manner, details are not repeated in this embodiment.

Further, in the established coordinate system, the position of the mobile device relative to the charging station can be determined according to the distance measured by the wireless ranging unit of the mobile device.

As an example, a coordinate system may be established according to a connection line of each location when the mobile device moves to a different location, and a distance between the mobile device and the charging station at each location is measured by the wireless ranging unit, and in the established coordinate system, a distance and a direction from the current location of the mobile device to the charging station are determined based on a trigonometric relationship using the measured distances.

And 103, controlling the self-moving equipment to move to the charging station according to the position of the self-moving equipment relative to the charging station, so that the self-moving equipment moves to the preset range of the charging station.

In this embodiment, after the position of the self-moving device relative to the charging station is determined, the self-moving device may be controlled to move to the charging station, so that the self-moving device moves to a preset range of the charging station.

In a possible implementation manner of the embodiment of the application, the rotation angle of the self-moving device may be determined according to the position of the self-moving device relative to the charging station, and then the self-moving device is controlled to rotate by the angle and move to the charging station. Wherein, the determined angle comprises the rotation direction of the mobile device.

The autorotation of the self-moving equipment is controlled after the autorotation angle of the self-moving equipment is determined, the self-moving equipment can be ensured to be gradually close to the charging station, and the phenomenon that the regression efficiency is influenced due to the fact that the distance between the self-moving equipment and the charging station is longer and longer is avoided.

In a possible implementation manner of the embodiment of the application, the self-moving device may further include an accurate docking module, so that after the self-moving device moves to a preset range of the charging station, the accurate docking module is used to guide the self-moving device to dock with the charging station, and wireless charging is achieved. The accurate docking module can be guided to dock with the charging station from the mobile device by adopting infrared signals, wireless signals and the like, or can also be guided to dock with the charging station from the mobile device by arranging a regression guide line, a magnetic strip and the like.

According to the self-moving equipment guiding method, a coordinate system is established, the position of the self-moving equipment relative to the charging station is determined in the coordinate system according to the distance measured by the wireless ranging unit, and the self-moving equipment is controlled to move to the charging station according to the position of the self-moving equipment relative to the charging station, so that the self-moving equipment moves to the preset range of the charging station. The self-moving equipment is controlled to return to the charging station according to the distance measured by the wireless distance measuring unit, the self-moving equipment can return in the coverage range of wireless signals, the action range of the return is enlarged, the self-moving equipment is guided to walk along a specific route when the self-moving equipment returns to be docked, and a guide wire does not need to be additionally arranged, so that the complexity of the return docking of the self-moving equipment is reduced, the return docking efficiency is improved, and the technical problems of low return docking efficiency and complex implementation in the prior art can be solved.

In the above embodiment, it is described that the wireless ranging unit may be a radio frequency transceiver or a carrier-less communication unit, and in a possible implementation manner of the embodiment of the present application, the radio frequency transceiver is taken as an example to measure the distance between the mobile device and the charging station, specifically, the distance between the mobile device and the charging station may be measured through the radio frequency transceiver at the position to which the mobile device moves, and a coordinate system may be established through the position to which the mobile device moves. To this end, an embodiment of the present application provides another guiding method for a self-moving device, and fig. 2 is a flowchart illustrating the second guiding method for a self-moving device according to the embodiment of the present application.

As shown in fig. 2, the self-moving device booting method may include the steps of:

at a first point, a distance between the first point and a charging station is measured through a radio frequency transceiver, step 201.

The first point is the position where the mobile device is initially located or the position where the mobile device is located after moving to the charging station each time.

At the first point, the self-moving equipment sends out a wireless signal through the radio frequency transceiver, and the distance between the self-moving equipment and the charging station, namely the distance between the first point and the charging station, is determined according to the difference between the sent out wireless signal and the wireless signal received by the radio frequency transceiver of the charging station.

Step 202, controlling the mobile device to move from the first point to the second point, measuring the distance between the second point and the charging station, and recording the distance between the first point and the second point.

At the first point, the self-moving device is controlled to move forwards along the direction (traveling direction) of the current self-moving device to reach the second point, the distance between the self-moving device and the charging station, namely the distance between the second point and the charging station, is measured through the radio frequency transceiver at the second point, and the distance between the first point and the second point is recorded.

As an example, a displacement sensor may be installed in the self-moving device, and the distance that the self-moving device moves from the first point to the second point is recorded by the displacement sensor, that is, the distance between the first point and the second point.

And step 203, controlling the self-moving equipment to rotate by 90 degrees, moving from the second point to a third point, measuring the distance between the third point and the charging station, and recording the distance between the second point and the third point.

And at the second point, controlling the self-moving device to rotate the traveling direction by 90 degrees, wherein the rotation direction can rotate in a clockwise direction or a counterclockwise direction, and after rotating by 90 degrees, controlling the self-moving device to move from the second point to the third point. At the third point, the self-moving device measures the distance between the self-moving device and the charging station through the radio frequency transceiver, namely the distance between the third point and the charging station, and records the distance between the second point and the third point.

The distance between the second point and the third point may be obtained in the same manner as the distance between the first point and the second point.

And step 204, establishing a coordinate system based on the first point, the second point and the third point.

The distance between the first point and the second point and the distance between the second point and the third point are used for determining the coordinates of the first point, the second point and the third point in a coordinate system.

Specifically, a coordinate system may be established with the first point as the origin of coordinates, the first point to the second point as the X-axis direction, and the second point to the third point as the Y-axis direction.

It should be noted that, in the embodiment of the present application, a timing sequence for acquiring the distances between the first point, the second point, and the third point and the charging station is not limited, the distance between the position and the charging station may be measured every time the position is moved to a position as described in the embodiment, or the distances between the first point, the second point, and the third point and the charging station may be acquired when the coordinate system is established after the position is moved to the third point.

And step 205, calculating the coordinates of the charging station according to the coordinate system and the distances between the first point, the second point and the third point and the charging station.

Assume that the distance from the mobile device to the charging station measured at a first point (denoted as point B) is L and travels a distance d in the travel direction from the first point₁Then reaches a second point (denoted as B)₁) In position B₁Measured at a distance L from the charging station₁. From mobile device at location B₁After rotating the traveling direction by 90 degrees (either clockwise or counterclockwise), the traveling distance d₂Then reaches a third point (denoted as B)₂) In position B₂The distance measured from the charging station is L₂. Using position B as origin, B to B₁In the X-axis direction, B₁To B₂Is a Y-axis direction, and a coordinate system is established in the coordinate system according to L₁And L₂And d and₁and d₂And determining the coordinates of the position A of the charging station.

Within the established coordinate system, B, B₁、B₂Are (0,0), (d) respectively₁,0)，(d₁,d₂) Assuming that the coordinates of the location a of the charging station are (x, y), the coordinates of the charging station can be determined according to formula (1).

And step 206, controlling the mobile device to move to the charging station according to the coordinates of the charging station, so that the mobile device moves to the preset range of the charging station.

In this embodiment, after the coordinates of the charging station are determined, the mobile device may be controlled to move to the charging station according to the coordinates of the charging station, so that the mobile device moves to the preset range of the charging station.

Specifically, after determining the coordinates of the location a of the charging station, a vector B may be constructed₁B₂And vector B₂A, vector B₁B₂And vector B₂The vector included angle between A is the direction of the self-moving equipment relative to the charging station, namely the angle of the self-moving equipment needing autorotation, and the vector B₁B₂And vector B₂The vector included angle theta between A can be obtained by calculation according to a formula (2), and the adjustment angle of the advancing direction can be determined. The direction of rotation from the mobile device may be dependent on positions A and B₂If the X-axis coordinate value X of the position A is larger than d₁The rotation direction is clockwise; if the X-axis coordinate value X of the position A is smaller than d₁The direction of rotation is counterclockwise. Wherein, the formula (2) is as follows:

furthermore, after the rotation angle and the rotation direction of the mobile device are determined, the mobile device can be controlled to move to the charging station, so that the mobile device can move to the preset range of the charging station. For example, the mobile device travels a distance S in the adjusted traveling direction, where the distance S and L have a positive relationship, i.e., S is in direct proportion to L, where S equals kL and 0< k ≦ 1.

In a possible implementation manner of the embodiment of the present application, after the distance L from the mobile device to the charging station is measured at the first point, before performing step 202, L may be compared with a preset threshold Δ d, where Δ d represents a minimum distance between the mobile device and the charging station in the radio frequency guiding phase. If L is smaller than or equal to delta d, the self-moving equipment is considered to be in a preset range, and then the ultrasonic guiding stage can be started; if L is greater than Δ d, step 202 and the following steps are executed to make the mobile device approach to the charging station. And in the process of the distance S traveled by the self-moving device, acquiring the distance between the self-moving device and the charging station in real time, and repeatedly executing the step 202 and the subsequent steps when the distance between the self-moving device and the charging station is greater than delta d until the self-moving device is within the preset range.

The guiding method of the self-moving device of the embodiment controls the self-moving device to move from the first point to the second point by measuring the distance between the first point and the charging station, measures the distance between the second point and the charging station, recording the distance between the first point and the second point, controlling the mobile equipment to rotate 90 degrees, moving from the second point to the third point, measuring the distance between the third point and the charging station, and recording the distance between the second point and the third point, establishing a coordinate system based on the first point, the second point and the third point, calculating the coordinates of the charging station according to the coordinate system and the distances between the first point, the second point and the third point and the charging station, and then according to the coordinate of the charging station, the self-moving equipment is controlled to move to the charging station, so that the self-moving equipment moves to the preset range of the charging station, the action range of wireless regression butt joint can be expanded, and the regression efficiency of the self-moving equipment is improved.

Fig. 3 is a flowchart illustrating a third method for guiding a self-mobile device according to an embodiment of the present disclosure.

As shown in fig. 3, the self-moving device booting method includes the steps of:

step 301, establishing a coordinate system.

Step 302, determining the position of the mobile device relative to the charging station according to the distance measured by the radio frequency transceiver in the coordinate system.

It should be noted that, for the expression of steps 301 to 302 in this embodiment, reference may be made to the description of steps 101 to 102 in the foregoing embodiment, and details are not repeated here.

And step 303, controlling the self-moving device to move a distance to the charging station according to the position of the self-moving device relative to the charging station, and measuring the distance between the self-moving device and the charging station again.

In this embodiment, after the position of the self-moving device relative to the charging station is determined, the self-moving device may be controlled to move to the charging station according to the determined position, and after moving a distance, the distance between the new position and the charging station is measured again.

Here, when the self-moving device is controlled to move to the charging station, the self-moving device may move linearly or may move in a curve, and the moving manner of the self-moving device is not limited in the present application. Preferably, the self-moving device moves to the charging station along a straight line, so that the moving distance of the self-moving device in the process of approaching to the charging station is short.

Step 304, determining whether the distance is less than or equal to a preset distance.

After the mobile equipment moves for a certain distance, the distance between the mobile equipment and the charging station is remeasured through the radio frequency transceiver, and whether the measured distance is smaller than or equal to the preset distance is judged. The preset distance may be a minimum distance between the mobile device and the charging station during the radio frequency guiding phase. If the measured distance is less than or equal to the preset distance, go to step 305; if the measured distance is greater than the preset distance, the process returns to step 301, the coordinate system is re-established at the newly arrived position, and the position of the mobile device relative to the charging station is re-determined in the newly established coordinate system.

Step 305, the self-moving device arrives at a target area within a preset range from the charging station.

When the distance between the self-moving equipment and the charging station, measured at the newly moved position, is smaller than or equal to the preset distance, it is determined that the self-moving equipment reaches a target area within a preset range from the charging station, and the self-moving equipment entering the target area can return through ultrasonic guidance so as to complete docking with the charging station to perform wireless charging.

According to the self-moving equipment guiding method, the distance between the self-moving equipment and the charging station is measured again after the self-moving equipment moves to the charging station for a certain distance, the coordinate system is established again when the distance is larger than the preset distance to re-determine the position of the self-moving equipment relative to the charging station, and the self-moving equipment is determined to reach the target area within the preset range from the charging station when the distance is smaller than or equal to the preset distance, so that the position of the self-moving equipment can be monitored, the self-moving equipment is guaranteed to move to the target area quickly, and the regression efficiency is further improved.

In a possible implementation manner of the embodiment of the application, the self-moving device may further include an obstacle detection module to detect an obstacle that may be encountered during a moving process of the self-moving device in real time, so as to ensure smooth movement of the self-moving device. Thus, an embodiment of the present application provides another guiding method for a self-moving device, and fig. 4 is a schematic flow chart of a fourth guiding method for a self-moving device according to the embodiment of the present application. In this embodiment, the obstacle detection module includes an ultrasonic detection module, and the ultrasonic detection module may be used to detect an obstacle within a movement range of the mobile device, and may also be used to guide the mobile device to dock with the charging station.

As shown in fig. 4, the self-moving device booting method includes the steps of:

step 401, establishing a coordinate system.

Step 402, determining the position of the mobile device relative to the charging station according to the distance measured by the radio frequency transceiver in the coordinate system.

And step 403, controlling the self-moving device to move to the charging station according to the position of the self-moving device relative to the charging station.

It should be noted that, for the expression of steps 401 to 403 in this embodiment, reference may be made to the description of steps 101 to 103 in the foregoing embodiment, and details are not described here again.

Step 404, determine whether the ultrasonic detection module detects an obstacle.

In this embodiment, an ultrasonic detection module may be installed in the mobile device, and in the radio frequency guidance stage, the ultrasonic detection module is used to detect whether an obstacle exists in front of the mobile device in the traveling direction, where the ultrasonic detection module may send out an ultrasonic wave or receive an ultrasonic wave.

It can be understood that when the ultrasonic waves encounter an obstacle, the ultrasonic waves are blocked and reflected. Therefore, in this embodiment, whether the obstacle is detected can be determined by detecting whether the transmitted ultrasonic wave is received after the ultrasonic wave detection module sends the ultrasonic wave for a preset time, where the preset time can be preset. When the ultrasonic detection module receives the reflected ultrasonic wave, the ultrasonic detection module is considered to detect the obstacle, and step 405 is executed; when the ultrasonic detection module does not receive the reflected ultrasonic wave, it is determined that the ultrasonic detection module does not detect the obstacle, and step 406 is executed.

In step 405, control turns and moves a distance from the mobile device.

When the ultrasonic detection module detects an obstacle, the self-moving device may be controlled to rotate by a certain angle and move for a certain distance, and the coordinate system is reestablished at a new position and the position of the self-moving device relative to the charging station is determined in the coordinate system, that is, steps 401 and thereafter are executed again.

In step 406, control moves from the mobile device to within a predetermined range of the charging station.

When the ultrasonic detection module does not detect the obstacle, the mobile device is controlled to continue to move forwards until the mobile device moves to the preset range of the charging station.

Step 407, resetting the ultrasonic detection module, and guiding the mobile device to be docked with the charging station by using the reset ultrasonic detection module.

And the self-moving equipment which moves to the preset range of the charging station enters an ultrasonic guiding phase. In the ultrasonic guiding stage, the radio frequency transceiver of the self-moving device plays a role of time synchronization, and the ultrasonic detection module is used for receiving ultrasonic waves so as to measure the distance between the self-moving device and the charging station. At least one ultrasonic transmitter is arranged in the charging station and used for continuously or periodically sending out ultrasonic signals so as to guide the self-moving equipment to return to the docking.

The ultrasonic detection module in the self-moving equipment entering the ultrasonic guiding stage is reset only for receiving ultrasonic waves so as to guide the self-moving equipment to be docked with the charging station. And in the preset range of the charging station, starting the reset ultrasonic detection module from the mobile equipment to search the ultrasonic signal.

As an example, after the ultrasonic detection module of the mobile device is reset, at least two ultrasonic receivers may be set, the mobile device may rotate 360 ° clockwise or counterclockwise to search for an ultrasonic signal, and during the search, if at least one ultrasonic receiver of the mobile device does not receive the ultrasonic signal, the mobile device rotates by a preset rotation angle; if the situation that at least one ultrasonic receiver does not receive the ultrasonic signals still exists in the self-moving equipment in the rotating process and after the rotation, the self-moving equipment moves or rotates within a preset range until all the ultrasonic receivers of the self-moving equipment receive the ultrasonic signals; if at least one ultrasonic receiver still does not receive the ultrasonic signal after the mobile equipment moves or rotates within the preset range for the preset times, an alarm is sent out to prompt a worker; if the self-moving equipment is at the initial position, the two ultrasonic receivers receive the ultrasonic signals, then the self-moving equipment enters a return stage and starts to return to the charging station for docking.

Fig. 5 is a schematic diagram of the operation of an ultrasonic receiver of a self-moving device. As shown in fig. 5, when the ultrasonic signal emitted from the ultrasonic transmitter is in the area 1, the ultrasonic signals can be received by two ultrasonic receivers on the left and right sides of the mobile device at the same time; in regions 2 and 3, only one ultrasonic receiver can receive the ultrasonic signal; in other areas, neither ultrasonic receiver can receive ultrasonic signals.

When the self-moving equipment is returned to the charging station for docking, the distance between the self-moving equipment and the charging station needs to be measured, and in the ultrasonic guiding stage, the distance between the self-moving equipment and the charging station is measured through ultrasonic signals. When the ultrasonic measurement value (ultrasonic measurement value refers to the distance between the self-moving device and the charging station measured by the ultrasonic signal) is obtained by using the ultrasonic signal ranging, the time difference between the transmission and the reception of the ultrasonic signal needs to be obtained, and the ultrasonic measurement value is calculated according to the time difference and the propagation speed of the ultrasonic wave, so that in the ultrasonic guiding stage, the time synchronization of the ultrasonic receiver and the ultrasonic transmitter is needed in the embodiment. Because the wireless signal is an electromagnetic wave signal, the propagation speed is high, in order to adjust the clocks of the ultrasonic receiver and the ultrasonic transmitter to achieve time synchronization, the clocks of the ultrasonic receiver and the ultrasonic transmitter can be adjusted by adopting the wireless signal, the time synchronization information is carried by the wireless signal of the mobile equipment, and the ultrasonic receiver of the mobile equipment directly obtains the time synchronization information through a circuit and adjusts the clock of the mobile equipment according to the time synchronization information; the ultrasonic transmitter can obtain time synchronization information through a radio frequency transceiver of the charging station, and adjust a clock of the ultrasonic transmitter according to the time synchronization information, so that the time of the ultrasonic transmitter and the time of the ultrasonic receiver are synchronized.

In the ultrasonic guidance regression stage, after the distance (ultrasonic measurement value) between the self-moving device and the charging station is obtained through ultrasonic signal measurement, the self-moving device can determine the rotation direction and the movement distance of the self-moving device according to the ultrasonic measurement value, and then move to the charging station according to the rotation direction and the movement distance until the distance between the self-moving device and the charging station is smaller than the preset distance, and then the self-moving device and the charging station are docked.

As an example, assuming that the ultrasonic detection module in the self-moving device includes at least two ultrasonic receivers after being reset, the ultrasonic measurement value (denoted as E) read from the leftmost ultrasonic receiver by the self-moving device can be used₁) And the ultrasonic measurement value (denoted as E) read from the rightmost ultrasonic receiver₂) Is determined from the rotational direction of the mobile device whenE₁And E₂When the absolute value of the difference is smaller than or equal to a certain value, the direction of the mobile equipment is kept unchanged, and the rotation angle is 0 degree; when E is₁And E₂The absolute value of the difference is greater than a certain value and E₁Greater than E₂When the mobile equipment is in the normal state, the mobile equipment rotates clockwise by a preset angle; when E is₁And E₂The absolute value of the difference is greater than a certain value and E₁Less than E₂And then, the mobile equipment rotates anticlockwise by a preset angle.

In a specific embodiment of the present application, an ultrasonic detection module of a self-moving device includes two ultrasonic receivers respectively located on left and right sides of the self-moving device, and the self-moving device further includes an angle sensor for determining a deflection angle of the self-moving device with respect to a preset reference direction, where the preset reference direction is consistent with a central axis direction, or an included angle between the preset reference direction and the central axis direction is a known quantity, and in this embodiment, the preset reference direction is consistent with the central axis direction; the central axis is a region near a line perpendicular to the center position of the charging station, for example, a region ± 5cm from the perpendicular line, that is, the central axis is a narrow region, and the mobile device can be successfully docked with the charging station when moving along the central axis.

The self-moving equipment determines the rotation direction and the moving distance of the self-moving equipment according to the ultrasonic measured value, so that when the self-moving equipment is in butt joint with a charging station, the self-moving equipment can be in butt joint with the charging station according to the angle measured value alpha of the angle sensor and the ultrasonic measured value D of the ultrasonic receiver on the left side₁And ultrasonic measurement D of right-side ultrasonic receiver₂And determining the relative position of the mobile equipment and the charging station, and moving the mobile equipment to the central axis position of the charging station according to the relative position of the mobile equipment and the charging station and the angle measurement value alpha of the angle sensor, wherein the traveling direction is opposite to the charging station. The angle sensor is installed at the front end of the self-moving device, and can be an electronic compass, and preferably, the angle sensor is a six-axis sensor. After the self-moving equipment is in butt joint with the charging station every time, the six-axis sensor is initialized, so that the positive direction (0 degree) of the six-axis sensor is consistent with the direction of the self-moving equipment, and further, in the process of returning the self-moving equipment to be in butt joint, the six-axis sensor is initializedAnd calculating the deflection angle of the mobile equipment relative to the preset reference direction according to the angle displayed by the six-axis sensor. When the preset reference direction is consistent with the central axis direction, the angle measurement value displayed by the angle sensor is the deflection angle of the mobile device relative to the central axis.

The relative position of the self-moving device and the charging station may include a lateral distance M between the self-moving device and a central axis of the charging station and a longitudinal distance N between the self-moving device and the charging station in a direction perpendicular to the central axis. The calculation formulas of the lateral distance M and the longitudinal distance N are shown in formula (3).

When M is smaller than or equal to a threshold value delta M, determining that the self-moving equipment has moved to the central axis position of the charging station, and at the moment, the self-moving equipment can move along the traveling direction; when M is larger than the threshold value delta M and N is smaller than or equal to the threshold value delta N, after the mobile equipment retreats for a fixed distance, the values of M and N are re-determined, so that N after the values are re-determined is larger than the threshold value delta N; and when M is greater than the threshold value delta M and N is greater than the threshold value delta N, adjusting the traveling direction of the mobile equipment according to the angle measurement value alpha of the angle sensor, and after the mobile equipment travels the transverse distance M along the adjusted traveling direction, turning to the direction opposite to the charging station. Wherein, the values of the delta M and the delta N are preset values, and the values are not more than 5 cm.

Furthermore, according to the relative position of the self-moving device and the charging station and the size relationship of the preset distance, whether the self-moving device is near the central axis or too close to the charging station can be determined, when the self-moving device is not near the central axis and the self-moving device is not too close to the charging station, the rotation direction of the self-moving device is determined according to the angle measurement value alpha, the self-moving device is made to move according to the rotated direction, and the moving distance is determined according to the relative position of the self-moving device and the charging station, so that the self-moving device moves to the position near the central axis.

Specifically, when M is greater than a threshold Δ M and N is greater than a threshold Δ N, if α is less than or equal to 90 °, α is rotated clockwise from the mobile device. If alpha is larger than 90 degrees, the self-moving device rotates anticlockwise by 180 degrees-alpha.

Fig. 6 is a schematic diagram of the movement from the mobile device to the central axis, wherein the dotted line between the charging station and the location 3 is the central axis. As shown in fig. 6, assume that the ultrasonic measurement value from the ultrasonic receiver on the left side of the mobile device is D₁The ultrasonic measurement value of the right ultrasonic receiver is D₂According to D₁And D₂The determined lateral distance M is greater than Δ M and the longitudinal distance N is greater than Δ N. If the angle measurement α from the angle sensor of the mobile device is less than 90 ° at this time, indicating that the mobile device is located on the left side of the charging station (position 1), the mobile device is rotated clockwise by α (the direction after rotation is shown as position 2 in fig. 6), and after traveling forward by a transverse distance M, rotated counterclockwise by 90 ° and facing the charging station (shown as position 3 in fig. 6). If the angle measurement α from the angle sensor of the mobile device is greater than 90 ° at this time, indicating that the mobile device is located on the right side of the charging station (position 5), the mobile device is rotated 180 ° - α counterclockwise (the direction after rotation is shown as position 6 in fig. 6), travels forward by a transverse distance M, and then rotates 90 ° clockwise to face the direction of the charging station (shown as position 3 in fig. 6).

When the self-moving equipment is positioned on the central axis and the traveling direction is opposite to the charging station, the self-moving equipment can travel along the traveling direction, in the traveling process, the self-moving equipment continuously reads corresponding ultrasonic measurement values from the left ultrasonic receiver and the right ultrasonic receiver, determines a measurement difference value between the ultrasonic measurement values, adjusts the traveling direction according to the measurement difference value, or continues to travel along the traveling direction and determines an estimated distance between the self-moving equipment and the charging station until the estimated distance between the self-moving equipment and the charging station is smaller than a preset distance.

Specifically, it is assumed that the ultrasonic measurement values read from the ultrasonic receivers on the left and right sides of the mobile device are respectively denoted as E₁And E₂And the measured difference is recorded as E₁-E₂If the difference | E is measured₁-E₂If | is less than or equal to a preset threshold Δ E, the mobile device continues to travel in the direction of travel. Simultaneously, based on ultrasonic measurements of two ultrasonic receiversE₁And E₂And the distance D between the two ultrasonic receivers, determining an estimated distance P between the mobile device and the charging station, wherein the calculation formula of the estimated distance P is shown in formula (4).

If the difference E is measured₁-E₂If | is greater than the preset threshold Δ E, then at E₁Greater than E₂When the self-moving equipment is determined to be positioned on the left side of the central axis of the charging station, the self-moving equipment deflects the traveling direction clockwise by a preset angle; at E₂Greater than E₁And when the mobile equipment is determined to be positioned on the right side of the central axis of the charging station, the mobile equipment deflects the travelling direction anticlockwise by a preset angle. The preset threshold value delta E can be determined according to the precision of ultrasonic ranging, and the preset angle can be set to be a small value, such as 5 degrees, so that the self-moving equipment rotates by a small angle each time, and the phenomenon that the advancing direction of the self-moving equipment cannot be over against the charging station due to the fact that the rotating angle is too large is avoided. After the mobile equipment deflects by the preset angle each time, the step of determining the measurement difference value between the ultrasonic measurement values of different ultrasonic receivers is repeated, and the step of adjusting the traveling direction from the mobile equipment according to the measurement difference value or continuously traveling along the traveling direction and determining the estimated distance between the mobile equipment and the charging station is repeated until the measurement difference value | E₁-E₂And if the | is less than or equal to the preset threshold value delta E, continuing to travel along the travel direction.

And after the mobile equipment travels the estimated distance P along the traveling direction, repeatedly executing the steps of determining the measurement difference value between the ultrasonic measurement values of different ultrasonic receivers, adjusting the traveling direction from the mobile equipment according to the measurement difference value, or continuing traveling along the traveling direction and determining the estimated distance between the mobile equipment and the charging station until the estimated distance P is less than or equal to the preset distance delta P, and finishing the butt joint. The value of Δ P may be determined according to a distance between the ultrasonic transmitter and the ultrasonic receiver when the mobile device is successfully docked with the charging station.

According to the self-moving equipment guiding method, the ultrasonic detection module is used for detecting the obstacles, when the obstacles are detected, the self-moving equipment is controlled to turn and move for a certain distance, the obstacles in the advancing direction of the self-moving equipment can be eliminated, and the self-moving equipment is ensured to move smoothly; through in the preset range that removes to the charging station from the mobile device, reset the ultrasonic detection module to utilize ultrasonic detection module guide after resetting to dock from the mobile device and charging station, can make from the mobile device accuracy advance to the charging station and accomplish the butt joint with the charging station, improve and return butt joint precision and efficiency from the mobile device, improve the butt joint success rate.

Fig. 7 is a schematic diagram of a wireless regression docking method for a self-moving device. As shown in fig. 7, the wireless radio frequency ranging is used to guide the self-moving device to return to the action range of the ultrasonic ranging, and then the ultrasonic ranging is used to guide the self-moving device to return to the charging station. In the wireless radio frequency guiding regression stage, the adopted radio frequency range is 300 KHz-300 GHz. After the radio frequency guiding regression, the self-moving equipment enters a target area and then enters an ultrasonic guiding stage. Theoretically, the target area is an area with the charging station as a center and the threshold Δ d as a radius. However, the actual radius of the target area cannot be uniquely determined due to some error in ranging from the mobile device. Assuming that the distance measurement error is less than 1m and the threshold value is Δ d, the actual radius ranges from Δ d-1 to Δ d + 1. Assuming that Δ d is 3m, considering that the error of the radio frequency ranging is less than 1m, the radius of the target area ranges from 2m to 4m, and the target area shown in fig. 8 is obtained, and fig. 8 is a schematic diagram of detecting ultrasonic signals in the target area. As shown in fig. 8, the ultrasonic signal is detected from the mobile device after entering the area with a radius of 4 m. The ultrasound guidance phase may be divided into a detection phase, in which the detection of the ultrasound signal is performed from the mobile device, and a regression phase. After the two ultrasonic receivers of the self-moving equipment receive the ultrasonic signals, the self-moving equipment enters a regression phase, and the self-moving equipment is in butt joint with a charging station in the regression phase so as to be charged.

The wireless radio frequency is used for realizing coarse guidance, and then the ultrasonic signals are used for realizing accurate guidance, so that the action range of wireless regression butt joint can be enlarged, and the precision and the efficiency of regression butt joint are improved.

In the above embodiment, the wireless distance measuring unit is specifically a carrier-less communication unit, and in the position to which the mobile device moves, the carrier-less communication unit measures the distance between the mobile device and the charging station, and establishes a coordinate system according to the position to which the mobile device moves, so as to guide the mobile device to return to the charging station. To this end, an embodiment of the present application provides another guiding method for a self-moving device, and fig. 9 is a flowchart illustrating a fifth guiding method for a self-moving device according to the embodiment of the present application.

As shown in fig. 9, the method includes the steps of:

at a first point, measuring a distance between the first point and a charging station by a carrier-less communication unit, step 901.

At the first point, the time interval from the mobile device sending a wireless signal to the receiving of the wireless signal through the carrierless communication unit, namely, the UWB transceiver is T1, the time interval from the mobile device receiving the wireless signal through the carrierless communication unit on the charging station, namely, the time interval from the UWB transceiver on the charging station receiving the wireless signal and sending out the wireless signal is T2, the time of flight of the signal between the UWB transceiver on the mobile device and the UWB transceiver on the charger is T ═ T1-T2)/2, and the distance between the mobile device and the charging station, namely the distance between the first point and the charging station, can be determined according to the determined flight time of the signal between the mobile device and the charging station and the speed of transmission of the signal (the propagation speed of electromagnetic waves).

As shown in fig. 10, the process of guiding the return from the mobile device according to UWB is shown, in which point B is the first point where the mobile device is located, and the distance L between the point B and the charging station is measured by the carrierless communication unit.

And 902, controlling the mobile equipment to move from the first point to the second point, measuring the distance between the second point and the charging station, and recording the distance between the first point and the second point.

At the first point, the self-moving apparatus is controlled to move forward along the orientation (traveling direction) of the current self-moving apparatus, to reach the second point, and the distance between the self-moving apparatus and the charging station, that is, the distance between the second point and the charging station is measured by the carrier-less communication unit at the second point, and the distance between the first point and the second point is recorded.

For example, as shown in fig. 10, where point B1 is the second point to which the mobile device moves, the distance L1 between the point B1 and the charging station is measured by the carrierless communication unit at point B1.

And step 903, controlling the self-moving equipment to rotate by 90 degrees, moving from the second point to a third point, measuring the distance between the third point and the charging station, and recording the distance between the second point and the third point.

And at the second point, controlling the self-moving device to rotate the traveling direction by 90 degrees, wherein the rotation direction can rotate in a clockwise direction or a counterclockwise direction, and after rotating by 90 degrees, controlling the self-moving device to move from the second point to the third point. At the third point, the self-moving device measures the distance between the self-moving device and the charging station, i.e. between the third point and the charging station, via the carrierless communication unit and records the distance between the second point and the third point.

For example, as shown in fig. 10, point B1 is a third point which moves from the second point to the third point after the mobile device rotates 90 degrees counterclockwise along the traveling direction, and a distance L2 between the point B2 and the charging station is measured by the carrierless communication unit at point B2.

And 904, establishing a coordinate system based on the first point, the second point and the third point.

For example, the coordinate system shown in fig. 10 is a coordinate system established from the first point (B), the second point (B1), and the third point (B2).

And 905, calculating coordinates of the charging station according to the coordinate system and the distances between the first point, the second point and the third point and the charging station.

Step 906, determining the position of the self-moving device relative to the charging station according to the coordinates of the charging station.

In this embodiment, after the coordinates of the charging station are determined, the direction of the mobile device relative to the charging station may be determined according to the coordinates of the charging station, the relative position of the mobile device and the charging station may be determined according to the relative direction and the distance between the mobile device and the charging station, and the mobile device may be controlled to move to the charging station according to the relative position, so that the mobile device moves to the preset range of the charging station.

further, a sum of the rotation angles of the mobile device is determinedAfter the rotation direction, i.e. the direction of the self-moving device relative to the charging station is determined, for example, as shown in fig. 10, the self-moving device determines the rotation angle θ at the third point (B2) because the X-axis coordinate value X of the position a is larger than the X-axis coordinate value d of the third point₁Determining the rotation direction to be clockwise, i.e. the rotation angle θ from the mobile device clockwise, i.e. the moving direction from the mobile device, and based on the moving direction and the distance between the mobile device and the charging station, controlling the mobile device to move to the charging station to make the mobile device approach to the charging station, e.g. the mobile device travels a distance S along the adjusted traveling direction, wherein the distances S and L are₀Has a positive relationship with each other, wherein L₀Is the distance between the current position of the mobile device and the charging station, i.e. S and L₀Proportional relation, S ═ kL₀,0<k≤1。

In a possible implementation manner of the embodiment of the present application, after the distance L from the mobile device to the charging station is measured at the first point B, before performing step 902, L may be compared with a preset threshold Δ d, where Δ d represents a minimum distance between the mobile device and the charging station in the UWB guidance phase. If L is smaller than or equal to delta d, the self-moving equipment is considered to be in a preset range, and then the ultrasonic guiding stage can be started; if L is greater than Δ d, step 902 and the following steps are performed to bring the mobile device closer to the charging station.

Step 907, controlling the self-moving device to move a distance to the charging station according to the position of the self-moving device relative to the charging station, and then measuring the distance between the self-moving device and the charging station again.

Specifically, in this embodiment, after the mobile device is controlled to move a certain distance to the charging station according to the determined position, for example, for the distance S, the distance between the new position and the charging station is measured again. This is because, during the moving process, the self-moving device may encounter an obstacle, so that the moving direction of the self-moving device deviates from the originally determined opposite direction of the self-moving device relative to the charging station, and meanwhile, in order to quickly return the self-moving device and improve the accuracy of the return, the self-moving device may be controlled to move for a certain distance according to the determined relative position with the charging station, and then the distance between the self-moving device and the charging station may be measured again, and it may be determined whether the self-moving device needs to continue moving or has reached within the preset range of the charging station according to the newly measured distance.

Step 908, determining whether the distance is smaller than or equal to a preset distance, if yes, executing step 909, and if not, executing step 901.

Specifically, whether the measured distance is less than or equal to a preset distance is judged according to the distance between the mobile device and the charging station, which is measured again by the carrier-free communication unit. The preset distance may be a minimum distance between the self-moving device and the charging station during the UWB guidance phase. If the measured distance is less than or equal to the preset distance, perform step 909; if the measured distance is greater than the preset distance, the process returns to step 901, the newly arrived position is taken as the first point, the coordinate system is re-established at the newly arrived position, and the position of the self-moving device relative to the charging station is re-determined in the newly established coordinate system, as shown in fig. 10, after the distance S is moved from the self-moving device to the new position, at B₃The coordinate system shown in fig. 10 is re-established, and the self-moving device is redirected to move to the charging station according to the position of the self-moving device relative to the charging station, which is re-determined in the new coordinate system, so as to improve the accuracy of the carrier-free communication unit in guiding the self-moving device to return to the preset range of the charging station, and improve the return efficiency.

In step 909, the mobile device arrives at a target area within a preset range from the charging station.

Specifically, when the distance between the self-moving device and the charging station, measured at the newly moved position, is smaller than or equal to the preset distance, it is determined that the self-moving device has reached a target area within a preset range from the charging station, and the self-moving device entering the target area can perform regression through ultrasonic guidance to complete docking with the charging station for wireless charging.

In a possible implementation manner of the embodiment of the application, the self-moving device may further include an obstacle detection module, where the obstacle detection module includes an ultrasonic detection module, so as to detect obstacles that may be encountered during a moving process of the self-moving device in real time, and ensure that the self-moving device moves smoothly. The ultrasonic detection module can also be used for guiding the self-moving equipment to be in butt joint with the charging station, namely after the self-moving equipment is guided to move to the preset range of the charging station through the carrier-free communication unit, the self-moving equipment can also be guided to be in butt joint with the charging station through the ultrasonic detection module, the return butt joint precision and efficiency of the self-moving equipment are improved, and the success rate of butt joint is improved. The principle is the same as that of the embodiment in which the wireless ranging unit is a radio frequency transceiver, and is not described in detail in this embodiment.

In order to implement the above embodiments, the present application also provides a guiding apparatus for a self-moving device.

Fig. 11 is a schematic structural diagram of a first self-moving device guiding apparatus for guiding a self-moving device to move to a charging station according to an embodiment of the present disclosure, wherein the self-moving device includes a wireless ranging unit for measuring a distance to the charging station.

As shown in fig. 11, the self-moving apparatus guiding device 90 includes: a setup module 910, a determination module 920, and a control module 930. Wherein the content of the first and second substances,

an establishing module 910 configured to establish a coordinate system.

A determining module 920, configured to determine, in the coordinate system, a position of the mobile device relative to the charging station according to the distance measured by the wireless ranging unit.

The control module 930 is configured to control the self-moving device to move to the charging station according to a position of the self-moving device relative to the charging station, so that the self-moving device moves to a preset range of the charging station.

In a possible implementation manner of the embodiment of the present application, the control module 930 is specifically configured to determine a rotation angle of the self-moving device according to a position of the self-moving device relative to the charging station, and control the self-moving device to rotate by the angle.

In a possible implementation manner of the embodiment of the present application, the self-moving device may further include a precise docking module, so that the self-moving device guiding apparatus 90 may further guide the self-moving device to dock with the charging station by using the precise docking module after the control module 930 controls the self-moving device to move to the preset range of the charging station, so that the self-moving device is coupled with the charging station, and thus the wireless charging is achieved.

Further, in a possible implementation manner of the embodiment of the present application, the establishing module 910 may establish a coordinate system through a position to which the mobile device moves, and measure a distance between the mobile device and the charging station through the wireless ranging unit at the position to which the mobile device moves. Therefore, the present embodiment provides another guiding apparatus for a self-moving device, as shown in fig. 12, on the basis of the embodiment shown in fig. 11, the establishing module 910 includes:

and a moving and measuring unit 911 for controlling the mobile device to move from the first point to the second point and recording the distance between the first point and the second point, and controlling the mobile device to rotate 90 degrees and move from the second point to the third point and recording the distance between the second point and the third point, and measuring the distances between the first point, the second point and the third point and the charging station through the wireless distance measuring unit, respectively.

An establishing unit 912 configured to establish a coordinate system based on the first point, the second point, and the third point; the distance between the first point and the second point and the distance between the second point and the third point are used for determining the coordinates of the first point, the second point and the third point in a coordinate system.

Specifically, when the establishing unit 912 establishes the coordinate system, the coordinate system is established by using the first point as the origin of coordinates, the first point to the second point as the X-axis direction, and the second point to the third point as the Y-axis direction.

It should be noted that, when the moving and measuring unit 911 measures the distance between each point and the charging station, the distance may be measured after each point is reached, or the distance between each point and the charging station may be measured after the coordinate system is established by the establishing unit 912, which is not limited in the present application.

The determining module 920 is specifically configured to calculate coordinates of the charging station according to the coordinate system and distances between the first point, the second point, and the third point and the charging station.

The control module 930 is specifically configured to control the mobile device to move to the charging station according to the coordinates of the charging station, so that the mobile device moves to a preset range of the charging station.

The coordinate system is established at the position to which the mobile equipment moves, the distance between the position to which the mobile equipment moves and the charging station is measured, the coordinate of the charging station is calculated, and then the mobile equipment is controlled to move to the charging station according to the coordinate of the charging station, so that the mobile equipment moves to the preset range of the charging station, the action range of wireless regression butt joint can be expanded, and the regression efficiency of the mobile equipment is improved.

In a possible implementation manner of the embodiment of the present application, as shown in fig. 13, on the basis of the embodiment shown in fig. 11, the control module 930 may include:

and a control unit 931 for controlling the mobile device to move a distance to the charging station.

A determining unit 932, configured to measure a distance between the mobile device and the charging station after the control unit 931 controls the mobile device to move a distance to the charging station, and determine whether the distance is less than or equal to a preset distance; when the distance from the mobile device to the charging station is greater than the preset distance, the control establishing module 910 reestablishes the coordinate system at the position after moving a distance.

A determining unit 933, configured to determine that the mobile device reaches the target area within the preset range from the charging station when the determining unit 932 determines that the distance between the mobile device and the charging station is less than or equal to the preset distance.

The distance between the mobile equipment and the charging station is measured again after the mobile equipment moves to the charging station for a certain distance, the coordinate system is reestablished to determine the position of the mobile equipment relative to the charging station again when the distance is larger than the preset distance, and the mobile equipment is determined to reach a target area within a preset range from the charging station when the distance is smaller than or equal to the preset distance, so that the position of the mobile equipment can be monitored, the mobile equipment is guaranteed to move to the target area quickly, and the regression efficiency is further improved.

In a possible implementation manner of the embodiment of the present application, the self-moving device may further include an obstacle detection module, configured to detect an obstacle that may be encountered during movement of the self-moving device. In this embodiment, the obstacle detection module may include an ultrasonic detection module, and the ultrasonic detection module may be configured to detect an obstacle, and may also be configured to guide the mobile device to return to the charging station for docking. Thus, based on the above-described embodiment, as shown in fig. 14, the self-moving device guiding apparatus 90 may further include:

a detection module 940 for detecting the obstacle by using the ultrasonic detection module. When the detection module 940 detects an obstacle, the control module 930 controls to turn and move a distance from the mobile device, and controls the establishment module 910 to reestablish the coordinate system at the moved position.

And a docking guidance module 950, configured to reset the ultrasonic detection module after the mobile device moves to a preset range of the charging station, and guide the mobile device to dock with the charging station by using the reset ultrasonic detection module.

The obstacle is detected by using the ultrasonic detection module, and when the obstacle is detected, the self-moving equipment is controlled to turn and move for a certain distance, so that the obstacle in the advancing direction of the self-moving equipment can be eliminated, and the self-moving equipment is ensured to move smoothly; through in the preset range that removes to the charging station from the mobile device, reset the ultrasonic detection module to utilize ultrasonic detection module guide after resetting to dock from the mobile device and charging station, can make from the mobile device accuracy advance to the charging station and accomplish the butt joint with the charging station, improve and return butt joint precision and efficiency from the mobile device, improve the butt joint success rate.

It should be noted that the foregoing explanation of the embodiment of the method for guiding a self-moving device is also applicable to the self-moving device guiding apparatus of this embodiment, and the implementation principle thereof is similar, and is not described herein again.

The self-moving device guiding apparatus of this embodiment determines the position of the self-moving device relative to the charging station according to the distance measured by the wireless ranging unit in the coordinate system by establishing the coordinate system, and controls the self-moving device to move to the charging station according to the position of the self-moving device relative to the charging station, so that the self-moving device moves to the preset range of the charging station. The self-moving equipment is controlled to return to the charging station according to the distance measured by the wireless distance measuring unit, the self-moving equipment can return in the coverage range of the radio frequency signal, the return action range is expanded, the self-moving equipment is guided to walk along a specific route when the self-moving equipment returns and is in butt joint, and a guide wire does not need to be additionally arranged, so that the complexity of returning and butt joint of the self-moving equipment is reduced, the return butt joint efficiency is improved, and the technical problems of low return butt joint efficiency and complex realization in the prior art can be solved.

In order to implement the above embodiments, the present application further provides a self-moving device.

Fig. 15 is a schematic structural diagram of a self-moving device according to an embodiment of the present application. As shown in fig. 15, the self-moving apparatus 110 includes: the memory 111, the processor 112, and the computer program 113 stored on the memory 111 and operable on the processor 112, when the processor 112 executes the program, the self-moving device booting method as described in the foregoing embodiment is implemented.

In order to implement the above embodiments, the present application also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the self-moving device booting method as described in the foregoing embodiments.

In order to implement the foregoing embodiments, the present application also proposes a computer program product, wherein when the instructions in the computer program product are executed by a processor, the method for booting a self-mobile device as described in the foregoing embodiments is performed.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A self-moving device guiding method is used for guiding the self-moving device to move to a charging station, and the self-moving device comprises a wireless ranging unit used for measuring the distance between the self-moving device and the charging station;

characterized in that the guiding method comprises the following steps:

establishing a coordinate system;

2. The self-moving device guiding method according to claim 1, wherein the coordinate system is established by a location to which the self-moving device is moved.

3. The self-moving device guiding method according to claim 2, further comprising measuring a distance from a charging station to the self-moving device by the wireless ranging unit at a location to which the self-moving device moves.

4. The self-mobile device guidance method of claim 2, wherein the establishing a coordinate system comprises:

controlling the self-moving equipment to move from a first point to a second point, and recording the distance between the first point and the second point;

controlling the self-moving equipment to rotate 90 degrees, moving from the second point to a third point, and recording the distance between the second point and the third point;

and establishing a coordinate system based on the first point, the second point and the third point.

5. The self-moving device guiding method according to claim 4, wherein the establishing a coordinate system based on the first point, the second point, and the third point comprises:

and establishing a coordinate system by taking the first point as a coordinate origin, taking the first point to the second point as an X-axis direction and taking the second point to the third point as a Y-axis direction.

6. The self-moving device guiding method according to claim 5, wherein the establishing a coordinate system based on the first point, the second point, and the third point further comprises:

and respectively measuring the distances between the first point, the second point and the third point and the charging station through the wireless distance measuring unit.

7. The method of claim 6, wherein determining the location of the self-moving device relative to the charging station based on the distance measured by the wireless ranging unit in the coordinate system comprises:

and calculating the coordinates of the charging station according to the coordinate system and the distances between the first point, the second point and the third point and the charging station.

8. The self-moving device guiding method as claimed in claim 1, wherein said controlling the self-moving device to move to the charging station according to the position of the self-moving device relative to the charging station comprises:

and determining the rotation angle of the self-moving equipment according to the position of the self-moving equipment relative to the charging station, and controlling the self-moving equipment to rotate by the angle.

9. The self-moving device guiding method as described in claim 8, wherein said controlling the self-moving device to move to a charging station further comprises:

after the self-moving equipment is controlled to move a distance to the charging station, measuring the distance between the self-moving equipment and the charging station, and judging whether the distance is smaller than a preset distance;

and if the distance between the self-moving equipment and the charging station is smaller than or equal to a preset distance, the self-moving equipment reaches a target area within the preset range from the charging station.

10. The method of claim 9, wherein after determining whether the distance is less than a predetermined distance, further comprising:

if the distance between the self-moving equipment and the charging station is larger than the preset distance, the steps of establishing a coordinate system and determining the position of the self-moving equipment relative to the charging station in the coordinate system according to the distance measured by the wireless ranging unit are repeatedly executed, and the self-moving equipment is controlled to move to the charging station according to the position of the self-moving equipment relative to the charging station.

11. The self-moving device guiding method according to claim 1, wherein the self-moving device includes an obstacle detecting module, the guiding method further comprising: when the obstacle detection module detects an obstacle, the self-moving equipment turns and moves for a certain distance, the steps of establishing a coordinate system and determining the position of the self-moving equipment relative to the charging station in the coordinate system according to the distance measured by the wireless ranging unit are repeatedly executed, and the self-moving equipment is controlled to move to the charging station according to the position of the self-moving equipment relative to the charging station.

12. The self-moving device guiding method according to claim 11, wherein the obstacle detecting module includes an ultrasonic detecting module, the guiding method further comprising:

when the self-moving equipment moves to the preset range, the ultrasonic detection module is reset, and the reset ultrasonic detection module is used for guiding the self-moving equipment to be in butt joint with the charging station.

13. The self-moving device boot method according to claim 1, wherein the self-moving device comprises a precision docking module, the boot method further comprising:

guiding the self-moving device to be docked with the charging station by using the precise docking module.

14. A method as claimed in any one of claims 1 to 11, wherein the wireless ranging unit is adapted to measure the distance between the mobile device and the charging station using a radio frequency transceiver or using a carrierless communication unit.

15. A self-moving device guiding device for guiding the self-moving device to move to a charging station, the self-moving device comprises a wireless ranging unit for measuring the distance between the self-moving device and the charging station;

characterized in that the device comprises:

the establishing module is used for establishing a coordinate system;

16. A self-moving device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, when executing the program, implementing a self-moving device boot method according to any of claims 1-14.

17. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the self-moving device booting method according to any one of claims 1-14.