CN113725943B

CN113725943B - Charging seat, recharging method and self-mobile device

Info

Publication number: CN113725943B
Application number: CN202110785879.5A
Authority: CN
Inventors: 丁民权; 刘振涛; 于昊田
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2023-07-28
Anticipated expiration: 2041-07-12
Also published as: CN113725943A

Abstract

The embodiment of the application provides a charging seat, a recharging method and self-mobile equipment. In this embodiment of the present application, the charging stand may externally transmit, by using a first coding manner, first and second recharging signals that have partial overlapping in space and time sequence, where overlapping portions of the first and second recharging signals form a fourth recharging signal that has a coding manner different from the first coding manner, and a coverage area of the fourth recharging signal corresponds to the charging portion; under the condition that the self-moving equipment receives the fourth recharging signal, the self-moving equipment can move towards the charging seat under the guidance of the fourth recharging signal so as to be in butt joint with the charging part to realize recharging. The fourth recharging signal generated by partially overlapping the two recharging signals in space and time sequence has higher stability, so that the accuracy of butt joint of the self-mobile equipment and the charging part during recharging is improved, and recharging efficiency is improved.

Description

Charging seat, recharging method and self-mobile device

Technical Field

The application relates to the technical field of artificial intelligence, in particular to a charging seat, a recharging method and self-mobile equipment.

Background

Along with the development of intelligent house and artificial intelligence technique, robot sweeps floor because of its function diversification, and the performance is more intelligent, gets into people's daily life gradually, brings very big facility for people's daily life. Most of the current floor sweeping robots in the market have an automatic recharging function, namely, the robot can automatically return to a charging seat for recharging when the electric quantity is insufficient.

The existing automatic recharging mode is as follows: two symmetrically distributed infrared lamps are arranged in the center of the charging seat, the two infrared lamps emit recharging signals in turn, and after the sweeping robot detects the recharging signals, recharging is carried out along the recharging signals until the sweeping robot is in butt joint with the charging seat. However, in practical application, the robot of sweeping floor is in the in-process of docking with the charging seat, is difficult to accurately confirm the reed that charges, and the docking success rate is lower, and user experience is not good.

Disclosure of Invention

Aspects of the present application provide a charging stand, a recharging method and a self-mobile device, which are used for improving accuracy of butt joint between the self-mobile device and a charging reed on the charging stand in a recharging process.

The embodiment of the application provides a charging stand, including: the charging seat body is provided with a charging part, a first signal emitter and a second signal emitter; the first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode; and the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal with a coding mode different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part and is used for guiding the self-mobile equipment to travel in the coverage area of the fourth recharging signal so as to be in butt joint with the charging part.

The embodiment of the application also provides a recharging method, which is suitable for the self-mobile device and comprises the following steps: in the recharging moving process, receiving a target recharging signal emitted by a charging seat, wherein a charging part, a first signal emitter and a second signal emitter are arranged on the charging seat; if the received target recharging signal is not the fourth recharging signal, moving to a coverage area of the fourth recharging signal corresponding to the charging part under the guidance of the received target recharging signal; after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is in butt joint; the first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal which is different from the first coding mode in coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

The embodiment of the application also provides self-mobile equipment, which comprises: the device comprises a device body, a signal receiver, a processor and a memory storing a computer program, wherein the device body is provided with the signal receiver, the processor and the memory storing the computer program; the signal receiver is used for receiving recharging signals transmitted by the signal transmitters on the charging seat in the recharging moving process, and the charging seat is provided with a charging part, a first signal transmitter and a second signal transmitter; the processor is configured to execute the computer program for: if the received target recharging signal is not the fourth recharging signal, moving to a coverage area of the fourth recharging signal corresponding to the charging part under the guidance of the received target recharging signal; after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is in butt joint; the first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal which is different from the first coding mode in coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

The embodiments of the present application also provide a computer-readable storage medium storing a computer program, which when executed, can implement the steps in the embodiments of the method of the present application.

In this embodiment of the present application, the charging stand may externally transmit, by using a first coding manner, first and second recharging signals that have partial overlapping in space and time sequence, where overlapping portions of the first and second recharging signals form a fourth recharging signal that has a coding manner different from the first coding manner, and a coverage area of the fourth recharging signal corresponds to the charging portion; under the condition that the self-moving equipment receives the fourth recharging signal, the self-moving equipment can move towards the charging seat under the guidance of the fourth recharging signal so as to be in butt joint with the charging part to realize recharging. The fourth recharging signal generated by partially overlapping the two recharging signals in space and time sequence has higher stability, so that the accuracy of butt joint of the self-mobile equipment and the charging part during recharging is improved, and recharging efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

Fig. 1a is a schematic diagram of a structure and a signal coverage area of a charging stand according to an embodiment of the present application;

fig. 1b is a schematic diagram of a structure and a signal coverage area of another charging stand according to an embodiment of the present application;

FIG. 1c is a schematic diagram of a relative positional relationship of first, second and third signal emitters according to an embodiment of the present application;

fig. 1d is a schematic diagram of a positional relationship of first, second and third signal transmitters disposed relatively in a receiving cavity of a charging stand according to an embodiment of the present application;

fig. 1e is a front view of a charging stand according to an embodiment of the present application;

FIG. 1f is a schematic diagram of a signal coverage area formed by the first, second and third signal transmitters of FIG. 1d transmitting recharging signals;

fig. 1g is a schematic diagram of a process of moving a self-mobile device to recharge under the guidance of a recharging signal according to an embodiment of the present application;

fig. 1h is a schematic diagram of another process of moving a self-mobile device to recharge under the guidance of a recharging signal according to an embodiment of the present application;

fig. 2a is a transmission timing diagram of a recharging signal according to an embodiment of the present application;

FIG. 2b is a timing diagram of another recharging signal transmission provided in an embodiment of the present application;

FIG. 2c is a schematic diagram illustrating a recharging process performed by a self-mobile device under the guidance of a recharging signal according to an embodiment of the present application;

FIG. 2d is a schematic diagram illustrating a recharging process of a self-mobile device under the guidance of a recharging signal according to an embodiment of the present application;

FIG. 3a is a schematic diagram of logic levels "1" and "0" according to an embodiment of the present application;

FIG. 3b is a schematic diagram of logic levels "1" and "0" with opposite encoded logic from that of FIG. 3 a;

FIG. 3c is a schematic diagram of providing a recharging signal sent by a plurality of signal transmitters according to an embodiment of the present application;

fig. 4 is a schematic diagram of a process of moving a self-mobile device to recharge under the guidance of a recharging signal according to an embodiment of the present application;

fig. 5 is a flowchart of a recharging method according to an embodiment of the present application;

fig. 6a is a schematic structural diagram of a self-mobile device according to an embodiment of the present application;

fig. 6b is a top view of a self-mobile device according to an embodiment of the present application.

Detailed Description

For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Before the technical scheme of the embodiment of the application is described in detail, description is first made on the self-mobile device provided by the embodiment of the application. The self-moving device provided by the embodiment of the application can be any mechanical device capable of moving autonomously in the environment where the self-moving device is located, for example, a robot, a purifier, an unmanned vehicle and the like. The robot may include a sweeping robot, a glass wiping robot, a home accompanying robot, a greeting robot, an autonomous service robot, etc., which is not limited herein. These self-mobile devices can move autonomously by means of the power supplied by the rechargeable battery and have an automatic recharging function, automatically returning to a charging seat adapted thereto for recharging when the electric quantity is insufficient or when other recharging conditions are satisfied.

In the case that the recharging requirement of the self-mobile device is determined, the charging seat can outwards transmit a recharging signal for guiding the self-mobile device to approach the charging seat, and the charging seat is abutted with the charging part at the charging part moving to the charging seat for charging. For example, upon detecting a recharging event or receiving a recharging instruction from the mobile device, the recharging instruction may be sent to the charging dock to instruct the charging dock to transmit a recharging signal to the outside. The self-mobile device can be in communication connection with the charging seat in a WiFi (wireless fidelity), bluetooth (bluetooth) and other modes, and sends a recharging instruction back to the charging seat through the communication connection. Of course, the charging seat can also transmit the recharging signal to the outside in other modes without sensing whether the recharging requirement exists on the self-mobile device, for example, the recharging signal can be always transmitted to the outside by default, or the recharging signal can be transmitted to the outside within a set time range. In the scheme that the charging seat externally transmits recharging signals within a set time range, the self-mobile equipment is matched, and the self-mobile equipment needs to be recharged within the set time range.

Based on the transmission range and stability characteristics of the recharging signal, the more the recharging signal received from the mobile device is close to the signal transmitter, the more unstable the recharging signal is likely to be; and, the charging stand may be disturbed in the process of transmitting the recharging signal outwards, so that the self-mobile device cannot accurately determine the position of the charging part. To this technical problem, this application embodiment provides a charging seat, and this charging seat can be towards the place ahead of charging portion transmission first and second and return to fill the signal, and first and second return to fill the signal and have partial overlapping in space and time sequence, overlap the portion and form fourth and return to fill the signal, and the coverage area of fourth returns to fill the signal corresponds the charging portion on the charging seat, and fourth returns to fill the signal and mainly used to guide from mobile device to the charging seat and be close to until with the butt joint of charging portion in order to return to fill.

Wherein the first and second recharging signals have a duration that is a period of time from the start of transmission to the end of transmission, and the first and second recharging signals being partially overlapped in time sequence means that the two recharging signals overlap in duration, i.e. the transmission time of one recharging signal is earlier than the end time of the other recharging signal. The spatial overlap of the first and second recharge signals means that the coverage areas of the two recharge signals overlap. In this embodiment of the application, the partial area overlapped and covered by the first and second recharging signals is the coverage area corresponding to the fourth recharging signal, and the coverage area corresponds to the charging portion, so that the self-mobile device can accurately dock with the charging portion along the coverage area of the fourth recharging signal under the guidance of the fourth recharging signal; in addition, the fourth recharging signal is formed by overlapping parts of the two recharging signals in time sequence and space, and has higher stability, so that the accuracy of the butt joint of the self-mobile device and the charging part can be improved under the guidance of the fourth recharging signal, and the recharging efficiency of the self-mobile device is further improved.

It should be noted that, the coverage area of the fourth recharging signal corresponds to the charging portion, which means that there is an accurate relative positional relationship between the coverage area (or the end thereof) and the charging portion, for example, the coverage area may be opposite to the charging portion, so that the mobile device can accurately dock with the charging portion by directly travelling along the coverage area; alternatively, the coverage area (or its end) may be offset from the charging portion and have a fixed distance from the charging portion, for example, the end of the coverage area is 5cm to the left of the charging portion, based on which the mobile device travels along the coverage area to its end, and at this time, the mobile device may be properly offset according to the positional and distance relationship between the coverage area and the charging portion, so as to be accurately aligned with the charging portion.

In this embodiment of the present application, the specific implementation structure of the charging stand is not limited, and all charging stand structures that can provide the fourth recharging signal and the coverage area thereof are applicable to the embodiment of the present application. In the following embodiments, an exemplary charging stand structure is provided to implement the recharging guiding function described above. Fig. 1a is a schematic structural diagram of a charging stand according to an embodiment of the present application. As shown in fig. 1a, the charging stand 10 includes a charging stand body, on which a charging part, a first signal transmitter L1 and a second signal transmitter L2 are disposed; the first signal transmitter L1 and the second signal transmitter L2 are respectively configured to transmit a first recharging signal and a second recharging signal towards the front of the charging portion, where the first recharging signal and the second recharging signal both have partial overlapping in space and time sequence, so as to generate a fourth recharging signal.

As shown in fig. 1a, the first recharging signal forms a coverage area in front of the charging stand 10; the second recharging signal also forms a coverage area in front of the cradle 10; the fourth recharging signal also forms a coverage area in front of the charging portion of the charging stand 10, denoted as a fourth signal area S4; the area of the coverage area of the first recharge signal other than area S4 is referred to as the first signal area, denoted S1; the area of the coverage area of the second recharge signal other than the fourth signal area S4 is referred to as the second signal area and is denoted as S2. As shown in fig. 1a, the area S4 corresponds to the charging portion, so the fourth recharging signal may be used to guide the mobile device to travel along the area S4 to interface with the charging portion, and in fig. 1a, the area S4 is illustrated as facing the charging portion.

In the embodiment of the present application, the implementation manner of the charging portion is not limited, and the positional relationship between the first and second signal transmitters and the charging portion is not limited. In an alternative embodiment, the charging portion may include two charging reeds corresponding to the positive electrode and the negative electrode, respectively. In the embodiment of the present application, in fig. 1a and 1b and the subsequent fig. 1e to 1h, fig. 2c and 2d, and fig. 4, the charging portion includes two charging reeds 11, and the first and second signal transmitters are illustrated as symmetrically disposed between the two charging reeds 11. In addition to this, the charging unit may be three charging reeds or other implementation forms, and may be specifically determined according to the implementation form and the charging requirement of the self-mobile device. Accordingly, in the case where the charging section includes two charging reeds 11, two charging contacts (shown as k1 and k2 in fig. 6 b) corresponding to the two charging reeds 11 are provided on the self-moving device, and the two charging contacts are respectively abutted with the two charging reeds when charging.

In this embodiment of the present application, the self-mobile device has a recharging function, and under the condition that the recharging condition is satisfied, the self-mobile device can gradually approach the charging stand 10 under the guidance of the recharging signal emitted from the charging stand 10, until the self-mobile device is in butt joint with the charging reed 11 on the charging stand 10 so as to realize recharging. For example, the self-mobile device may continuously monitor the battery power supplied to the self-mobile device during the running process, and when the power is lower than the set threshold, it is determined that recharging is required, and the self-mobile device may gradually approach the charging stand 10 under the guidance of the recharging signal emitted from the charging stand 10, until the self-mobile device is in butt joint with the charging reed 11 on the charging stand 10 to implement recharging. Or, after the task is completed, the self-mobile device determines that the self-mobile device needs to return to the charging seat to supplement electric quantity and wait for a new operation command, the self-mobile device can gradually approach the charging seat 10 under the guidance of the charging seat 10 to the externally transmitted recharging signal until the self-mobile device is in butt joint with the charging reed 11 on the charging seat 10 to realize recharging. Or, when receiving the recharging instruction, the self-mobile device may gradually approach the charging seat 10 under the guidance of the recharging signal emitted from the charging seat 10 until the self-mobile device is in butt joint with the charging reed 11 on the charging seat 10 to realize recharging, and the specific mode is not limited.

In the embodiment of the present application, when the self-mobile device needs to return to the charging stand 10 for recharging, there are two situations in the positional relationship between the self-mobile device and the charging stand 10: case 1, the self-mobile device is already within the coverage area of a certain recharging signal emitted externally by the cradle 10; case 2, the self-mobile device is not within the coverage area of any recharging signal externally transmitted by the cradle 10. For case 2, embodiments of the present application do not limit the manner in which a mobile device moves toward the cradle 10 until entering the coverage area of any recharging signal that the cradle 10 transmits outward.

Optionally, in the case that the self-mobile device includes an environment map, the self-mobile device may adopt a mode of planning recharging, move to the charging stand 10 according to the position information marked on the charging stand 10 in the environment map until entering into the coverage area of any recharging signal, and gradually approach the charging reed 11 on the charging stand 10 according to the guidance of the received recharging signal when entering into the coverage area of a recharging signal emitted by the charging stand 10, so as to dock with the charging reed for recharging. Or under the condition that the self-mobile device does not have an environment map, the self-mobile device can adopt a mode of detecting recharging, continuously detect whether recharging signals are received in the recharging moving process until any recharging signal emitted by the charging seat 10 to the outside is received, gradually approach to the charging reed 11 on the charging seat 10 according to the guidance of the received recharging signals when entering the coverage area of the charging seat 10 to a certain recharging signal emitted by the outside, and dock with the recharging reed to recharge. Or, in the case that the self-mobile device includes an environment map, the self-mobile device may perform recharging movement by adopting a combination of planning recharging and detecting recharging until the self-mobile device enters a coverage area of a recharging signal emitted by the charging stand 10, and then gradually approaches the charging reed 11 on the charging stand 10 according to guidance of the received recharging signal, so as to dock with the recharging reed.

In the embodiment of the present application, the self-mobile device may receive the recharging signal transmitted by the cradle 10 during the movement to the cradle 10. The recharging signals received from the mobile device may be first, second and fourth recharging signals, and in order to distinguish the recharging signals received from the mobile device from the first, second and fourth recharging signals in description, the received recharging signals are called target recharging signals; the target recharging signal may be a first recharging signal, a second recharging signal, or a fourth recharging signal. If the target recharging signal transmitted by the charging stand 10 is received, it is determined whether the received target recharging signal is a fourth recharging signal, and if the received target recharging signal is not the fourth recharging signal, the target recharging signal and the fourth recharging signal can be moved to the fourth recharging signal coverage area S4 corresponding to the charging reed 11 under the guidance of the received target recharging signal according to the positional relationship between the target recharging signal coverage area and the fourth recharging signal coverage area S4. Further, after moving to the coverage area S4 of the fourth recharging signal, it may move toward the charging reed 11 under the guidance of the fourth recharging signal until interfacing with the charging reed 11. If the received target recharging signal is the fourth recharging signal, the target recharging signal can be kept moving towards the charging reed 11 in the coverage area S4 of the fourth recharging signal directly under the guidance of the fourth recharging signal until the target recharging signal is in butt joint with the charging reed 11.

In some alternative embodiments of the present application, the cradle 10 further comprises a third signal transmitter for transmitting a third recharging signal outwardly for directing movement from the mobile device to a signal area covered by the first, second or fourth recharging signal for receiving the first or second recharging signal from the mobile device and receiving the fourth recharging signal in the event that the first, second and fourth recharging signals are not received from the mobile device. Fig. 1b is a schematic structural diagram of another charging stand, as shown in fig. 1b, a third signal transmitter L3 is disposed on the charging stand body and is configured to transmit a third recharging signal toward the front of the charging reed 11, where a coverage area S3 of the third recharging signal and a coverage area S4 of the fourth recharging signal are at least partially overlapped in space, and the third recharging signal is configured to guide the self-mobile device to quickly find the area S1 or the area S2 when the self-mobile device enters the coverage area S3 of the third recharging signal, and further assist in guiding the self-mobile device to move toward the coverage area S4 of the fourth recharging signal.

The encoding mode of the third recharging signal is different from the encoding modes of the first recharging signal and the second recharging signal, so that when the third recharging signal is received from the mobile device, the third recharging signal is identified according to the encoding mode, and further based on the coverage relation (the coverage relation can show the relative position relation between the coverage area S3 and the area S1 and the coverage relation between the coverage area S2 of the third recharging signal to a certain extent), the mobile device can be guided to move to the area S1 or the area S2 at first, and after the mobile device enters the area S1 or the area S2, the mobile device can be further guided to move to the area S4 of the fourth red signal based on the coverage relation between the area S1 or the area S2 and the area S4.

In practical application, the self-mobile device may have different functions according to different job requirements, and correspondingly, the implementation form of the charging stand may also be different. In the embodiment of the present application, the setting position of the third signal transmitter L3 is not limited, and the setting position of the third signal transmitter L3 may also be different according to the different forms of the charging stand 10, and the manner of setting the charging stand corresponding to the third signal transmitter L3 in different forms will be exemplarily described with reference to the accompanying drawings.

Mode A1: in the case that the charging stand only provides the charging function for the self-mobile device, the charging reed 11 may be disposed on the outer sidewall of the charging stand body, in this embodiment, the first and second signal transmitters L1 and L2 are provided with a lampshade, and the third signal transmitter L3 may be disposed on the top of the lampshade, as shown in fig. 1 c. Further, as shown in fig. 1c, a reflective cover is disposed above the third signal transmitter L3, so that when the third signal transmitter L3 transmits the third recharging signal upward, the third recharging signal is reflected to the front of the charging reed 11 through the reflective cover, and a coverage area S3 of the third recharging signal is formed.

In this embodiment, the implementation manner of the reflector above the third signal emitter L3 is not limited, for example, the inner wall of the reflector may be concave, and the number of concave surfaces corresponding to the concave surfaces may be one or more; for another example, the inner wall of the reflector may be a flat surface. As shown in fig. 1c, the inner wall of the reflector is taken as a plurality of concave surfaces for illustration, when the third signal transmitter L3 transmits the third recharging signal upward, the concave surface of the inner wall of the reflector reflects the third recharging signal to the ground in front of the charging reed 11, so as to form a region S3. Further, the present embodiment is not limited to the position of the third signal transmitter L3 at the top of the lamp cover, and it may be disposed at a position close to the edge of the lamp cover, or may be disposed at a position on the lamp cover corresponding to the position between the first signal transmitter L1 and the second signal transmitter L2. In fig. 1c, the third signal emitter L3 is disposed at the edge of the lampshade and near the first signal emitter L1.

Mode A2: in the case where the self-mobile device requires the charging stand to cooperate to perform different functions, the charging stand body may include a housing cavity for housing the self-mobile device, and the charging reed 11 is disposed in the housing cavity to perform charging or other functions in the self-mobile device to cooperate with the housing cavity. For example, taking the self-moving device as a sweeping robot, in the process of executing a task, requirements of cleaning a cleaning cloth, dumping a dust box, replacing a functional module and the like may be needed, and accordingly, corresponding functional components can be arranged in a containing cavity of the charging seat, so that after the self-moving device moves into the containing cavity, the functions of cleaning the cleaning cloth, dumping the dust box, replacing the functional module and the like can be realized, and besides charging can also be realized.

In this embodiment, because the space in the accommodating cavity is limited, if the third signal transmitter L3 is disposed at the top of the charging stand body, even if the third signal transmitter L3 is provided with a reflective cover, the third recharging signal cannot be reflected into the accommodating cavity, and after the mobile device enters the accommodating cavity, there is no guidance of the third recharging signal, so that the accuracy of docking the mobile device with the charging reed 11 is reduced. Therefore, in the present embodiment, the third signal emitter L3 is disposed in the accommodation chamber between the two charging reeds 11, and the third signal emitter L3 emits the third recharging signal toward the front of the charging reeds 11 to form the area S3 in front of the charging reeds 11. In this way, after the self-moving device enters the accommodating cavity, the self-moving device can still obtain the guidance of the third recharging signal, move to the coverage area S4 of the fourth recharging signal, and accurately dock with the charging reed 11.

Fig. 1d is a schematic diagram of the relative positional relationship of the first, second and third signal transmitters disposed in the accommodating cavity of the charging stand according to the present embodiment, as shown in fig. 1d, a lampshade is disposed outside the first signal transmitter L1 and the second signal transmitter L2, and the third signal transmitter L3 is disposed above the lampshade. In fig. 1d, a third signal emitter L3 is shown arranged on the lamp housing in a position corresponding to between the first signal emitter L1 and the second signal emitter L2. In this embodiment, the third signal emitter L3 has no reflective cover thereon, and the third signal emitter L3 emits the third recharging signal forward, in which case the area S3 may be formed in front of the charging reed 11. The signal coverage areas formed by the first, second and third signal transmitters in transmitting the recharging signal shown in fig. 1d are shown in fig. 1f, and in fig. 1f, the area S3 completely covers the area S1, the area S2 and the area S4, but is not limited thereto.

In the embodiment of the present application, the diameter of the third signal emitter L3 may be greater than the sum of the diameters of the first signal emitter L1 and the second signal emitter L2, so that the coverage width of the area S3 is greater than the sum of the coverage widths of the area S1 and the area S2, to form a signal coverage area as shown in fig. 1b and 1 f; in this way, when the mobile device moves to the area S3, the area S1 or the area S2 can be quickly found according to the positional relationship among the coverage areas of the first, second and third external signals, so as to determine the first moving direction for moving to the coverage area S4 of the fourth recharging signal, and move to the coverage area S4 of the fourth recharging signal along the first moving direction until the fourth recharging signal is received. Accordingly, the length of the coverage area of each recharging signal is dependent on the transmission power of the signal transmitter, and the greater the power, the longer the length of the coverage area (i.e., the direction indicated by the horizontal arrow in fig. 1 f).

In an alternative embodiment of the present application, in order to further ensure that the charging seat 10 can more accurately guide the recharging of the mobile device for the fourth recharging signal formed by overlapping the first recharging signal and the second recharging signal emitted from the outside in the area S4, the embodiment of the present application further provides a charging seat implementation structure. Fig. 1e is a front view of a charging stand provided in this embodiment, and as shown in fig. 1e, the charging stand includes two charging reeds 11, a first signal transmitter L1, a second signal transmitter L2 and a third signal transmitter L3; wherein, two key reeds 11 correspond positive pole and negative pole respectively, first, second signal transmitter L1 and L2 outside is provided with the lamp shade, third signal transmitter L3 sets up the one side that is close to first signal transmitter L1 on the lamp shade, be provided with the reflector on the third signal transmitter L3, first, second signal transmitter L1 and L2 symmetry set up between two reed 11 that charge, and be equipped with a black baffle F1 between first, second signal transmitter L1 and L2, this black baffle F1 has the partial shielding to first, second signal transmitter L1 and L2 respectively, make first, second return the coverage of charging signal do not have the overlapping of great scope, in order to form the stronger region S4 of directionality in charge reed 11 directly ahead, in order to promote the accuracy of leading back to charge.

Whichever charging seat structure is, in the recharging process, the recharging signal can be received by the self-mobile device, and the coverage area S4 of the fourth recharging signal can be found under the guidance of the received recharging signal, and the butt joint with the charging reed can be realized under the guidance of the fourth recharging signal. In the above or the following embodiments of the present application, the fourth recharging signal is formed by overlapping the first recharging signal and the second recharging signal in space and time sequence, and the coding effect of the fourth recharging signal is related to the coding modes adopted by the first recharging signal and the second recharging signal. It should be noted that, in the embodiment of the present application, the encoding modes of the first and second recharging signals are not limited, and may be the same or different, and in combination with fig. 2a and 2b, the process of superposing the first and second recharging signals in two cases of adopting different encoding modes and the same encoding mode to form a fourth recharging signal, and finding the coverage area S4 of the fourth recharging signal under the guidance of each recharging signal from the mobile device is illustrated.

In an alternative embodiment, fig. 2a is a timing diagram of the transmission of recharging signals by three signal transmitters, A, B represents two different coding modes, a represents a signal representing a third recharging signal transmitted by a third signal transmitter L3, B represents a first recharging signal and a second recharging signal transmitted by first and second signal transmitters L1 and L2, the first recharging signal and the second recharging signal adopt the same coding mode, E represents a fourth recharging signal formed by overlapping two B recharging signals, and the first signal transmitter L1 transmits the first recharging signal at an interval t1 after the third recharging signal is transmitted by the third signal transmitter L3, and the second signal transmitter L2 transmits the second recharging signal at an interval t2 after the third recharging signal is transmitted by the third signal transmitter L3.

As shown in fig. 2a, taking a group of recharging signal groups as an example, the third recharging signal is a reference signal, the first recharging signal is transmitted after the third recharging signal is transmitted at the end t1 time, the second recharging signal is transmitted after the third recharging signal is transmitted at the end t2 time, and t1 is smaller than t2. Where the time difference between t2 and t1 allows transmission of a portion of the bits in the recharge signal, for example, where the recharge signal includes 8 bits, the time difference may transmit 1, 2, 3, 4, 5, 6, or 7 bits. In this embodiment, the first, second and third recharging signals are composed of logic levels 0 and 1, in addition, the first and second recharging signals are partially overlapped in the transmission time sequence, and on the overlapped partial time sequence, the logic level 0 and the logic level 1 in the two recharging signals can be overlapped according to one of the operation modes of bit and bit or bit exclusive or, so as to form a fourth recharging signal which is equivalent to the fourth recharging signal coded by the new coding mode E. Because the coding mode E of the fourth recharging signal is different from the coding modes of the first, second and third recharging signals, when the recharging signal is received from the mobile device, the received recharging signal can be determined to be the fourth recharging signal after superposition directly according to the coding mode corresponding to the received recharging signal, and if yes, the current area S4 can be determined. Further, the charging device can move to the charging seat under the guidance of the fourth recharging signal, and is in butt joint with the charging reed 11 for recharging.

In another alternative embodiment, fig. 2B is a timing diagram of the transmission of recharging signals by three signal transmitters, A, B, C represents three different coding modes, a represents a signal representing a third recharging signal transmitted by a third signal transmitter L3, B represents a first recharging signal transmitted by a first signal transmitter L1, C represents a second recharging signal transmitted by a second signal transmitter L2, the first and second recharging signals adopt different coding modes, D represents a fourth recharging signal formed by overlapping two recharging signals B and C, and the first signal transmitter L1 transmits the first recharging signal at an interval t1 after the third recharging signal is transmitted by the third signal transmitter L3, and the second signal transmitter L2 transmits the second recharging signal at an interval t2 after the third recharging signal is transmitted by the third signal transmitter L3.

As shown in fig. 2b, taking a group of recharging signal groups as an example, the third recharging signal is a reference signal, the first recharging signal is transmitted after the third recharging signal is transmitted at the end t1 time, the second recharging signal is transmitted after the third recharging signal is transmitted at the end t2 time, and t1 is smaller than t2. Where the time difference between t2 and t1 allows transmission of a portion of the bits in the recharge signal, for example, where the recharge signal includes 8 bits, the time difference may transmit 1, 2, 3, 4, 5, 6, or 7 bits. In this embodiment, the first, second and third recharging signals are composed of logic levels 0 and 1, in addition, the first and second recharging signals are partially overlapped in the transmission time sequence, and on the overlapped partial time sequence, the logic level "1" and the logic level "0" in the two recharging signals can be overlapped according to one of the operation modes of bit and, bit or bit exclusive or, and the like, so as to form a fourth recharging signal equivalent to the fourth recharging signal encoded by the new encoding mode D. Because the coding mode D corresponding to the fourth recharging signal is different from the coding modes of the first, second and third recharging signals, when the recharging signal is received from the mobile device, whether the received recharging signal is the fourth recharging signal after superposition can be determined directly according to the coding mode corresponding to the received recharging signal, if so, the current in the area S4 can be determined. Further, the charging device can move to the charging seat under the guidance of the fourth recharging signal, and is in butt joint with the charging reed 11 for recharging.

In the embodiment of the present application, for convenience of distinction, the recharging signal received from the mobile device is referred to as a target recharging signal, where the target recharging signal may be a first, second, third or fourth recharging signal. For convenience of description, the target recharging signal received from the mobile device is divided into a case of being the fourth recharging signal and a case of not being the fourth recharging signal. In the following embodiment, a process of finding the fourth recharging signal coverage area S4 according to the received target signal when the first recharging signal and the second recharging signal of the self-mobile device adopt the same coding mode and different coding modes is described in detail.

Case 1, the received target signal is not the fourth recharge signal:

mode B1:the first and second recharging signals are encoded differently, and the third recharging signal is encoded differently from the first and second recharging signals.

Under the condition that the received target recharging signal is not the fourth recharging signal, judging whether the received target recharging signal is the third recharging signal or not; if not, the received target recharging signal can be determined to be a first recharging signal or a second recharging signal; the self-mobile device moves to the coverage area S4 of the fourth recharging signal corresponding to the charging reed 11 under the guidance of the received target recharging signal until moving to the coverage area S4, so as to move to the charging reed under the guidance of the fourth recharging signal until being in butt joint with the charging reed. When the target recharging signal is one of the first and second recharging signals and moves to the coverage area S4 of the fourth recharging signal corresponding to the charging reed 11 under the guidance of the target recharging signal, the target recharging signal can be determined to be the first or second recharging signal according to the encoding mode of the target recharging signal. If the coding mode of the target recharging signal is the same as that of the first recharging signal, determining that the target recharging signal is the first recharging signal; if the encoding mode of the target recharging signal is the same as the encoding mode of the second recharging signal, determining that the target recharging signal is the second recharging signal. Further, in combination with the setting positions of the first signal emitter L L or the second signal emitter L2 relative to the two charging reeds 11, a first moving direction from the current position (i.e., the position where the target recharging signal is received) of the mobile device to the coverage area S4 of the fourth recharging signal is determined, and moves along the first moving direction to the coverage area S4 of the fourth recharging signal until the fourth recharging signal is received.

With the front of the charging reed 11 of the charging stand 10 shown in fig. 1a as the reference direction (the horizontal arrow direction in fig. 1 a), the positional relationship between the first and second signal transmitters and the two charging reeds 11 is: the first signal emitter L1 is disposed at the left side of the charging reed 11 corresponding to the negative electrode, and the second signal emitter L2 is disposed at the right side of the charging reed 11 corresponding to the positive electrode. Taking the example that the first and second recharging signals are both 8-bit binary codes, assuming that the code of the first recharging signal is "11111111" and the code of the second recharging signal is "00000000", if the target recharging signal with the code of "11111111" is received from the mobile device, it can be determined that the received target recharging signal is the first recharging signal, and the current position is determined to be in the region S1, that is, the right side of the region S4.

Further, according to the positional relationship of the first signal emitter L1 and the charging reed 11 corresponding to the negative electrode, the first moving direction from the right side of the mobile device can be determined with respect to the traveling direction (the reverse direction of the horizontal arrow in fig. 1 a) in which the mobile device moves toward the cradle 10. If a target recharge signal encoded as "00000000" is received from the mobile device, it may be determined that the received target recharge signal is the second recharge signal, and that the current location is within the region S2, i.e., to the left of the region S4. Further, according to the positional relationship of the second signal transmitter and the charging reed 11 corresponding to the positive electrode, the first moving direction from the left side of the mobile device can be determined with respect to the moving direction from the mobile device to the cradle 10. Further, in case the first movement direction is determined, the fourth recharge signal may be moved in the first movement direction towards the coverage area S4 of the fourth recharge signal until the fourth recharge signal is received. It follows that in case the target recharging signal is the first or the second recharging signal, there is a guiding effect on the travel from the mobile device to the coverage area S4 of the fourth recharging signal.

Further optionally, in the case that the received target recharging signal is the third recharging signal, since the area S3 and the area S1 or the area S2 are partially overlapped in space, when the self-mobile device determines that the received recharging signal is the third recharging signal according to the encoding mode, the second moving direction of the self-mobile device moving from the current position to the area S1 or the area S2 may be determined according to the positional relationship between the coverage areas of the first, second and third external signals, and the self-mobile device may move to the area S1 or the area S2 along the second moving direction until the first or the second recharging signal is received. Further, when the user moves into the area S1 or the area S2, the current area S1 or the area S2 is determined according to the encoding mode, and the first moving direction of the user moving to the area S4 is determined according to the positional relation between the first signal emitter L1 and the second signal emitter L2 and the two charging reeds 11, and the user moves to the coverage area S4 of the fourth recharging signal along the first moving direction until the fourth recharging signal is received, and moves to the charging reeds under the guidance of the fourth recharging signal until the user interfaces with the charging reeds.

In the embodiment of the present application, the manner of determining the second movement direction from the mobile device is not limited, in an alternative embodiment, as shown in fig. 1g, the mobile device 100 moves to the area S3 during the movement to the cradle 10, and in fig. 1g, the case where the mobile device 100 is located near the area S1 is taken as an example to illustrate and describe, where the case where the mobile device 100 is located near the area S2 is similar and will not be repeated. According to the coding mode of the recharging signal, the self-mobile device 100 can determine whether the coding mode of the received target recharging signal is the same as the coding mode of the third recharging signal, and if so, determine that the target recharging signal is already in the region S3.

Further, as shown in fig. 1g, the self-moving device 100 may employ a detection manner, regarding a left direction, a right direction, or a traveling direction of the traveling direction as a second moving direction, and move toward the second moving direction until the first recharging signal is received. Further, the self-mobile device 100 may determine to enter the area S1 at this time under the condition of the received first recharging signal, and determine, according to the positional relationship between the area S1 and the area S4, a first moving direction moving from the current position to the area S4, so as to continue moving along the first moving direction, until receiving the fourth recharging signal, so as to determine to enter the area S4. Further, the charging stand 10 is moved along the area S4 under the guidance of the fourth recharging signal received later, so as to dock with the charging reed 11 for recharging.

In another alternative embodiment, to improve the accuracy of finding the region S1 from the mobile device 100, the mobile device 100 may determine the edge of the region S3 according to the location where the recharging signal is received. As shown in fig. 1h, the slave mobile device 100 may move from the current location to the edge location of the region S3, and move any direction of the edge of the region S3 to the second moving direction of the region S1. As shown in fig. 1h, a second movement direction (the second movement direction is the right side of the mobile device 100 in fig. 1h, i.e., the R direction) along the edge of the area S3 to the area S1 may be performed from the left side or the right side of the mobile device, and may be performed in the second movement direction until the first recharging signal is received.

In this embodiment, if the second moving direction is a direction away from the region S1, the self-moving device 100 may change the direction when moving to the boundary of the edge of the region S3, and continue to move in the opposite direction; or after hitting the side wall of the charging stand or hitting other obstacles (such as a wall), the direction is turned, i.e. the movement is continued in the opposite direction, until the first recharging signal is received. For example, as shown in fig. 1h, if the direction L is taken as the second moving direction from the mobile device 100, the adjustable head continues to move in the R direction when moving to the charging stand side wall until the first recharging signal is received. Further, the self-mobile device 100 may determine to enter the area S1 in the case of the received first recharging signal, and determine a first moving direction moving toward the area S4 according to the positional relationship between the area S1 and the area S4, so as to move along the first moving direction until receiving the fourth recharging signal, and determine to enter the area S4. Further, the charging spring 11 is abutted to move toward the charging stand 10 under the guidance of the fourth recharging signal, and recharging is performed. The self-mobile device 100 may also continuously adjust the moving direction of the self-mobile device during the moving process to the charging stand 10 under the guidance of the fourth recharging signal.

Mode B2:the first recharging signal and the second recharging signal are the same in coding mode; for convenience of distinguishing and description, the coding mode adopted by the first and second recharging signals is denoted as a first coding mode, and the coding mode adopted by the third recharging signal is denoted as a second coding mode, wherein the second coding mode is different from the first coding mode.

It should be noted that, when the first and second recharging signals adopt the same coding method and the target recharging signal received from the mobile device is not the fourth recharging signal, recharging guidance needs to be performed under the cooperation of the third recharging signal transmitted by the third signal transmitter, that is, the situation is applicable to the charging stand having the relative positional relationship of the signal transmitters shown in fig. 1c-1 d.

In an alternative embodiment, for the charging stand having the relative positional relationship between the signal transmitters shown in fig. 1c-1d, the charging stand body is further provided with a processor, so as to control the first, second and third signal transmitters to externally transmit multiple groups of recharging signals according to a set transmission time sequence when the self-mobile device needs recharging, so as to guide the self-mobile device to recharge. Each group of recharging signals comprises a first third recharging signal and a first recharging signal and a second recharging signal which are transmitted according to different transmission time delays after the third recharging signal is transmitted, that is, the first recharging signal and the second recharging signal are transmitted between two adjacent third recharging signals, and the transmission time delays of the first recharging signal and the second recharging signal are different relative to the third recharging signal. In this case, when moving from the mobile device to the overlapping area of the area S3 and the area S1 or the area S3 and the area S2, the first or the second recharging signal may be received again at a different time point after the third recharging signal is received, which recharging signal is received again, specifically according to the transmission delay of the first and the second recharging signals relative to the third recharging signal. The corresponding timing relationships of the first, second and third signal transmitters transmitting the recharging signals can be seen in fig. 2a and 2b and the corresponding embodiment, and are not described herein.

In this embodiment, if the first or second recharging signal is received from the mobile device, since the second encoding mode of the third recharging signal is different from the first encoding modes of the first and second recharging signals, the mobile device can determine that the target recharging signal is not the third recharging signal according to the encoding mode of the target recharging signal when receiving the target recharging signal. Because the first and second recharging signals have the same coding mode, the target recharging signals cannot be distinguished through the coding mode, so that only the target recharging signal can be determined to be one of the first recharging signal or the second recharging signal. Further, if the third recharging signal is received at a time before the target recharging signal is received, which means that the mobile device is already in the overlapping area of the area S3 and the area S1 or the area S3 and the area S2, according to the time interval between the third recharging signal and the target recharging signal, the target recharging signal can be determined to be the first recharging signal or the second recharging signal by combining the transmission delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

Based on the timing relationship of the recharging signals transmitted by the three signal transmitters shown in fig. 2a, if the target recharging signal is received from the mobile device at time t1 after the third recharging signal is received, the recharging signal is determined to be the first recharging signal, and if the target recharging signal is received at time t2 after the third recharging signal is received, the recharging signal is determined to be the second recharging signal. Further, in combination with the setting positions of the first signal emitter L1 or the second signal emitter L2 relative to the two charging reeds 11, a first moving direction of the mobile device from the current position (i.e. the position where the target recharging signal is received) to the coverage area S4 of the fourth recharging signal is determined, and the mobile device moves along the first moving direction to the coverage area S4 of the fourth recharging signal until the fourth recharging signal is received.

Further, if the third recharging signal is not received at the previous time of receiving the target recharging signal, indicating that the mobile device is not located in the overlapping area of the area S3 and the area S1 or the area S3 and the area S2 at the moment, continuing moving under the guidance of the target recharging signal until moving to the overlapping area of the third recharging signal and the target recharging signal, and determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval of receiving the third recharging signal and the target recharging signal in the overlapping area successively (the target recharging signal at the moment is the re-received target recharging signal), and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal. Further, in combination with the setting positions of the first signal emitter L L or the second signal emitter L2 relative to the two charging reeds 11, respectively, a first moving direction of the mobile device from the current position (i.e., the position where the target recharging signal is received) to the coverage area S4 of the fourth recharging signal is determined, and the mobile device moves along the first moving direction to the coverage area S4 of the fourth recharging signal until the fourth recharging signal is received.

The above embodiment will be exemplarily described with reference to fig. 2c and 2d by taking an example that the third signal transmitter L3 is disposed on top of the lamp housing corresponding to the first and second signal transmitters L1 and L2.

Example 1: the slave mobile device has moved to the overlapping region of the first or second recharging signal and the third recharging signal.

As shown in fig. 2c, when the mobile device 100 moves to the first position and receives the third recharging signal and the target recharging signal, the overlapping area between the area S3 and the area S1 or between the area S3 and the area S2 can be determined according to the encoding mode. Further, in combination with the transmission delay of the first recharging signal and the second recharging signal relative to the third recharging signal, the current area can be determined to be the overlapping area of the area S3 and the area S1. Further, according to the installation positions of the first signal transmitters L1 relative to the two charging reeds 11, a first moving direction (i.e., the right side of the moving direction from the mobile device 100 to the charging stand 10) moving toward the area S4 is determined, and the first moving direction moves toward the area S4 until a fourth recharging signal is received, so that the first signal transmitter L1 moves toward the charging stand 10 under the guidance of the fourth recharging signal, and is abutted with the charging reeds 11 for recharging.

Example 2: the mobile device has not moved to the overlapping region of the first or second recharging signal and the third recharging signal.

As shown in fig. 2d, when the mobile device 100 moves to the second position and the target recharging signal is received, it may be determined that the current area is the area S1 or the area S2 according to the encoding mode of the target recharging signal, but the recharging signal which is the same as the encoding mode of the third recharging signal is not received, and if it is determined that the current area is not moved to the overlapping area of the area S3 and the area S1 or the overlapping area of the area S3 and the area S2, the mobile device 100 may continue to move under the guidance of the target recharging signal until the third recharging signal is received, which means that the current area is moved to the overlapping area of the first or the second recharging signal and the third recharging signal. Further, in the case that the third recharging signal and the target recharging signal are sequentially received from the mobile device 100, it may be determined that the overlapping area of the area S3 and the area S1 or the area S3 and the area S2 is currently in. Further, in combination with the transmission delay of the first recharging signal and the second recharging signal relative to the third recharging signal, the current area can be determined to be the overlapping area of the area S3 and the area S1, as shown in fig. 2 d. Further, according to the setting positions of the first signal transmitters L1 relative to the two charging reeds 11, the first moving direction (i.e., the right side of the moving direction from the mobile device 100 to the charging stand 10) moving toward the area S4 can be determined, and the first moving direction moves toward the area S4 until the fourth recharging signal is received, so as to move toward the charging stand 10 under the guidance of the fourth recharging signal, and to interface with the charging reeds 11 for recharging.

It should be noted that, in the embodiment of the present application, various recharging signals may be composed of a logic level "1" and a logic level "0" of several bits; wherein, the logic level '1' and '0' can be represented by different signal waveforms, and each signal waveform is composed of a high level signal and a low level signal. Optionally, as shown in fig. 3a, the duration of the logic level "1" and the duration of the logic level "0" are both T, where, for the logic level "1", the duration of the high level in the corresponding signal waveform is T3, the duration of the low level is T4, and T3 is greater than T4; correspondingly, for the logic level "0", the duration of the high level in the corresponding signal waveform is t5, the duration of the low level is t6, and t5 is less than t6.

Further alternatively, the high-low level duration in the signal waveform corresponding to the logic levels "1" and "0" may have a certain ratio relationship, and different ratio relationships may distinguish between the logic levels "1" and "0". For example, a logic level "1" may correspond to a ratio of 2:1 between high and low duration in the signal waveform, i.e., the high duration is 2 times the low duration; accordingly, the ratio relationship between the high level duration and the low level duration in the logic level "0" corresponding signal waveform may be 5:1, i.e. the high level duration is 5 times the low level duration, but is not limited thereto. Further alternatively, in the case where the recharging signal is an infrared signal, in order to reduce the possibility of interference by other signals in consideration of the characteristics of the infrared signal, the high level duration in the waveform signal may be set to 0.3ms to 0.5ms, and the low level duration may be determined according to the ratio relationship with the high level duration.

Regardless of the waveform signals of logic levels "1" and "0", after the signal transmitter transmits the recharge signal, the recharge signal is received from the mobile device and the corresponding decoding logic can be employed to decode the logic levels "1" and "0" in the recharge signal, thereby obtaining the recharge signal (i.e., a 01 sequence of bits). In an alternative embodiment, the self-mobile device may decode logic levels "1" and "0" using the same encoding logic as the signal transmitter. In an alternative embodiment, the self-moving device may employ an inverter and thus encoded logic opposite the signal transmitter to decode logic levels "1" and "0", as shown in FIG. 3 b. Wherein fig. 3a is the encoded logic of the signal transmitter transmitting logic levels "1" and "0", and fig. 3b is the decoded logic opposite to the encoded logic shown in fig. 3 a. For example, assuming that the first recharge signal transmitted by the first signal transmitter is 10001001, if the same decoding logic is used by the self-mobile device to decode the first recharge signal, the first recharge signal is 10001001; if an inverter is used from the mobile device, the received first recharge signal is 01110110, and on that basis, the inverse decoding logic is used to decode signal 01110110, resulting in a first recharge signal of 10001001.

Further optionally, in order to reduce the difficulty of decoding the recharging signal by the mobile device, according to the characteristics of the recharging signal, the signal transmitter can be controlled to externally transmit the recharging signal with 7 bits, so that a fourth recharging signal formed by overlapping the first recharging signal and the second recharging signal with one bit staggered is 8 bits, thus the complexity of decoding the recharging signal received by the mobile device can be reduced, and the decoding efficiency is improved.

Further alternatively, the recharge signal transmitted outwardly by the first, second, and third signal transmitters may comprise a pilot code and a signal code located after the pilot code. Alternatively, the recharging signal externally transmitted by each signal transmitter may comprise a 1-bit pilot code+7-bit signal code. The guide code is used for indicating the start of the recharging signals, and the signal code is used for distinguishing different recharging signals; typically, the signal codes corresponding to different refill signals are different; the pilot codes corresponding to different recharging signals may be the same or different. When the wireless signal is received from the mobile device, the wireless signal can be identified according to the bit, if the code value corresponding to the current wireless signal bit is identified as the guide code, the received wireless signal is determined to be the recharging signal, the next 7-bit signal can be identified, the type and the decoding mode of the recharging signal are determined according to the identification result, and the recharging signal is decoded. Further, when the code value corresponding to the current signal bit is identified as the pilot code, the pilot code may be marked as a decoding state, and after decoding the recharging signal, the decoding state of the pilot code may be cleared, so as to reduce the probability of misidentification of other sensors.

In the above embodiment, the signal waveform corresponding to the pilot code is not limited. Optionally, in the signal waveform corresponding to the pilot code, the high level duration is T1, and the low level duration is T2, and further optionally, the high level duration and the low level duration in the pilot code may also have a certain ratio relationship, for example, 2×t1=t2, where the ratio relationship needs to be distinguishable from the ratio relationship of the high level duration and the low level duration in the logic level "0" and the logic level "1" in the signal code. Further, the specific sizes of T1 and T2 are not limited, and the present embodiment is applicable as long as the recharging signal transmitting period requirement is satisfied. For example, in the case that the recharging signal is an infrared signal, in consideration of the characteristics of the infrared signal, in order to reduce the possibility of being interfered by other signals, the range of T1 may be set to 2.1ms-2.5ms, and then the size of T2 may be determined by a ratio relationship with T1.

In this description, for the first, second and third recharging signals, these recharging signals may be loaded onto a carrier signal and transmitted. Optionally, in the case that the first, second and third recharging signals are infrared signals, a 38K carrier signal may be adopted, for the first and second infrared signals, the first and second infrared signals may be loaded onto the 38K carrier signal with a duty ratio of 1/6 and emitted, for the third infrared signal, the third infrared signal may be loaded onto the 38K carrier signal with a duty ratio of 1/3 and emitted, so that interference resistance may be improved, and infrared receiving and transmitting characteristics may be better.

In the embodiment of the present application, the number of signal transmitters on the charging stand is not limited, and the above description is given by taking 2 as an example. Alternatively, the number of signal transmitters on the charging stand may be plural, and the number of signal transmitters may be odd, for example, 5, or even, for example, 4. In the case that the plurality of signal transmitters is an odd number, for example, 5, one signal transmitter may be disposed as the third signal transmitter on the top of the lamp housing corresponding to the remaining 4 signal transmitters, the remaining 4 signal transmitters may be symmetrically disposed between the two charging reeds, the middle two signal transmitters are the first and second signal transmitters, and the outer two signal transmitters are the fourth and fifth signal transmitters. The fourth and fifth signal emitters emit recharging signals similar to the third signal emitter, mainly for generating overlapping areas with the first, second and third infrared signals, so as to more conveniently and rapidly guide the mobile device to gradually move towards the overlapping area S4 of the first and second infrared signals. Alternatively, in the case where the plurality of signal transmitters is an even number, for example, 4 signal transmitters may be symmetrically disposed between two charging reeds, the middle two being the above-mentioned first and second signal transmitters, and the outer two being the fourth and fifth signal transmitters. The fourth and fifth signal emitters emit recharging signals similar to the third signal emitter, mainly for generating overlapping areas with the first and second infrared signals, so as to more conveniently and rapidly guide the mobile device to gradually move towards the overlapping area S4 of the first and second infrared signals. Further, a black partition plate can be arranged between the two groups of symmetrically arranged signal receivers, the main function of the black partition plate is to prevent opposite-end recharging signals, ensure that an overlapping coverage area formed by the two groups of recharging signals is not too large, and improve recharging guiding accuracy.

Further alternatively, in the case where the plurality of signal transmitters are plural, the recharging signals may be sequentially transmitted between the plurality of signal transmitters, and assuming that the plurality of signal transmitters are 5, first, second, third, fourth and fifth signal transmitters, respectively, the third transmitter is denoted as E1, the first and second signal transmitters are denoted as E2 and E4, respectively, and the fourth and fifth signal transmitters are denoted as E3 and E5, respectively, the E2, E3, E4 and E5 signal transmitters may transmit the recharging signals with different time delays with respect to the signal transmitter E1 for convenience of description. As shown in fig. 3c, the above 5 recharging signals are taken as a group to sequentially transmit recharging signals, where the coding modes of the pilot codes and the signal codes transmitted by E1 are different from those of the pilot codes and the signal codes transmitted by E2, E3, E4 and E5, and the coding modes of the pilot codes and the signal codes transmitted by E2, E3, E4 and E5 are the same. And after the recharging signal is transmitted by the E1, the recharging signal is transmitted outwards at the time of s2, the recharging signal is transmitted outwards at the time of s4, the recharging signal is transmitted outwards at the time of s3, and the recharging signal is transmitted outwards at the time of s4, so that the corresponding transmission period of the signal groups transmitted by the E1, the E2, the E3, the E4 and the E5 is s1+s2+s3+s4. The specific size of s1, s2, s3, s4 is not limited in this embodiment, so long as the sum of s1, s2, s3, s4 is ensured to meet the signal emission cycle requirement, which is suitable for the embodiment of the present application. For example, in the case that the recharging signal is an infrared signal, considering the characteristics of the infrared signal, the preset signal emission period threshold may be 150ms-250ms, and the signal emission period is: 150ms < s1+s2+s3+s4<250ms.

Case 2, the received target signal is the fourth recharge signal:

in the embodiment, if the recharging signal is received from the mobile device and the received recharging signal is determined to be the superimposed signal of the first recharging signal and the second recharging signal according to the encoding mode of the recharging signal, the target recharging signal is determined to be the fourth recharging signal, and the mobile device can directly continue to move to the charging stand 10 under the guidance of the fourth recharging signal until the recharging is performed by docking with the charging reed 11. Taking the example that the third signal transmitter L3 is disposed at the top of the lamp covers of the first and second signal transmitters L1 and L2, fig. 4 is a schematic diagram of a recharging process of the self-mobile device under the guidance of the fourth recharging signal in this embodiment, as shown in fig. 4, the self-mobile device 100 moves to a third position in the recharging moving process, after continuing to advance for a certain distance, the recharging signal is received, and it is determined that the received recharging signal is a superposition signal of the first and second recharging signals, that is, the fourth recharging signal, then the self-mobile device 100 can continue to move forward under the guidance of the fourth recharging signal until approaching the charging seat 10 and the charging reed 11 for recharging.

In an alternative embodiment, when the self-mobile device 100 has determined that the fourth recharging signal is received, during the continuous movement of the area S4, if the self-mobile device 100 moves out of the area S4 again, the self-mobile device 100 can adjust the traveling direction to return to the area S4 again; for example, the traveling direction may be continuously adjusted in an S-shaped or Z-shaped manner and the movement may be continued until the charging reed 11 is successfully docked. Further alternatively, when adjusting the traveling direction, the angle of each change may be adaptively adjusted according to the detected edge of the region S4, so that the adjusted traveling direction faces the charging reed 11, so as to achieve accurate docking.

In an alternative embodiment, in order to ensure that the self-mobile device still can accurately dock near the charging reed 11, when the positions of the first and second signal transmitters L1 and L2 are set, the first overlapping position of the recharging signals emitted by the first and second signal transmitters should be ensured, and the distance between the recharging signals and the charging reed 11 is not greater than the preset distance for recharging docking, so as to ensure that the self-mobile device still can accurately dock the charging reed 11 when the self-mobile device approaches the charging reed 11 and the fourth recharging signal cannot be received.

Further alternatively, in order to ensure that the charging reeds 11 can be accurately abutted, the first and second signal transmitters L1 and L2 may be symmetrically arranged at two sides of the central axis between the two charging reeds 11, so that an area S4 formed by overlapping the first and second recharging signals is right opposite to the front of the central axes of the two charging reeds 11; of course, the present invention is not limited thereto, and in the case where the diameters of the recharging signal coverage areas of the first and second signal transmitters L1 and L2 are different, the recharging signal coverage areas may be asymmetrically disposed between or outside the two charging reeds 11, but it should be ensured that the area S4 formed by overlapping the first and second recharging signals is directly in front of the central axes of the two charging reeds 11.

In the above embodiments of the present application, the signal types of the respective recharging signals are not limited, and may be, for example, ultra Wide Band (UWB). Preferably, the first, second and third signal transmitters are employed, and the first, second, third and fourth recharge signals may be accordingly. Wherein the third and fourth coding modes are different from the first and second coding modes. In an alternative embodiment, the first and second coding modes may be the same or different, which is not limited.

In the embodiment of the application, the charging seat can control the first, second and third signal transmitters to externally transmit a plurality of groups of recharging signals according to the set transmission time sequence so as to guide the self-mobile equipment to recharge; and the first and second recharging signals are partially overlapped in space and time sequence, and a fourth recharging signal with a new coding mode can be formed after the overlapping. The coverage area of the fourth recharging signal is in front of the charging reed, and when the fourth recharging signal is received from the mobile device, the fourth recharging signal can be guided to move towards the charging seat so as to be in butt joint with the charging reed, and recharging is carried out. The fourth recharging signal generated through superposition has higher stability, and is beneficial to improving accurate butt joint of the self-mobile device and the charging reed.

Based on the foregoing, the embodiment of the application further provides a recharging method, which is suitable for the self-mobile device. Fig. 5 is a flowchart of the recharging method, as shown in fig. 5, the method includes:

p1, in the recharging moving process, receiving a target recharging signal emitted by a charging seat, wherein the charging seat is provided with a charging part, a first signal emitter and a second signal emitter;

p2, if the received target recharging signal is not the fourth recharging signal, moving to a coverage area of the fourth recharging signal of the corresponding charging part under the guidance of the received target recharging signal;

p3, after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is in butt joint;

the first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal which is different from the first coding mode in coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

In an alternative embodiment, if the received target recharging signal is a fourth recharging signal, the target recharging signal moves towards the charging portion under the guidance of the fourth recharging signal until the target recharging signal is in butt joint with the charging portion.

In an alternative embodiment, when moving to the coverage area of the fourth recharging signal corresponding to the charging portion under the guidance of the received target recharging signal, the target recharging signal may be determined to be the first recharging signal or the second recharging signal according to the encoding mode of the target recharging signal; determining a first moving direction of the mobile device from the current position to the coverage area of the fourth recharging signal by combining the setting position of the first or second signal emitter relative to the charging part; and moving the device to a coverage area of the fourth recharging signal along the first moving direction until the fourth recharging signal is received.

In an optional embodiment, the target recharging signal may be further determined to be a third recharging signal according to an encoding mode of the target recharging signal; and determining a second direction of movement from the mobile device from the current location to the coverage area of the first or second recharge signal; moving toward the coverage area of the first or second recharging signal along the second moving direction until the first or second recharging signal is received; the third recharging signal adopts a second coding mode which is different from the first coding mode, and the coverage area of the third recharging signal at least partially overlaps with the coverage areas of the first, second and fourth recharging signals.

In an alternative embodiment, the first and second recharging signals are transmitted between two adjacent third recharging signals, and the transmission time delays of the first and second recharging signals are different relative to the third recharging signals, so when the target recharging signal is determined to be the first or second recharging signal according to the coding mode of the target recharging signal, the target recharging signal can be determined to be one of the first and second recharging signals according to the coding mode of the target recharging signal; if the third recharging signal is received before the target recharging signal is received, determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval between the third recharging signal and the target recharging signal and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

In an alternative embodiment, if the third recharging signal is not received at a time before the target recharging signal is received, continuing to move under the guidance of the target recharging signal until the third recharging signal and the target recharging signal are overlapped; and determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval of the third recharging signal and the target recharging signal which are received in the overlapping area in sequence and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

In an alternative embodiment, the first, second and third signal transmitters may employ infrared transmitters, and accordingly, the first, second and third recharging signals may be infrared signals; the first infrared signal and the second infrared signal adopt a first coding mode, the third infrared signal adopts a second coding mode, and the second coding mode is different from the first coding mode. Each infrared signal includes a guide code and a signal code, the signal code being located after the guide code; the infrared signal may be composed of several bits 0 and 1, where 0 and 1 are represented by different ratio of high and low levels, and see fig. 3a and 3 b. The difference between the first coding scheme and the second coding scheme mainly means that the signal waveforms corresponding to the signal codes coded by the two coding schemes are different, and the signal waveforms corresponding to the pilot codes may be the same or different, which is not limited.

It should be noted that, the execution subjects of each step of the method provided in the above embodiment may be the same device, or the method may also be executed by different devices. For example, the execution subject of step P1 to step P3 may be the device a; for another example, the execution subject of steps P1 and P2 may be device a, and the execution subject of step P3 may be device B; etc.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that the operations may be performed out of the order in which they appear herein or performed in parallel, the sequence numbers of the operations, such as P1, P2, etc., are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types.

The embodiment of the present application further provides a self-mobile device, and fig. 6a is a schematic structural diagram of the self-mobile device according to the embodiment of the present application, as shown in fig. 6a, where the self-mobile device includes: a processor 31 and a memory 32 storing a computer program; wherein the processor 31 and the memory 32 may be one or more.

The memory 32 is mainly used for storing computer programs, and the computer programs can be executed by the processor 31, so that the processor 31 controls the self-mobile device to realize corresponding functions and complete corresponding actions or tasks. In addition to storing computer programs, the memory 32 may also be configured to store various other data to support operations on the self-mobile device. Examples of such data include instructions for any application or method operating on the self-mobile device.

The memory 32 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

In the embodiment of the present application, the implementation form of the processor 31 is not limited, and may be, for example, but not limited to, a CPU, GPU, MCU, or the like. The processor 31 may be regarded as a control system of the self-mobile device and may be used to execute computer programs stored in the memory 32 for controlling the self-mobile device to perform the respective functions, perform the respective actions or tasks. It should be noted that, depending on the implementation form of the self-mobile device and the scene in which the self-mobile device is located, the functions, actions or tasks to be implemented and completed will be different; accordingly, the computer programs stored in the memory 32 may also vary, and execution of the different computer programs by the processor 31 may control the self-mobile device to perform different functions, perform different actions or tasks.

In alternative embodiments of the present application, the self-mobile device may include a device body, and optionally, the processor 31 and the memory 32 may be disposed on the device body, where the device body is an actuator of the self-mobile device, and the operations specified by the processor 31 may be performed in a determined environment. The equipment body embodies the appearance form of the autonomous mobile equipment to a certain extent. In the present embodiment, the appearance of the autonomous mobile apparatus is not limited. Of course, the shape of the autonomous mobile apparatus may vary depending on the implementation of the autonomous mobile apparatus. Taking the outline shape of the autonomous mobile apparatus as an example, the outline shape of the autonomous mobile apparatus may be an irregular shape or may be some regular shape. For example, the outer contour shape of the autonomous mobile device may be a regular shape such as a circle, oval, square, triangle, drop, or D-shape. Other than regular shapes are referred to as irregular shapes, for example, the outer contour of a humanoid robot, the outer contour of an unmanned vehicle, and the like belong to irregular shapes.

In some alternative embodiments, the self-mobile device may also have other components such as a display 33, a power component 34, and a communication component 35. The illustration of only a part of the components in fig. 6a does not mean that the self-mobile device comprises only the components shown in fig. 6a, but that the self-mobile device may also comprise other components for different application requirements, e.g. in case of a voice interaction requirement, as shown in fig. 6a, the self-mobile device may also comprise an audio component 6; further, in order to receive the recharging signal emitted by the signal emitter on the cradle during recharging, the self-mobile device may further comprise a signal receiver 37, as shown in fig. 6a, for receiving the recharging signal emitted by the cradle leading to recharging. As to the components that may be included in the self-mobile device, the product form of the self-mobile device may be specific, for example, as shown in fig. 6b, if the self-mobile device is a sweeping robot, the self-mobile device may further include components such as a driving wheel, a dust box, a floor brush, and DTOF (Direct Time Of Flight) or LDS (Laser Direct Structuring) for detection or navigation using a laser radar, which are not limited herein.

In the present embodiment, when the processor 31 executes the computer program in the memory 32, it is used to: if the received target recharging signal is not the fourth recharging signal, moving to a coverage area of the fourth recharging signal of the corresponding charging part under the guidance of the received target recharging signal; after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is in butt joint; the first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal which is different from the first coding mode in coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

In an alternative embodiment, if the target recharging signal received from the mobile device is a fourth recharging signal, the processor 31 is configured to: the self-moving device is controlled to move towards the charging part under the guidance of the fourth recharging signal until the self-moving device is in butt joint with the charging part.

In an alternative embodiment, when the self-mobile device moves to the coverage area of the fourth recharging signal corresponding to the charging portion under the guidance of the received target recharging signal, the processor 31 may determine that the target recharging signal is the first recharging signal or the second recharging signal according to the encoding mode of the target recharging signal; determining a first moving direction of the mobile device from the current position to the coverage area of the fourth recharging signal by combining the setting position of the first or second signal emitter relative to the charging part; and moving the device to a coverage area of the fourth recharging signal along the first moving direction until the fourth recharging signal is received.

In an alternative embodiment, the processor 31 may further determine that the target recharging signal is the third recharging signal according to the encoding mode of the target recharging signal; and determining a second direction of movement from the mobile device from the current location to the coverage area of the first or second recharge signal; and controlling the self-mobile device to move towards the coverage area of the first or second recharging signal along the second moving direction until the first or second recharging signal is received; the third recharging signal adopts a second coding mode which is different from the first coding mode, and the coverage area of the third recharging signal at least partially overlaps with the coverage areas of the first, second and fourth recharging signals.

In an alternative embodiment, the first and second recharging signals are transmitted between two adjacent third recharging signals, and the transmission delays of the first and second recharging signals are different from those of the third recharging signals, so when the processor 31 determines that the target recharging signal is the first or second recharging signal according to the encoding mode of the target recharging signal, the processor is configured to: determining the target recharging signal as one of a first recharging signal and a second recharging signal according to the encoding mode of the target recharging signal; if the third recharging signal is received before the target recharging signal is received, determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval between the third recharging signal and the target recharging signal and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

In an alternative embodiment, if the self-mobile device does not receive the third recharging signal at a time before receiving the target recharging signal, the processor 31 continues to move under the guidance of the target recharging signal until the self-mobile device is moved to an overlapping area of the third recharging signal and the target recharging signal; and determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval of receiving the third recharging signal and the target recharging signal in the overlapping area in sequence and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program, which when executed, enables implementation of the steps of the above-described method embodiments that may be performed by a self-mobile device.

In another optional embodiment, for example, the accuracy of recharging and docking of the self-mobile device is improved, and the self-mobile device can be provided with a plurality of signal receivers, wherein the plurality of signal receivers are even in number and are symmetrically arranged between two charging contacts corresponding to two charging reeds on the charging seat on the self-mobile device; alternatively, the part is symmetrically arranged between two charging contacts corresponding to two charging reeds on the charging stand, and the part is respectively symmetrically arranged at the outer sides of two charging contacts corresponding to two charging reeds on the charging stand, which is not limited herein. In another alternative embodiment, a black partition is provided between two symmetrically arranged sets of signal receivers, optionally, the black partition is arranged at the same level of the plurality of signal receivers. The black partition plate is used for changing coverage areas of recharging signals received by two sides of the partition plate, so that overlapping coverage areas formed by two groups of recharging signals are prevented from being too large, and accuracy of recharging guiding is improved.

Fig. 6b is a top view of the self-mobile device according to the present embodiment, in which fig. 6b illustrates 2 signal receivers as an example, and as shown in fig. 6b, the self-mobile device includes first and second signal receivers J1 and J2, which are symmetrically disposed between two charging contacts k1 and k2 corresponding to two charging reeds on the self-mobile device, and are used for receiving recharging signals emitted from the charging stand from different directions. In this embodiment, a plurality of signal receivers may be disposed at different positions on the self-mobile device, and the direction of the self-mobile device relative to the charging stand may be determined according to the time difference between the receiving of the recharging signals by the different signal receivers. For example, as shown in fig. 6b, when the recharging signal is received from the mobile device in the traveling direction, if the recharging signal is received by the first signal receiver J1 first and then the recharging signal is received by the second signal receiver J2, it can be determined that the left side of the traveling direction of the mobile device is closer to the charging stand, and further the left side of the traveling direction of the mobile device can be adjusted; further, according to the information such as the time difference of the first and second signal receivers J1 and J1 receiving the recharging signal, the propagation speed of the recharging signal, and the positional relationship set by the first and second signal receivers J1 and J1, an angle adjusted from the mobile device is determined so that the first and second signal receivers J1 and J1 simultaneously receive the recharging signal. At this time, it can be determined that the traveling direction of the self-mobile device is opposite to the transmission direction of the recharging signal, and further the self-mobile device can be controlled to continue to move towards the traveling direction until the self-mobile device is in butt joint with the charging reed of the charging seat.

In addition, as shown in fig. 6b, a black partition board F2 is disposed between the first and second signal receivers J1 and J2, in this embodiment, on one hand, the partition board F2 may change coverage areas of recharging signals received by the first and second signal receivers J1 and J2, so as to ensure that overlapping coverage areas formed by two groups of recharging signals are not too large, and improve accuracy of recharging guidance; on the other hand, when the recharging signal is transmitted from one side of the self-moving device to the self-moving device, only the signal receiver close to one side of the charging seat can receive the recharging signal, and along with the adjustment of the moving direction of the self-moving device according to the received recharging signal, when the relative angle between the advancing direction of the self-moving device and the transmitting direction of the recharging signal reaches a preset threshold value, the signal receiver away from the charging seat from the other side of the self-moving device can also receive the recharging signal. In this case, it may be determined that the cradle is approximately in front of the self-moving device, which refers to the left front, right front, or right front of the traveling direction of the self-moving device, based on which the self-moving device may adjust the traveling direction further according to the time carriage in which the recharging signal is received by the two-side signal receivers.

The communication assembly of the above embodiments is configured to facilitate wired or wireless communication between the device in which the communication assembly is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as a mobile communication network of WiFi,2G, 3G, 4G/LTE, 5G, etc., or a combination thereof. In one exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component further comprises a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

The display in the above-described embodiments includes a screen, which may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.

The power supply assembly in the above embodiment provides power for various components of the device in which the power supply assembly is located. The power components may include a power management system, one or more power supplies, and other components associated with forming, managing, and distributing power for the devices in which the power components are located.

The audio component of the above embodiments may be configured to output and/or input audio signals. For example, the audio component includes a Microphone (MIC) configured to receive external audio signals when the device in which the audio component is located is in an operational mode, such as a call mode, a recording mode, and a speech recognition mode. The received audio signal may be further stored in a memory or transmitted via a communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. A charging stand, comprising: the charging seat body is provided with a charging part, a first signal emitter, a second signal emitter and a third signal emitter;

The first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode;

the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal with a coding mode different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part and is used for guiding the self-mobile equipment to travel in the coverage area of the fourth recharging signal so as to be in butt joint with the charging part;

the third signal transmitter is configured to transmit a third recharging signal towards the front of the charging portion by using a second coding mode different from the first coding mode, where a coverage area of the third recharging signal and a coverage area of the fourth recharging signal at least partially overlap spatially, and is configured to assist in guiding the self-mobile device to move towards the coverage area of the fourth recharging signal when the self-mobile device enters the coverage area of the third recharging signal.

2. The charging stand according to claim 1, wherein the charging part is arranged on the outer side wall of the charging stand body, a lampshade is arranged outside the first signal emitter and the second signal emitter, the third signal emitter is arranged on the top of the lampshade, and a reflecting shade is arranged above the third signal emitter; the third signal emitter emits the third recharging signal upwards, and the third recharging signal is reflected to the front of the charging part through the reflecting cover.

3. The cradle of claim 1, wherein the cradle body includes a receiving cavity for receiving the self-moving device, the charging portion is disposed in the receiving cavity, the third signal transmitter is disposed in the receiving cavity and above the charging portion, and the third signal transmitter transmits the third recharging signal toward the charging portion.

4. A charging stand according to any one of claims 1 to 3, wherein the charging stand body is further provided with a processor, and the processor is configured to control the first, second and third signal transmitters to externally transmit a plurality of sets of recharging signals according to a set transmission timing sequence, so as to guide the self-mobile device to recharge if the self-mobile device needs to recharge; each group of recharging signals comprises a third recharging signal which is transmitted first, and first and second recharging signals which are transmitted sequentially according to different transmission time delays after the third recharging signal is transmitted.

5. A charging stand according to any one of claims 1 to 3, wherein a black spacer is provided between the first and second signal emitters.

6. A cradle according to any one of claims 1-3, wherein the first, second or third recharging signals comprise a pilot code and a signal code located after the pilot code; wherein the signal codes of different recharging signals are different.

7. A charging stand according to any one of claims 1-3, wherein the charging section comprises two charging reeds, the first signal transmitter and the second signal transmitter being symmetrically disposed between the two charging reeds.

8. A recharging method for a self-mobile device, the method comprising:

in the recharging moving process, receiving a target recharging signal emitted by a charging seat, wherein a charging part, a first signal emitter, a second signal emitter and a third signal emitter are arranged on the charging seat;

if the received target recharging signal is not the fourth recharging signal, moving to a coverage area of the fourth recharging signal corresponding to the charging part under the guidance of the received target recharging signal;

after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is in butt joint;

the first signal transmitter and the second signal transmitter respectively transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part by adopting a first coding mode, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal with the coding mode different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part;

The third signal transmitter is configured to transmit a third recharging signal towards the front of the charging portion by using a second encoding mode different from the first encoding mode, where a coverage area of the third recharging signal at least partially overlaps with coverage areas of the first, second and fourth recharging signals, and is configured to assist in guiding the self-mobile device to move toward the coverage area of the fourth recharging signal when the self-mobile device enters the coverage area of the third recharging signal.

9. The method as recited in claim 8, further comprising:

if the received target recharging signal is a fourth recharging signal, the target recharging signal moves towards the charging part under the guidance of the fourth recharging signal until the target recharging signal is in butt joint with the charging part.

10. The method of claim 8, wherein moving, under the direction of the received target recharging signal, toward a coverage area of a fourth recharging signal corresponding to the charging portion comprises:

determining the target recharging signal as a first recharging signal or a second recharging signal according to the encoding mode of the target recharging signal;

determining a first moving direction of the self-moving device from the current position to the coverage area of the fourth recharging signal by combining the setting position of the first or second signal emitter relative to the charging part;

And moving to the coverage area of the fourth recharging signal along the first moving direction until the fourth recharging signal is received.

11. The method as recited in claim 10, further comprising:

determining the target recharging signal as a third recharging signal according to the encoding mode of the target recharging signal;

determining a second movement direction of the self-mobile device from a current location to a coverage area of the first or second recharging signal;

and moving towards the coverage area of the first or second recharging signal along the second moving direction until the first or second recharging signal is received.

12. The method of claim 11, wherein the first and second recharging signals are transmitted between two adjacent third recharging signals, and the transmission delays of the first and second recharging signals relative to the third recharging signals are different, and determining the target recharging signal as the first or second recharging signal according to the encoding mode of the target recharging signal comprises:

determining the target recharging signal as one of a first recharging signal and a second recharging signal according to the encoding mode of the target recharging signal;

if a third recharging signal is received before the target recharging signal is received, determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval between the third recharging signal and the target recharging signal and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

13. The method as recited in claim 12, further comprising:

if the third recharging signal is not received at the previous moment of receiving the target recharging signal, continuing to move under the guidance of the target recharging signal until the third recharging signal and the target recharging signal are moved to an overlapping area;

and determining that the target recharging signal is the first recharging signal or the second recharging signal according to the time interval of the third recharging signal and the target recharging signal which are received in the overlapping area in sequence and combining the emission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

14. A self-moving device, comprising: the device comprises a device body, a signal receiver, a processor and a memory storing a computer program, wherein the device body is provided with the signal receiver, the processor and the memory storing the computer program;

the signal receiver is used for receiving recharging signals transmitted by the signal transmitters on the charging seat in the recharging movement process, and the charging seat is provided with a charging part, a first signal transmitter, a second signal transmitter and a third signal transmitter;

the processor is configured to execute the computer program for:

15. The self-moving device according to claim 14, wherein the charging section includes two charging reeds, two charging contacts corresponding to the two charging reeds are provided on the self-moving device, the number of the signal receivers is an even number, the even number of the signal receivers is symmetrically provided between the two charging contacts, and a black partition is provided between the two symmetrically provided signal receivers.