CN107713920B

CN107713920B - Automatic cleaning equipment and charging method thereof

Info

Publication number: CN107713920B
Application number: CN201710876021.3A
Authority: CN
Inventors: 贺航; 王磊; 罗晗
Original assignee: Beijing Stone Innovation Technology Co ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2017-09-25
Filing date: 2017-09-25
Publication date: 2022-06-03
Anticipated expiration: 2037-09-25
Also published as: CN107713920A; CN115089070B; CN115089070A

Abstract

The embodiment of the invention provides automatic cleaning equipment and a charging method thereof. The method comprises the following steps: judging whether map information exists in the automatic cleaning equipment or not; determining a pile searching strategy of the automatic cleaning equipment according to the judgment result; determining a pile feeding route from the automatic cleaning equipment to a charging pile according to the pile searching strategy; controlling the automatic cleaning equipment to move based on the pile feeding route, so that the automatic cleaning equipment is in butt joint with the charging pile and is charged. In the embodiment of the invention, the automatic cleaning equipment determines the pile feeding route to the charging pile according to the combination of the optical signal detected by the first bottom receiving device and/or the second bottom receiving device and the LDS, so that the automatic cleaning equipment is controlled to move based on the pile feeding route, the automatic cleaning equipment is aligned with the charging pile to perform charging, the accuracy of the process can be ensured, and the quick pile feeding can be realized.

Description

Automatic cleaning equipment and charging method thereof

Technical Field

The invention relates to the technical field of robots, in particular to an automatic cleaning device and a charging method thereof.

Background

An automatic cleaning apparatus, also called an automatic cleaning robot or the like, is capable of automatically moving within a room to perform a floor cleaning work. And the automatic cleaning equipment can judge and avoid the approaching barrier by means of a collision sensor, an ultrasonic sensor, an infrared sensor and the like, so that collision with the barrier is prevented.

When the electric quantity of automatic cleaning equipment is not enough, need return to fill electric pile and charge. At this moment, self-cleaning equipment need fill electric pile through the random walk mode searching, and this process that leads to looking for filling electric pile is long consuming time.

Disclosure of Invention

The present invention has been made in view of the above problems. The invention provides automatic cleaning equipment and a charging method thereof, which can realize quick alignment with a charging pile and ensure the pile feeding efficiency.

In a first aspect, there is provided a method of charging an automatic cleaning device, the method comprising:

judging whether map information exists in the automatic cleaning equipment or not;

determining a pile searching strategy of the automatic cleaning equipment according to the judgment result;

determining a pile feeding route from the automatic cleaning equipment to a charging pile according to the pile searching strategy;

controlling the automatic cleaning equipment to move based on the pile feeding route, so that the automatic cleaning equipment is in butt joint with the charging pile and is charged.

Illustratively, the automatic cleaning device includes a first bottom receiving device, a second bottom receiving device and a laser ranging sensor, the charging post includes a first emitting device and a second emitting device symmetrically arranged with respect to a center line of the charging post and a third emitting device and a fourth emitting device symmetrically arranged with respect to the center line, optical signals emitted by the first emitting device, the second emitting device, the third emitting device and the fourth emitting device form a radiation area, and the radiation area is divided into a first radiation area and a second radiation area with the center line.

Illustratively, the determining a pile finding strategy of the automatic cleaning equipment according to the judgment result comprises:

and if the map information does not exist in the automatic cleaning equipment, controlling the automatic cleaning equipment to enter the radiation area, and determining the pile searching strategy based on the optical signals detected by the first bottom receiving device and/or the second bottom receiving device.

Exemplary, determining a piling route from the robotic cleaning device to a pile charging pile according to the pile finding strategy includes:

in response to the first bottom receiving device or the second bottom receiving device detecting the light signal of the third transmitting device, determining that the automatic cleaning equipment enters from the first radiation area, rotating for at least one circle by taking the current position as an initial position to determine the direction of the charging pile, and determining that the upper pile route is a route approaching the charging pile in an arc manner according to the initial position and the direction of the charging pile until the first bottom receiving device detects the light signal of the third transmitting device and the second bottom receiving device detects the light signal of the first transmitting device.

in response to the first bottom receiving device or the second bottom receiving device detecting the light signal of the third emitting device, determining that the automatic cleaning equipment enters from the first radiation area, rotating with the current position as an initial position to determine the direction and distance of the charging pile based on the laser ranging sensor, and determining a target position according to a preset first included angle and a preset distance, and further determining that the piling route moves from the initial position to the target position in an arc manner, wherein a first connection line between the initial position and the charging pile and a second connection line between the target position and the charging pile have the preset first included angle therebetween.

Exemplarily, the method further comprises the following steps: based on the distance between the automatic cleaning equipment and the charging pile detected by the laser ranging sensor, the moving direction and the angle of the automatic cleaning equipment are adjusted through rotation until the first bottom receiving device or the second bottom receiving device detects the optical signal of the second transmitting device.

in response to the second bottom receiving device or the second bottom receiving device detecting the light signal of the fourth transmitting device, determining that the automatic cleaning equipment enters from the second radiation area, rotating for at least one circle by taking the current position as an initial position to determine the direction of the charging pile, and determining that the upper pile route is a route approaching the charging pile in an arc manner according to the initial position and the direction of the charging pile until the first bottom receiving device detects the light signal of the second transmitting device and the second bottom receiving device detects the light signal of the fourth transmitting device.

in response to the second bottom receiving device or the second bottom receiving device detecting the light signal of the fourth emitting device, determining that the automatic cleaning equipment enters from the second radiation area, rotating with the current position as an initial position to determine the direction and distance of the charging pile based on the laser ranging sensor, and determining a target position according to a preset first included angle and a preset distance, and further determining that the piling route moves from the initial position to the target position in an arc manner, wherein a first connection line between the initial position and the charging pile and a second connection line between the target position and the charging pile have the preset first included angle therebetween.

Exemplarily, the method further comprises the following steps: based on the distance between the automatic cleaning equipment and the charging pile detected by the laser ranging sensor, the moving direction and the angle of the automatic cleaning equipment are adjusted through rotation until the first bottom receiving device or the second bottom receiving device detects the optical signal of the first emitting device.

Illustratively, the controlling the robotic cleaning device to move based on the piling route includes: fine tuning based on the laser ranging sensor such that the first bottom receiving device detects the light signal of the first emitting device and the second bottom receiving device detects the light signal of the second emitting device, the automatic cleaning apparatus being located at the center line and facing the charging pile.

and if the automatic cleaning equipment has map information, determining the position of the charging pile according to the map information, and determining the pile searching strategy.

Exemplary, said determining a piling route from the robotic cleaning device to a charging pile according to the pile finding strategy comprises:

and determining an anti-collision area according to the position of the charging pile, and determining the pile feeding route from the current position of the automatic cleaning equipment to the intersection point of the central line of the charging pile and the anti-collision area.

Illustratively, the robotic cleaning device includes a laser range sensor,

before the determining whether the map information exists in the automatic cleaning device, the method further comprises:

the laser ranging sensor draws the map information in the cleaning process,

if the automatic cleaning equipment starts from the charging pile for cleaning, marking the position of the charging pile in the map information;

if the automatic cleaning equipment does not start from the charging pile for cleaning, in the cleaning process, the position of the charging pile is judged according to the optical signal detected by the receiving device of the automatic cleaning equipment, and the position of the charging pile is marked in the map information.

In a second aspect, there is provided an automatic cleaning device comprising a memory, a processor and a computer program stored on the memory and running on the processor, the processor implementing the steps of the method of the first aspect and the examples when executing the computer program.

In a third aspect, a system for automatic cleaning is provided, which comprises a charging pile and the automatic cleaning device.

In the embodiment of the invention, the automatic cleaning equipment determines the pile feeding route to the charging pile according to the combination of the optical signal detected by the first bottom receiving device and/or the second bottom receiving device and the LDS, so that the automatic cleaning equipment is controlled to move based on the pile feeding route, the automatic cleaning equipment is aligned with the charging pile to perform charging, the accuracy of the process can be ensured, and the quick pile feeding can be realized.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings. The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and do not limit the invention. In the drawings, the same reference numbers generally represent the same or similar parts or steps.

Fig. 1(a) and (b) are schematic views of a charging pile according to an embodiment of the present invention;

fig. 2 is a side view of a light emitting window of the charging pole shown in fig. 1;

fig. 3 is a top view of the light emitting window of the charging post shown in fig. 1;

FIG. 4 is a schematic illustration of a radiation area formed by an optical signal including four emitting devices;

FIG. 5 is a side view of the robotic cleaning device in an embodiment of the present invention;

FIG. 6 is a top view of the robotic cleaning device shown in FIG. 5;

FIG. 7 is a schematic flow chart of a method of docking and charging an automated cleaning apparatus with a charging post in accordance with an embodiment of the present invention;

FIG. 8 is yet another schematic flow chart of a method of docking and charging an automated cleaning apparatus with a charging post in accordance with an embodiment of the present invention;

FIG. 9 is a schematic illustration of a staking line according to an embodiment of the present invention;

FIG. 10 is another schematic flow chart of a method of docking and charging an automated cleaning apparatus with a charging post in accordance with an embodiment of the present invention;

FIGS. 11(a) -11 (c) are schematic diagrams of the pilings from the first radiation zone of an embodiment of the present invention;

FIGS. 12(a) -12 (c) are schematic diagrams of the pilings from the second radiation zone of an embodiment of the present invention;

FIG. 13 is a schematic block diagram of an automatic cleaning apparatus of an embodiment of the present invention;

FIG. 14 is a schematic block diagram of a system for automated cleaning in accordance with an embodiment of the present invention.

Detailed Description

In order that the objects, technical solutions and advantages of the present invention will become more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.

Fig. 1 is a schematic view of a charging pile according to an embodiment of the present invention, where fig. 1(a) is a perspective view of the charging pile, and fig. 1(b) is a side sectional view of the charging pile. The charging post 10 includes a light emitting window 110 and a charging head 120. When the automatic cleaning device docks with this charging pile 10 at charging head 120, this charging pile 10 can charge for the automatic cleaning device. Wherein the light emitting window 110 may be an infrared light emitting window.

Illustratively, a plurality of Emitting devices, such as Light Emitting Diodes (LEDs), may be included in the Light Emitting window 110 to emit Light signals. Wherein, a plurality of emitter can be located same water flat line, and can be for filling the central line symmetry setting of electric pile 10. It should be noted that the number of the plurality of transmitting devices is not limited in the embodiment of the present invention, and the number may be any number greater than or equal to 2, and may be any value from 2 to 7, for example. The following embodiments of the present invention are described by taking 4 transmitting devices as an example, and those skilled in the art can obtain other number of transmitting devices based on this, which is not listed here.

As shown in fig. 2 and 3, a side view and a top view, respectively, of a light emission window 110 comprising 4 emission means. The center line of the charging post 10 is denoted AA, which is also referred to as the axis of symmetry. The device in fig. 2 and 3 comprises 4 transmitting devices: referring to fig. 4, the first transmitting device 111, the second transmitting device 112, the third transmitting device 113, and the fourth transmitting device 114 can be respectively denoted as L2s, R2s, L1s, and R1s, and L1s and R1s, and L2s and R2s are symmetrically disposed with respect to AA. Illustratively, the centerline of L2s and the centerline of R2s are both parallel to AA, the centerline of L1s forms a first angle with AA, and the centerline of R1s forms a second angle with AA. A light shield 118 may also be provided in the charging pile 10, the light shield 118 being arranged between the first emitting device 111 and the second emitting device 112.

The first emitting device 111 (i.e., L2s) emits an optical signal having a first center line parallel to the axis of symmetry AA, and the second emitting device 112 (i.e., R2s) emits an optical signal having a second center line parallel to the axis of symmetry AA. The optical signal emitted by the third emitting device 113 (i.e., L1s) has a third center line, and the third center line has a first angle with the symmetry axis AA, and the optical signal emitted by the fourth emitting device 114 (i.e., R1s) has a fourth center line, and the fourth center line has a second angle with the symmetry axis AA. Illustratively, the first included angle and the second included angle may have any value less than 90 °, for example, the first included angle may be equal to 45 ° or 30 °, and the second included angle may be equal to 45 ° or 60 °, wherein the first included angle and the second included angle may be equal or unequal, which is not limited by the present invention. Illustratively, the optical signal emitted by the third emitting device does not overlap, i.e., has no overlapping area, with the optical signal emitted by the fourth emitting device. It should be noted that, for convenience of description, it is assumed in the subsequent embodiments of the present invention that the first included angle is equal to the second included angle, and the included angle between the third central line and the fourth central line is equal to the first included angle multiplied by 2.

In the embodiment of the present invention, the emitting device may be an infrared light source, and accordingly, the optical signal emitted by the emitting device may be infrared light. Wherein, since the optical signals emitted by the first emitting device 111 and the second emitting device 112 are parallel to each other, the light shielding plate 118 is provided in the embodiment of the present invention, so as to prevent the optical signals emitted by the first emitting device 111 (i.e. L2s) and the optical signals emitted by the second emitting device 112 (i.e. R2s) from interfering with each other.

The optical signals emitted by the plurality of emitting devices of the charging post 10 can form a radiation area, which is denoted as W area, as shown in fig. 4. The W area includes four

quadrants

4, 1, 2, and 8, based on the arrangement of the plurality of emitting devices. Wherein the emitting device can be set according to the use scene of the corresponding automatic cleaning device to ensure the size of the W area. For example, for an automatic cleaning apparatus for general household use, the farthest distance of the light signal emitted from the emitting device of the charging pile 10 may be 6 meters (m) or 4 m. This ensures the utility of the launching device and avoids waste. Illustratively, the radiation area may be divided into a first radiation area and a second radiation area with a center line as a boundary. As shown in fig. 4, the first radiation region may be a 4, 1 quadrant radiation area, and the second radiation region may be a 2, 8 quadrant radiation area.

In addition, since the first angle and the second angle are smaller than 90 °, the range of the radiation area (i.e., the W area) is limited, and there may be an invalid area where the optical signal cannot reach, such as the V area shown in fig. 4. Based on the schematic diagram of the charging pile 10 shown in fig. 1, according to the position of the charging head 120, generally, the automatic cleaning device in the V area close to the wall and located in the V area cannot find the charging head 120, so that the pile searching operation of the automatic cleaning device in the W area is ensured through the setting of the first included angle and the second included angle, and the invalid operation of the automatic cleaning device in the V area is avoided. That is, after the automatic cleaning device enters the V area, the receiving device of the automatic cleaning device cannot receive the light signal emitted by the charging pile 10, and at this time, the automatic cleaning device senses the position of the wall by means of its own sensor, such as a buffer, a distance sensor, and the like, and travels to the radiation area W in a direction away from the wall in an arc-like traveling path.

For example, a plurality of emission devices may emit the same signal waveform so as to be superimposed to form a fan-like collision avoidance region, such as the Y region shown in fig. 4, the basic shape of which coincides with or is similar to that of the radiation region. The range of the anti-collision area can be set according to the actual size of the product, and can be in the range of 4cm-50cm, for example. This anticollision region can avoid self-cleaning equipment to be close to too and fill electric pile collision risk.

Fig. 5 is a side view of the automatic cleaning apparatus in the embodiment of the present invention, and fig. 6 is a plan view of the automatic cleaning apparatus. The automatic cleaning device 20 includes a Laser Distance Sensor (LDS) 210, and the LDS 210 may be used for mapping and obstacle avoidance. The automatic cleaning device 20 includes an optical signal receiving means. The receiving means may include a first bottom receiving means 220 and a second bottom receiving means 230. Illustratively, the first bottom receiving device 220 and the second bottom receiving device 230 may be referred to as bottom lamps. The automatic cleaning device 20 shown in fig. 6 includes a charging tab 240, and the automatic cleaning device 20 may be charged by the charging post 10 when the charging tab 240 is aligned with the charging head 120 of the charging post.

Illustratively, the first bottom receiving device 220 and the second bottom receiving device 230 may be symmetrically disposed with respect to a center line of the automatic cleaning apparatus 20, and the first bottom receiving device 220 and the second bottom receiving device 230 may be precisely aligned light receivers denoted as Lr and Rr, respectively.

Based on the above description of fig. 1-4 regarding the charging post and the above description of the automatic cleaning apparatus regarding fig. 5-6, since the first bottom receiving device 220 and the second bottom receiving device 230 are precisely aligned light receivers, when the first bottom receiving device 220 detects the light signal emitted from the first emitting device 111 (i.e., L2s) and the second bottom receiving device 230 detects the light signal emitted from the second emitting device 112 (i.e., R2s), it can be determined that the automatic cleaning apparatus is located at the center line of the charging post, the first bottom receiving device 220 (i.e., Lr) of the automatic cleaning apparatus is substantially aligned with the first emitting device 111 (i.e., L2s) of the charging post, the second bottom receiving device 230 (i.e., Rr) is substantially aligned with the second emitting device 112 (i.e., R2s), and the head of the automatic cleaning apparatus faces the charging post, and the center of the body coincides with the center line of AA. At the moment, the automatic cleaning equipment moves along the direction close to the charging pile (namely along the AA line), and then the piling can be realized.

The embodiment of the invention provides a method for automatically butting and charging automatic cleaning equipment with a charging pile, and as shown in fig. 7, the method comprises the following steps:

s101, judging whether map information exists in the automatic cleaning equipment or not;

s102, determining a pile searching strategy of the automatic cleaning equipment according to the judgment result;

s103, determining a pile feeding route from the automatic cleaning equipment to a charging pile according to the pile searching strategy;

s104, controlling the automatic cleaning equipment to move based on the pile feeding route, so that the automatic cleaning equipment is in butt joint with the charging pile and is charged.

Exemplarily, before S101, the method may include: it is determined that the robotic cleaning device requires staking. For example, the automatic cleaning device may determine whether it needs to be recharged during a floor sweeping operation. As one implementation, the remaining charge may be detected periodically or periodically, and if the remaining charge is equal to or lower than a preset charge threshold (e.g., 10% or 15%), it is determined that the automatic cleaning device needs to be charged; if the remaining power is above the preset power threshold, it is determined that the automatic cleaning device does not need to be charged, and it continues to perform the cleaning task. As another implementation, if the sweeping task of the robotic cleaning device has been completed, it may be determined that it requires a stake return.

It can be understood that there are two results from the determination of S101: there is map information, there is no map information, and these two different scenarios will be discussed separately below.

As one scenario, if it is determined by the determination in S101 that map information exists in the automatic cleaning device, in S102, the position of the charging pile may be determined according to the map information, and the pile search strategy may be determined. Further, in S103, an anti-collision area may be determined according to the position of the charging pile, and the pile feeding route is determined from the current position of the automatic cleaning device to an intersection point of the center line of the charging pile and the anti-collision area.

Specifically, if the result of the determination in S101 is that there is map information, it may be determined in S102 that the pile-finding policy is to implement pile-up based on the position of the charging pile marked in the map information. Further, in S103, the method may include: and taking the current position of the automatic cleaning equipment as a starting point, taking the position of the charging pile acquired from the map information as an end point, and planning a pile installing route from the starting point to the end point according to the map information. Alternatively, in S103, a collision avoidance area (e.g., Y area in fig. 4) may be determined according to the position of the charging pile, the current position of the automatic cleaning device is used as a starting point, an intersection point (e.g., O point in fig. 4) of the collision avoidance area and the center line is used as an end point, and a piling route from the starting point to the end point is planned according to the map information. Wherein, the outer fringe in anticollision region has safe distance with filling electric pile between, and this safe distance can be 40cm-50 cm. In this way, in S104, the automatic cleaning device moves to the intersection point (O point) according to the pile feeding route, and then slowly docks with the charging pile, thereby ensuring that the charging pile is not askew or even damaged.

For example, the piling route may be an optimal route from the starting point to the end point, for example, if there is no other obstacle between the starting point and the end point, the piling route may be a straight line from the starting point to the end point; if an obstacle exists between the starting point and the ending point, the piling route can be the shortest route which bypasses the obstacle.

The map information may be created by the automatic cleaning device during the sweeping process, that is, before S101, the map information may further include: the automatic cleaning device creates map information during the sweeping process, which is specifically mapped by the laser ranging sensor 210 during the sweeping process.

As an example, as shown in fig. 8, if the automatic cleaning device starts from the charging pile for cleaning, the position of the charging pile may be marked when the cleaning process is started, map information may be drawn by the laser ranging sensor during the cleaning process, and the position coordinate of the charging pile may be marked in the map information (for example, the position coordinate is marked as (0, 0)). Like this, when self-cleaning equipment need return the stake and charge, can realize going up the stake according to the position of the stake of charging that map information mark.

As another example, if the automatic cleaning apparatus does not start from the charging post for cleaning, map information may be drawn by the laser ranging sensor during cleaning and the position of the charging post may be marked according to the optical signal detected by the first bottom receiving device 220 and/or the second bottom receiving device 230, as shown in fig. 8. For example, the automatic cleaning device is moved to a position far away from the charging pile by a user to serve as a starting point of cleaning, so that the optical signal can be globally found and the charging pile center can be locally found in the cleaning process. Specifically, the laser ranging sensor of the automatic cleaning device draws a map, and the first bottom receiving device and the second bottom receiving device sense the optical signal of the charging pile in the process. Along with the removal of position, the map is drawn constantly in the detectable within range of laser rangefinder sensor, if the district does not sense optical signal, then along with the removal of position continues to look for optical signal, in case receive optical signal, then mark the stake position of filling on the map, clean the completion or need return stake when charging can be according to the stake of filling the position of stake of mark on the map.

Therefore, under the condition that map information exists, when the automatic cleaning equipment needs to return the pile, the pile returning route can be determined according to the position of the charging pile, and the automatic cleaning equipment can be quickly and conveniently butted with the charging pile.

As another case, if it is determined by the judgment at S101 that the map information does not exist in the automatic cleaning apparatus. For example, in the cleaning process that the starting point is not the charging pile, the position of the charging pile is not marked, and then the pile needs to be recovered; or the starting point is not in the charging process of the charging pile; or map information failure for other reasons, etc., at which point the pile finding strategy may be determined based on the optical signals detected by the first bottom reception device and/or the second bottom reception device.

Whether the first bottom receiving device and/or the second bottom receiving device can detect the optical signal or not can be judged firstly, if the first bottom receiving device and the second bottom receiving device cannot detect the optical signal, the automatic cleaning equipment is located in the V area at the moment, and then the automatic cleaning equipment is controlled to enter a radiation area (namely the W area shown in fig. 4) of the optical signal of the charging pile. For example, the radiation area may be entered by a random walking method, or the radiation area may be moved in a direction away from the wall based on the LDS, and the movement method from the V area into the W area is not limited in the present invention.

That is, if the map information does not exist as a result of the determination in S101, the pile-finding strategy may be determined in S102 according to the optical signal detected by the first bottom reception device and/or the second bottom reception device. That is, in S102, it is determined that the pile finding strategy is to implement pile driving based on the optical signals detected by the first bottom receiving device and/or the second bottom receiving device in combination with the LDS. Further, in S103, the piling route may be determined to be an arc-like route from the current position of the automatic cleaning apparatus to the center of the charging pile. Specifically, the moving direction of the automatic cleaning device can be gradually adjusted, the angle of an arc line can be gradually adjusted and the like so as to approach the center of the charging pile by combining the optical signal detected by the first bottom receiving device and/or the second bottom receiving device with the LDS. This staking line will be described in detail below in conjunction with fig. 9.

As an implementation manner, in response to the first bottom receiving device or the second bottom receiving device detecting the light signal of the third emitting device, it is determined that the automatic cleaning equipment enters from the first radiation area, the automatic cleaning equipment rotates at least one circle by taking the current position as the initial position to determine the direction of the charging pile, and the piling route is determined to be a route approaching the charging pile in an arc manner according to the initial position and the direction of the charging pile until the first bottom receiving device detects the light signal of the third emitting device and the second bottom receiving device detects the light signal of the first emitting device. Based on the distance between the automatic cleaning equipment detected by the laser ranging sensor and the charging pile, the moving direction and the angle of the automatic cleaning equipment are adjusted through rotation until the first bottom receiving device or the second bottom receiving device detects the optical signal of the second transmitting device.

If the first bottom receiving device Lr and the second bottom receiving device Rr can not detect the optical signals, the automatic cleaning equipment can be controlled to enter the radiation area W; in particular, if the first bottom reception device Lr and/or the second bottom reception device Rr are/is able to detect an optical signal, it can be determined that the automatic cleaning apparatus has entered the radiation area W. Referring to fig. 9, if the first bottom receiving device Lr and/or the second bottom receiving device Rr can detect the light signal of the third transmitting device L1s, it can be determined that the automatic cleaning apparatus is currently located in the first radiation area and substantially located in the 4-quadrant (as indicated by point F0 in fig. 9), and then the automatic cleaning apparatus can rotate at least one circle to determine the direction of the charging post, that is, the automatic cleaning apparatus rotates in place at point F0, and the direction of the charging post is determined to be the X2 direction by the light signal detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr in combination with the LDS. Thereafter, the robotic cleaning device adjusts its handpiece orientation (which may be at an angle, such as 60 degrees, to the X2 orientation) and controls it to approach the centerline in an arc toward the X2 orientation. When the first bottom reception means Lr detects the light signal of the third emission means L1s and the second bottom reception means Rr detects the light signal of the first emission means L2s, it can be determined that the automatic cleaning device is already substantially between quadrants 4 and 1 (point F1 in fig. 9), at which point the head direction of the automatic cleaning device can be adjusted by rotation (for example, by 45 °), while in conjunction with the LDS the orientation of the charging post is again determined and subsequently controlled to continue in an arc towards the X2 direction close to the centre line. When the first bottom reception means Lr or the second bottom reception means Rr detects the light signal of the second emission means R2s, it can be determined that the automatic cleaning device is already substantially between quadrants 1 and 2 (as indicated by point F2 in fig. 9), at which point the head direction of the automatic cleaning device can be adjusted again by rotating (e.g., by 30 °), while the automatic cleaning device movement is controlled in a fine-tuning manner in conjunction with the LDS, until the first bottom reception means Lr detects the light signal of the first emission means L2s and the second bottom reception means Rr detects the light signal of the second emission means R2s, it is determined that the automatic cleaning device is located at F3, and then the docking with the charging post can be carried out along the center line.

As can be seen from the above description, in S103, the piling route can be determined in combination with the LDS according to the optical signals detected by the first bottom receiving device Lr and the second bottom receiving device Rr.

In response to the first bottom reception device Lr or the second bottom reception device Rr detecting the optical signal of the third transmission device L1s, it is determined that the upper pile route includes the first route segment, the second route segment, and the third route segment. In response to the first bottom reception device Lr detecting the optical signal of the third transmission device L1s and the second bottom reception device Rr detecting the optical signal of the first transmission device L2s, it is determined that the upper leg route includes the second leg route and the third leg route.

The first section of route is an arc route from the starting position F0 to the first position F1, and the direction and the angle of the first section of route can be determined by rotating at least one circle at the starting position F0. The second route is an arc route from the first position F1 to the second position F2, and the direction and angle of the second route can be determined by rotating a certain angle (e.g. 45 °) at the first position F1. The third segment of the route is an arc-shaped route from the second position F2 to the third position F3, and the direction and the angle of the third segment of the route can be determined by rotating a certain angle (for example, 30 °) at the second position F2. Wherein the third segment of the route is also referred to as a fine tuning route near the center line. Therein, in the starting position F0, the first bottom reception device Lr or the second bottom reception device Rr detects the optical signal of the third transmission device L1 s. In the first position F1, the first bottom reception device Lr detects the optical signal of the third transmission device L1s and the second bottom reception device Rr detects the optical signal of the first transmission device L2 s. In the second position F2, the first bottom reception device Lr or the second bottom reception device Rr detects the optical signal of the second transmission device R2 s. In the third position F3, the first bottom receiving device Lr detects the optical signal of the first emitting device L2s and the second bottom receiving device Rr detects the optical signal of the second emitting device R2 s. It is understood that the first, second and third segment routes are not limited to the three segment routes from F0 to F3, and may be divided into an appropriate number of segments according to the distance from F0 to F3 to implement the arc-shaped piling path from F0 to F3.

It can be seen that if the robotic cleaning device is in the first radiation zone, it can be controlled to move in an arc towards the charging post towards the centre line until the first bottom receiving means Lr or the second bottom receiving means Rr detects the light signal of the second emitting means R2s indicating that the robotic cleaning device is substantially in the 1, 2 quadrant, and then the robotic cleaning device can be controlled to move to the centre line in a fine tuning manner so that docking with the charging post can be achieved. It can be appreciated that in this process, the distance between the automatic cleaning device and the charging pile is ensured to be greater than the safety distance based on the distance between the LDS sensing and the charging pile.

This allows the robotic cleaning device to return from the first irradiation zone, and it will be appreciated that the robotic cleaning device will return from the second irradiation zone similarly.

As another implementation manner, in response to the second bottom receiving device or the second bottom receiving device detecting the light signal of the fourth emitting device, determining that the automatic cleaning equipment enters from the second radiation area, rotates at least one circle by taking the current position as an initial position to determine the direction of the charging pile, and determines the path of the upper pile as a path approaching the charging pile in an arc manner according to the initial position and the direction of the charging pile until the first bottom receiving device detects the light signal of the second emitting device and the second bottom receiving device detects the light signal of the fourth emitting device; based on the distance between the automatic cleaning equipment and the charging pile detected by the laser ranging sensor, the moving direction and the angle of the automatic cleaning equipment are adjusted through rotation until the first bottom receiving device or the second bottom receiving device detects the optical signal of the first emitting device.

If the first bottom receiving device Lr and the second bottom receiving device Rr can not detect the optical signals, the automatic cleaning equipment can be controlled to enter the radiation area W; in particular, if the first bottom reception device Lr and/or the second bottom reception device Rr are/is able to detect an optical signal, it can be determined that the automatic cleaning apparatus has entered the radiation area W. Referring to fig. 9, if the first bottom receiving device Lr and/or the second bottom receiving device Rr can detect the light signal of the fourth transmitting device R1s, it can be determined that the automatic cleaning apparatus is currently located in the second radiation area and substantially in 8-quadrant (as indicated by point P0 in fig. 9), and then the automatic cleaning apparatus can rotate at least one circle to determine the direction of the charging post, that is, the automatic cleaning apparatus rotates in place at point P0, and the direction of the charging post is determined to be the X2 direction by the light signal detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr in combination with the LDS. Thereafter, the robotic cleaning device may adjust its handpiece orientation (which may be at an angle, such as 60 degrees, to the X2 orientation) and control it to approach the centerline in an arc toward the X2 orientation. When the first bottom reception means Lr detects the light signal of the second emission means R2s and the second bottom reception means Rr detects the light signal of the fourth emission means R1s, it can be determined that the automatic cleaning device is already substantially between quadrants 2 and 8 (point P1 in fig. 9), at which point the head direction of the automatic cleaning device can be adjusted by rotation (for example, by 45 °), while in conjunction with the LDS the orientation of the charging post is again determined and then controlled to continue in an arc towards the X2 direction close to the centre line. When the first bottom reception means Lr or the second bottom reception means Rr detects the light signal of the first emitting means L2s, it can be determined that the automatic cleaning device is already substantially between quadrants 1 and 2 (as indicated by point P2 in fig. 9), at which point the head direction of the automatic cleaning device can be adjusted again by rotating (e.g., by 30 °), while the automatic cleaning device movement is controlled in a fine-tuning manner in conjunction with the LDS, until the first bottom reception means Lr detects the light signal of the first emitting means L2s and the second bottom reception means Rr detects the light signal of the second emitting means R2s, it is determined that the automatic cleaning device is located at F3, and then the docking with the charging post can be carried out along the center line.

In response to the first bottom reception device Lr or the second bottom reception device Rr detecting the optical signal of the fourth transmission device R1s, it is determined that the upper pile route includes the first route segment, the second route segment, and the third route segment. In response to the first bottom reception device Lr detecting the optical signal of the second transmission device R2s and the second bottom reception device Rr detecting the optical signal of the fourth transmission device R1s, it is determined that the upper pile route includes the second and third routes.

The first section of route is an arc route from the starting position P0 to the first position P1, and the direction and the angle of the first section of route can be determined by rotating at least one circle at the starting position P0. The second route is an arc route from the first position P1 to the second position P2, and the direction and angle of the second route can be determined by rotating a certain angle (e.g. 45 °) at the first position P1. The third segment of the route is an arc-shaped route from the second position P2 to the third position F3, and the direction and angle of the third segment of the route can be determined by rotating a certain angle (e.g. 30 °) at the second position P2. Wherein the third segment of the route is also referred to as a fine tuning route near the center line. Wherein, at the starting position P0, the first bottom receiver Lr or the second bottom receiver Rr detects the optical signal of the fourth transmitter R1 s. In the first position P1, the first bottom receiving device Lr detects the optical signal of the second emitting device R2s and the second bottom receiving device Rr detects the optical signal of the fourth emitting device R1 s. In the second position P2, the first bottom reception device Lr or the second bottom reception device Rr detects the optical signal of the first transmission device L2 s. In the third position F3, the first bottom receiving device Lr detects the optical signal of the first emitting device L2s and the second bottom receiving device Rr detects the optical signal of the second emitting device R2 s. It is understood that the first, second and third segment routes are not limited to the three segment routes from P0 to F3, and may be divided into appropriate number of segments according to the distance from P0 to F3 to implement the arc-shaped piling path from P0 to F3.

It can be seen that if the robotic cleaning device is in the second radiation zone, it can be controlled to move in an arc towards the charging post towards the centre line until the first bottom reception means Lr or the second bottom reception means Rr detect the light signal of the first emission means L2s, indicating that the robotic cleaning device is substantially in the 1, 2 quadrant, and then the robotic cleaning device can be controlled to move to the centre line in a fine tuning manner, so that docking with the charging post can be achieved. It can be appreciated that in this process, the distance between the automatic cleaning device and the charging pile is ensured to be greater than the safety distance based on the distance between the LDS sensing and the charging pile.

For example, the process of returning the pile from the first radiation area or the second radiation area shown in fig. 9 may be as shown in fig. 10, the automatic cleaning device may determine the quadrant according to the light signal detected by the receiving device, and the LDS may sense the distance between the automatic cleaning device and the charging pile.

If the LDS detects that the distance between the automatic cleaning device and the charging pile is smaller than the safe distance in the process of moving the automatic cleaning device from F2 or P2 to F3 (i.e. the fine adjustment process), the automatic cleaning device is controlled to appropriately retract in the direction away from the charging pile, and then the automatic cleaning device moves to F3 again. Illustratively, the safe distance may be 40cm to 50 cm. Like this, can prevent that self-cleaning equipment from hitting askew electric pile at pile return in-process.

As another implementation, in response to the first bottom receiving device or the second bottom receiving device detecting the light signal of the third emitting device, it is determined that the automatic cleaning apparatus enters from the first radiation area, rotates at least one circle at the current position to determine the direction and distance of the charging pile based on the LDS, further determines the target position of the current movement, and determines the course of the upper pile as moving from the current position to the target position in an arc manner. The distance between the target position and the determined charging pile (not necessarily the actual charging pile) is equal to a preset distance, and a preset first included angle is formed between a first connecting line between the current position and the determined charging pile and a second connecting line between the target position and the determined charging pile. If the first bottom receiving device or the second bottom receiving device detects the optical signal of the second transmitting device in the moving process, the moving is stopped, namely the first bottom receiving device or the second bottom receiving device does not move to the target position any more; otherwise, the target position is reached.

Referring to fig. 11, if the first bottom receiving device Lr and/or the second bottom receiving device Rr can detect the light signal of the third transmitting device L1s, it can be determined that the automatic cleaning apparatus is currently located in the first radiation area and substantially in the 4-quadrant (as indicated by point F0 in fig. 11(a) -11 (C)), and then the automatic cleaning apparatus can rotate at least one circle to determine the direction and distance of the charging post, that is, the automatic cleaning apparatus rotates in place at point F0, and the general location of the charging post is determined to be point C by the light signal detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr in combination with the LDS. Thereafter, the target position Q may be determined according to the preset distance and a preset first angle (denoted as θ 1). Specifically, a first connecting line between F0 and C and a second connecting line between C and Q have a first included angle therebetween. As an example, the first included angle may be equal to 45 °, the preset distance may be equal to 80cm, and the first included angle and the preset distance may be other values, which are not listed here. In this way, the robotic cleaning device can adjust the orientation of its handpiece and control its movement in an arcuate manner toward Q. And during this movement, the optical signals detected by the first bottom reception device Lr and/or the second bottom reception device Rr are determined.

If during this movement the first bottom reception means Lr and/or the second bottom reception means Rr detect the light signal of the second emission means R2s, as shown at point Q in fig. 11(a), i.e. the position where the light signal of the second emission means R2s is detected substantially coincides with the target position Q, then after reaching the target position Q, the first bottom reception means Lr can detect the light signal of the first emission means L2s and the second bottom reception means Rr detect the light signal of the second emission means R2s by fine adjustment, and then the docking with the charging post can be achieved along the center line.

If during this movement the first bottom reception means Lr and/or the second bottom reception means Rr detect the light signal of the second emission means R2s, as shown at or near point Q1 in fig. 11(b), the automatic cleaning device stops moving, i.e. does not move further to point Q, and at the current position Q1, the first bottom reception means Lr detects the light signal of the first emission means L2s and the second bottom reception means Rr detects the light signal of the second emission means R2s, and then docking with the charging post can be achieved along the center line. However, the above situation is the credible state of the charging pile, and in most cases, it cannot be determined that the charging pile is the credible state, that is, the charging pile may be a wall or an obstacle located in the radiation area of the charging pile, the automatic cleaning equipment reaches point Q through point Q1, and fine-tuning the charging pile through the first bottom receiving device, the second bottom receiving device and the LDS is performed at point Q or the charging pile route is re-planned with point Q as the current position.

If during this movement neither the first bottom reception device Lr nor the second bottom reception device Rr detects an optical signal of the second emitting device R2s, the movement is made to point Q in an arc-shaped manner. After reaching point Q, it is determined that the automatic cleaning apparatus is between

quadrants

4 and 1 or in quadrant 1 based on the light signals detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr, as shown in fig. 11 (c). The robotic cleaning device may then be rotated (e.g., half-cycle, one-cycle, etc.) to determine the orientation and distance of the charging post from the charging post, which is located at point C. Thereafter, a new target position (denoted as Q) may be determined based on the preset distance and a preset second angle (denoted as θ 2)_N). Specifically, a first connecting line between Q and C, C and Q_NA second included angle is formed between the two second connecting lines. As an example, the second angle may be equal to 15 °, it being understood that the second angle may have other values, which are not listed here. Thus, the robotic cleaning device can adjust the orientation of its handpiece and control it in an arcuate manner toward Q_NAnd (4) moving. Wherein, from Q to Q_NThe process of movement is similar to the movement from F0 to Q and will not be described in detail here. That is, after the first bottom receiving device Lr or the second bottom receiving device Rr of the automatic cleaning apparatus detects the light signal of the second emitting device R2s, the arc movement is stopped, and the first bottom receiving device Lr detects the light signal of the first emitting device L2s and the second bottom receiving device Rr detects the light signal of the second emitting device R2s through fine adjustment, so that the docking with the charging pile can be realized along the center line. However, the situation is a charging pile credible state, in most cases, the charging pile cannot be determined to be the credible state, namely the charging pile may be a wall or an obstacle located in a charging pile radiation area, and then the automatic cleaning equipment reaches the point Q through a point Q1_NPoint on and at Q_NThe points are finely adjusted and staked or staked by the first bottom receiving device, the second bottom receiving device and the LDS_NAnd replanning the piling route for the current position.

In addition, it can be understood that, in response to the first bottom receiving device detecting the light signal of the third transmitting device and the second bottom receiving device detecting the light signal of the first transmitting device, the current position is rotated to determine the direction and distance of the charging pile based on the LDS, the target position of the current movement is further determined, and the piling route is determined to be moved from the current position to the target position in an arc manner. Wherein, the distance between target position and the stake of charging equals preset distance, and the first line between current position and the stake of charging and the second line between target position and the stake of charging have the second contained angle between.

As can be seen from the above description, in S103, the piling route can be determined in conjunction with the LDS, based on the optical signals detected by the first bottom receiving device Lr and the second bottom receiving device Rr. In response to the first bottom reception device Lr or the second bottom reception device Rr detecting the optical signal of the third transmission device L1s, it is determined that the upper peg route includes an arc route of the current position F0 to Q as shown in fig. 11(a), or an arc route of the current position F0 to Q1 as shown in fig. 11(b), or an arc route of the current position F0 to Q1 as shown in fig. 11 (c). It will be appreciated that the determination by the robotic cleaning device that the dueling route includes the current positions F0 through Q as shown in fig. 11(a) may also be an approximately straight route, or the current positions F0 through Q1 as shown in fig. 11(b) may also be an approximately straight route, or the current positions F0 through Q1 as shown in fig. 11(c) may also be an approximately straight route.

It is thus clear that automatic cleaning equipment can fill electric pile's direction and distance based on LDS confirms target location based on first contained angle, second contained angle and the distance of presetting of predetermineeing to move towards target location with the pitch arc mode, with progressively moving to central line department, thereby can realize with the butt joint that fills electric pile.

As another implementation, in response to the first bottom receiving device or the second bottom receiving device detecting the light signal of the fourth emitting device, it is determined that the automatic cleaning apparatus enters from the second radiation area, rotates at least one circle at the current position to determine the direction and distance of the charging pile based on the LDS, further determines the target position of the current movement, and determines the piling path to move from the current position to the target position in an arc manner. The distance between the target position and the determined charging pile (not necessarily the actual charging pile) is equal to a preset distance, and a first included angle is formed between a first connecting line between the current position and the determined charging pile and a second connecting line between the target position and the determined charging pile. If during this movement. When the first bottom receiving device or the second bottom receiving device detects the optical signal of the first transmitting device, the first bottom receiving device or the second bottom receiving device stops moving, namely the first bottom receiving device or the second bottom receiving device does not move to the target position any more; otherwise, the target position is reached.

Referring to fig. 12, if the first bottom receiving device Lr and/or the second bottom receiving device Rr can detect the light signal of the fourth transmitting device L1s, it can be determined that the automatic cleaning apparatus is currently located in the second radiation area and substantially in 8 quadrants (as indicated by point P0 in fig. 12(a) -12 (C)), then the automatic cleaning apparatus can rotate at least one circle to determine the direction of the charging pile and the distance from the charging pile, i.e., the automatic cleaning apparatus rotates in situ at point P0, and the light signal detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr is combined with the LDS to determine that the approximate position of the charging pile is point C. Thereafter, the target position Q may be determined according to the preset distance and a preset first angle (denoted as θ 1). Specifically, a first connecting line between P0 and C and a second connecting line between C and Q have a first included angle therebetween. As an example, the first included angle may be equal to 45 °, the preset distance may be equal to 80cm, and the first included angle and the preset distance may be other values, which are not listed here. In this way, the robotic cleaning device can adjust the orientation of its handpiece and control it to move in an arcuate manner toward Q. And in the moving process, judging the optical signals detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr.

If during this movement the first bottom reception means Lr and/or the second bottom reception means Rr detect the light signal of the first emission means L2s, as shown at point Q in fig. 12(a), i.e. the position where the light signal of the first emission means L2s is detected substantially coincides with the target position Q, then after reaching the target position Q, the first bottom reception means Lr can detect the light signal of the first emission means L2s and the second bottom reception means Rr detect the light signal of the second emission means R2s by fine adjustment, and then docking with the charging post can be achieved along the center line.

If during this movement the first bottom reception means Lr and/or the second bottom reception means Rr detect the light signal of the first emitting means L2s, as shown at or near point Q1 in fig. 12(b), the automatic cleaning device stops moving, i.e. does not move further to point Q, and at the current position Q1, the first bottom reception means Lr detects the light signal of the first emitting means L2s and the second bottom reception means Rr detects the light signal of the second emitting means R2s, and then docking with the charging post along the center line can be achieved. However, the above situation is the credible state of the charging pile, and in most cases, the charging pile cannot be determined to be the credible state, the automatic cleaning equipment reaches the point Q through the point Q1, and fine adjustment and pile feeding are performed at the point Q through the first bottom receiving device, the second bottom receiving device and the LDS, or a pile feeding route is re-planned with the point Q as the current position.

If during this movement neither the first bottom reception device Lr nor the second bottom reception device Rr detects the optical signal of the first transmission device L2s, the movement is made to point Q in an arc-like manner. After reaching point Q, it is determined that the automatic cleaning apparatus is between 2 and 8 quadrants or in 2 quadrants based on the light signals detected by the first bottom receiving device Lr and/or the second bottom receiving device Rr, as shown in fig. 12 (c). The robotic cleaning device may then be rotated (e.g., half-cycle, one-cycle, etc.) to determine the orientation and distance of the charging post from the charging post, which is located at point C. Thereafter, a new target position (denoted as Q) may be determined based on the preset distance and a preset second angle (denoted as θ 2)_N). Specifically, a first connecting line between Q and C, C and Q_NA second included angle is formed between the two second connecting lines. As an example, the second angle may be equal to 15 °, it being understood that the second angle may have other values, which are not listed here. Thus, the automatic cleaning deviceThe direction of the machine head can be adjusted and controlled to be directed towards Q in an arc manner_NAnd (4) moving. Wherein, from Q to Q_NThe process of movement is similar to the process of movement from P0 to Q and will not be described in detail here. That is, after the first bottom receiving device Lr or the second bottom receiving device Rr of the automatic cleaning apparatus detects the light signal of the first emitting device L2s, the movement along the arc is stopped, and the first bottom receiving device Lr detects the light signal of the first emitting device L2s and the second bottom receiving device Rr detects the light signal of the second emitting device R2s through fine adjustment, so that the docking with the charging pile can be realized along the center line. However, the above situation is the credible state of the charging pile, and in most cases, the charging pile cannot be determined to be the credible state, that is, the charging pile may be a wall or an obstacle located in the radiation area of the charging pile, and the automatic cleaning equipment reaches the point Q1 through the point Q1_NPoint on and in Q_NThe points are finely adjusted and staked or staked by the first bottom receiving device, the second bottom receiving device and the LDS_NAnd replanning the piling route for the current position.

In addition, it can be understood that, in response to the first bottom receiving device detecting the light signal of the second transmitting device and the second bottom receiving device detecting the light signal of the fourth transmitting device, the direction and the distance of the charging pile are determined based on the LDS by rotating at the current position, the target position of the current movement is further determined, and the piling route is determined to move from the current position to the target position in an arc manner. The distance between the target position and the charging pile is equal to a preset distance, and a preset second included angle is formed between a first connecting line between the current position and the charging pile and a second connecting line between the target position and the charging pile.

As can be seen from the above description, in S103, the piling route can be determined in combination with the LDS according to the optical signals detected by the first bottom receiving device Lr and the second bottom receiving device Rr. In response to the first bottom reception device Lr or the second bottom reception device Rr detecting the optical signal of the fourth transmission device R1s, it is determined that the upper peg route includes an arc route of the current position P0 to Q as shown in fig. 12(a), or an arc route of the current position P0 to Q1 as shown in fig. 12(b), or an arc route of the current position P0 to Q1 as shown in fig. 12 (c). It is to be understood that the route determined to include the current positions P0 through Q as shown in fig. 12(a) may also be a straight line route, or the route of the current positions P0 through Q1 as shown in fig. 12(b) may also be a straight line route, or the route of the current positions P0 through Q1 as shown in fig. 12(c) may also be a straight line route.

Therefore, the pile driving route in an arc mode can be determined according to the optical signals detected by the receiving device and the LDS, and compared with other modes such as a broken line mode, the pile driving mode is better, the required time is shorter, and the pile driving efficiency and the pile driving accuracy are higher.

FIG. 13 is a schematic block diagram of an automatic cleaning apparatus of an embodiment of the present invention. The automatic cleaning device 20 shown in fig. 13 includes a judgment module 201, a determination module 202, and a control module 203.

The judgment module 201 is used for judging whether map information exists in the automatic cleaning equipment. The determining module 202 is configured to determine a pile searching strategy of the automatic cleaning device according to the judgment result, and determine a pile feeding route from the automatic cleaning device to a charging pile according to the pile searching strategy. The control module 203 is used for controlling the automatic cleaning equipment to move based on the pile feeding route, so that the automatic cleaning equipment is in butt joint with the charging pile and is charged.

The automatic cleaning device 20 shown in fig. 13 can implement the method shown in fig. 7 to 12, and the description is omitted here to avoid repetition.

In addition, another automatic cleaning device is provided in an embodiment of the present invention, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of the method performed by the automatic cleaning device in fig. 7 to 12 are implemented.

In addition, the embodiment of the invention also provides a computer storage medium, and a computer program is stored on the computer storage medium. The computer program, when executed by a processor, may implement the steps of the method previously described in fig. 7-12 as performed by the automatic cleaning device. For example, the computer storage medium is a computer-readable storage medium.

FIG. 14 is a schematic block diagram of a system for automated cleaning in accordance with an embodiment of the present invention. The system 100 shown in fig. 14 comprises the charging pile 10 and the automatic cleaning device 20 as described in the previous embodiments.

Wherein, this fill electric pile 10 includes a plurality of transmitting devices, and this automatic cleaning equipment 20 includes first bottom receiving arrangement, second bottom receiving arrangement and LDS, and this automatic cleaning equipment can be based on the light signal of a plurality of transmitting device launches that first bottom receiving arrangement, second bottom receiving arrangement detected and combine with LDS, realize and fill the butt joint between the electric pile to charge automatic cleaning equipment.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method of charging an automatic cleaning device, the method comprising:

controlling the automatic cleaning device to move based on the piling route so that the automatic cleaning device is docked with the piling charging pile and charged, wherein,

the automatic cleaning equipment comprises a first bottom receiving device, a second bottom receiving device and a laser ranging sensor, the charging pile comprises a first transmitting device and a second transmitting device which are symmetrically arranged relative to a central line of the charging pile, and a third transmitting device and a fourth transmitting device which are symmetrically arranged relative to the central line, wherein optical signals transmitted by the first transmitting device, the second transmitting device, the third transmitting device and the fourth transmitting device form a radiation area, and the radiation area is divided into a first radiation area and a second radiation area by the central line,

when there is not map information in the self-cleaning equipment, self-cleaning equipment includes to filling the stake route of electric pile:

controlling the automatic cleaning equipment to enter the first radiation area or the second radiation area;

controlling the automatic cleaning equipment to pile based on the optical signals sent by the first transmitting device, the second transmitting device, the third transmitting device or the fourth transmitting device and detected by the first bottom receiving device and/or the second bottom receiving device in combination with the laser ranging sensor, wherein the pile feeding route is an arc route from the current position of the automatic cleaning equipment to the center of a charging pile.

2. The method of claim 1, wherein determining a piling route for the robotic cleaning device to a pile charging pile based on the pile finding strategy comprises:

when the automatic cleaning equipment enters from the first radiation area, the automatic cleaning equipment rotates at least one circle by taking the current position as the initial position to determine the direction of the charging pile, and the upper pile route is determined to be a route which is close to the charging pile in an arc mode according to the initial position and the direction of the charging pile until the first bottom receiving device detects the optical signal of the third transmitting device and the second bottom receiving device detects the optical signal of the first transmitting device.

3. The method of claim 1, wherein determining a piling route for the robotic cleaning device to a pile charging pile based on the pile finding strategy comprises:

when automatic cleaning equipment is by first radiation area gets into to current position is rotatory in order to be based on laser range finding sensor confirms charging pile's direction and distance to according to first contained angle of presetting and the predetermined distance determination target location, further confirm the last stake route is for following initial position moves to target location, wherein, initial position with first line between the charging pile with target location with have between the second line between the charging pile preset first contained angle.

4. The method of claim 2 or 3, further comprising: based on the distance between the automatic cleaning equipment and the charging pile detected by the laser ranging sensor, the moving direction and the angle of the automatic cleaning equipment are adjusted through rotation until the first bottom receiving device or the second bottom receiving device detects the optical signal of the second transmitting device.

5. The method of claim 1, wherein determining a piling route for the robotic cleaning device to a pile charging pile based on the pile finding strategy comprises:

when the automatic cleaning equipment enters from the second radiation area, the automatic cleaning equipment rotates at least one circle by taking the current position as the initial position so as to determine the direction of the charging pile, and the upper pile route is determined to be a route which is close to the charging pile in an arc manner according to the initial position and the direction of the charging pile until the first bottom receiving device detects the optical signal of the second transmitting device and the second bottom receiving device detects the optical signal of the fourth transmitting device.

6. The method of claim 1, wherein determining a piling route for the robotic cleaning device to a pile charging pile based on the pile finding strategy comprises:

when the automatic cleaning equipment is entered from the second radiation area, the current position is used as an initial position to rotate so as to determine the direction and the distance of the charging pile based on the laser ranging sensor, the target position is determined according to a preset first included angle and a preset distance, and the pile feeding route is further determined to move from the initial position to the target position, wherein the preset first included angle is formed between a first connecting line between the initial position and the charging pile and between the target position and a second connecting line between the charging piles.

7. The method of claim 5 or 6, further comprising: based on the distance between the automatic cleaning equipment and the charging pile detected by the laser ranging sensor, the moving direction and the angle of the automatic cleaning equipment are adjusted through rotation until the first bottom receiving device or the second bottom receiving device detects the optical signal of the first emitting device.

8. The method of claim 4, wherein said controlling the robotic cleaning device to move based on the piling route comprises: fine tuning based on the laser ranging sensor such that the first bottom receiving device detects the light signal of the first emitting device and the second bottom receiving device detects the light signal of the second emitting device, the automatic cleaning apparatus being located at the center line and facing the charging pile.

9. The method of claim 7, wherein said controlling the robotic cleaning device to move based on the piling route comprises: fine tuning based on the laser ranging sensor such that the first bottom receiving device detects the light signal of the first emitting device and the second bottom receiving device detects the light signal of the second emitting device, the automatic cleaning apparatus being located at the center line and facing the charging pile.

10. The method of claim 1, wherein determining a pile finding strategy for the robotic cleaning device based on the result of the determination comprises:

11. The method of claim 10, wherein determining a piling route for the robotic cleaning device to a pile charging pile according to the pile finding strategy comprises:

12. The method of claim 10 or 11, wherein the automated cleaning device comprises a laser ranging sensor,

the laser ranging sensor draws the map information in the cleaning process,

13. An automatic cleaning device comprising a first bottom receiving means, a second bottom receiving means, a laser ranging sensor, a memory, a processor and a computer program stored on the memory and running on the processor, characterized in that the steps of the method of any one of claims 1 to 12 are implemented by the processor when executing the computer program.

14. An automated cleaning system, comprising:

a charging post including a light emission window including a plurality of emission devices for emitting light signals, the plurality of emission devices including first and second emission devices symmetrically disposed with respect to a center line of the charging post and third and fourth emission devices symmetrically disposed with respect to the center line, wherein the light signals emitted by the first, second, third and fourth emission devices form a radiation area divided into first and second radiation areas with the center line; and

the automatic cleaning device of claim 13, the automatic cleaning device receiving the light signal in the radiation zone.

15. The system of claim 14, wherein the charging post further comprises:

a charging head for providing a charging interface for the automatic cleaning device.

16. The system of claim 14, wherein the light emission window is an infrared light emission window and the plurality of emission devices are infrared emission devices.

17. The system of claim 14, wherein the plurality of emitting devices are disposed on the same plane in a height direction of the charging post, and center lines of the optical signals emitted by the plurality of emitting devices are on the same plane.

18. The system of claim 14, wherein a centerline of the light signal emitted by the first emitting device, a centerline of the light signal emitted by the second emitting device, and a centerline of the charging post are parallel to each other.

19. The system of claim 14, wherein a first included angle is formed between the center line of the third transmitting device and the center line of the charging pile, a second included angle is formed between the center line of the fourth transmitting device and the center line of the charging pile, and both the first included angle and the second included angle are smaller than 90 °.

20. The system of claim 19, wherein the first included angle and the second included angle are both 45 degrees.

21. The system of claim 14, wherein the light emission window further comprises:

a light shielding plate spaced apart from the plurality of emitting devices and disposed perpendicular to a center line of the charging pile at a side where the plurality of emitting devices emit the light signal.

22. The system of claim 21, wherein the width of the shutter plate is less than the distance between two emitting devices closest to the centerline of the charging post.

23. The system of claim 14, wherein the irradiation zone further comprises a collision avoidance zone, wherein the automated cleaning device is configured to avoid the collision avoidance zone to prevent a collision from damaging the charging post.

24. The system of claim 14, wherein the first bottom receiving means and the second bottom receiving means are precisely aligned optical receivers.

25. The system of claim 15, wherein the robotic cleaning device further comprises a charging tab aligned with the charging head to charge the robotic cleaning device.