CN111146826A

CN111146826A - Self-moving equipment, wireless charging station, automatic working system and charging method thereof

Info

Publication number: CN111146826A
Application number: CN201811307115.XA
Authority: CN
Inventors: 谭一云; 杨晓飞; 张晨; 何明明
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2018-11-05
Filing date: 2018-11-05
Publication date: 2020-05-12
Also published as: WO2020093992A1

Abstract

The present disclosure relates to a self-moving device, a wireless charging station, an automatic working system and a charging method thereof, the self-moving device including: a wireless charging reception module configured to perform a charging operation based on a wireless charging signal received from a wireless charging transmission module on the wireless charging station; a return guidance module configured to detect guidance information for guiding the self-moving apparatus to move to the wireless charging station; a home position sensing module configured to sense the home position guide; a first control module configured to control the self-moving device to move to the wireless charging station according to the detected guiding information, and configured to adjust an operation parameter of the self-moving device when the in-place guiding apparatus is sensed, wherein the operation parameter comprises: speed of travel and/or direction of travel. The embodiment of the disclosure can realize accurate guidance from the mobile equipment.

Description

Self-moving equipment, wireless charging station, automatic working system and charging method thereof

Technical Field

The disclosure relates to the technical field of intelligent equipment, in particular to a self-moving device, a wireless charging station, an automatic working system and a charging method thereof.

Background

At present, self-walking equipment is popular with users due to the characteristic of intellectualization, and can be widely applied to various aspects in daily life, such as sweeping robots, intelligent cameras, flight instruments, mowers and the like.

However, in the prior art, the self-walking device cannot accurately return to the position of the wireless charging station to perform the charging operation under the condition of insufficient electric quantity or other charging requirements. That is, there is a technical problem in the prior art that the position of the wireless charging station cannot be accurately returned from the mobile device.

Disclosure of Invention

The embodiment of the disclosure provides self-moving equipment, a wireless charging station, an automatic working system and a charging method thereof, wherein the self-moving equipment, the wireless charging station and the automatic working system can accurately perform regression guidance on the self-moving equipment

According to a first aspect of the present disclosure, there is provided a self-moving apparatus that is charged by a wireless charging station, on which a location guidance device is provided, the self-moving apparatus determining a location of the wireless charging station by sensing the location guidance device, and the self-moving apparatus comprising:

a wireless charging reception module configured to perform a charging operation based on a wireless charging signal received from a wireless charging transmission module on the wireless charging station;

a return guidance module configured to detect guidance information for guiding the self-moving apparatus to move to the wireless charging station;

a home position sensing module configured to sense the home position guide;

a first control module configured to control the self-moving device to move to the wireless charging station according to the detected guiding information, and configured to adjust an operation parameter of the self-moving device when the in-place guiding apparatus is sensed, wherein the operation parameter comprises: speed of travel and/or direction of travel.

In a possible embodiment, the return guidance module detects work area boundary information, and the first control module is configured to control the self-moving device to move along the boundary to the wireless charging station according to the boundary information.

In a possible embodiment, the wireless charging station is connected to a guide wire for generating the boundary information, the guide information being generated by a power signal transmitted by the guide wire; the first control module is configured to control the self-moving device to move along a guide line to the wireless charging station according to the guide information detected by the return guide module.

In a possible implementation manner, the regression guiding module comprises two first detection units respectively arranged at two sides of a base of the self-moving device; the first control module is further configured to guide the mobile device to return to the wireless charging station along a guide line according to the phases and/or intensities of the magnetic force signals detected by the two first detection units when the charging operation needs to be performed.

In a possible implementation manner, the regression guiding module comprises two second detection units respectively arranged at two sides of a base of the self-moving device; the two second detection units detect grassland information and judge whether the grassland information is work area boundary information, and the first control module is configured to control the self-moving equipment to move to the wireless charging station along the work area boundary according to the boundary information detected by the regression guiding module.

In one possible embodiment, the second detection unit is a capacitive sensor.

In one possible embodiment, the in-place guide includes a magnet assembly, the in-place sensing module includes a magnetic detection element; the first control module is configured to determine that the in-place guiding device is detected when the magnetic detection element detects that the magnetic field signal of the magnet assembly meets a first preset condition.

In one possible embodiment, the magnet assembly comprises a bar magnet assembly comprising a magnetic strip or a bar magnet assembly formed by an arrangement of magnetic objects.

In a possible embodiment, the first control module is configured to control the self-moving device to reduce the operation speed or stop the operation when the magnetic detection element detects that the magnetic field signal of the magnet assembly meets a first preset condition.

In a possible implementation manner, when the installation direction of the bar magnet assemblies is perpendicular to the running direction of the self-moving device, the bar magnet assemblies at least include two groups, the first control module is configured to control the self-moving device to reduce the running speed when the magnetic detection element detects that the magnetic field signal strength of the first group of bar magnet assemblies reaches a first preset threshold, and control the self-moving device to stop running when detecting that the magnetic field signal strength of the second group of bar magnet assemblies meets a second preset threshold.

In a possible implementation manner, when the installation direction of the strip-shaped magnet assembly is parallel to the running direction of the self-moving device, the first control module is configured to control the self-moving device to reduce the running speed when the strength of the magnetic field signal detected by the magnetic detection element meets a third preset threshold, and control the self-moving device to stop running when the strength of the magnetic field signal meets a fourth preset threshold.

In one possible embodiment, the in-place guiding device comprises a wireless signal transmitting component, the in-place sensing module comprises a wireless signal receiving component, or the in-place guiding device comprises a wireless signal receiving component, and the in-place sensing module comprises a wireless transmitting component; the first control module is configured to determine that the position guide device is detected when the wireless signal receiving component detects the wireless signal generated by the wireless signal transmitting component.

In one possible embodiment, the wireless signal transmitting component comprises an RFID transmitter and the wireless signal receiving component comprises an RFID reader.

In a possible implementation manner, the in-place guiding device is an RFID transmitter, the in-place sensing module is an RFID reader, and when the RFID reader detects a radio frequency signal transmitted by the RFID transmitter, the in-place guiding device is determined to be detected.

In a possible implementation manner, the in-place guiding device is an RFID reader, the in-place sensing module is an RFID transmitter, a communication module for transmitting signals is further included between the wireless charging station and the self-moving device, the RFID reader detects a radio frequency signal transmitted by the RFID transmitter, and when the self-moving device receives the communication signal transmitted by the wireless charging station, it is determined that the in-place guiding device is detected.

In one possible embodiment, the in-place guiding device comprises a wireless charging transmitting module, and the in-place sensing module comprises a coil induction module; the first control module is configured to determine that the in-place guiding device is detected when the equivalent impedance output by the coil induction module changes to a preset range.

In a possible implementation manner, the coil sensing module is a metal detection module, and the first control module is connected to the metal detection module to obtain an equivalent impedance output by the metal detection module.

In a possible embodiment, the coil induction module comprises an LC oscillator, and the first control module is connected to the LC oscillator to obtain an equivalent impedance of the LC oscillator.

In one possible embodiment, the LC oscillator comprises at least one of the following structures:

the first inductor, the first capacitor, the first resistor and the first oscillator are connected in parallel;

a second inductor and a second oscillator connected in parallel;

a first coil and a first circuit coupled with the first coil, the first circuit comprising a third inductor, a second resistor, and a third oscillator connected in series, wherein the first coil is coupled with the third inductor;

the oscillator comprises a fourth inductor, a third resistor, a second capacitor and a third oscillator, wherein the fourth inductor and the third resistor are connected in series, and the second capacitor and the third oscillator are connected to two sides of the fourth inductor and the third resistor in parallel.

In one possible embodiment, the return guidance module is further configured to detect first location information of the self-moving device, and the first control module is further configured to guide the self-moving device to move to the wireless charging station according to second location information of the wireless charging station and the first location information which are prestored.

In one possible embodiment, the in-place guiding device comprises an auxiliary coil assembly including a guiding assembly and an in-place assembly, and the in-place sensing module comprises a guiding assembly detecting unit detecting the guiding assembly and an in-place assembly detecting unit detecting the in-place assembly;

the first control module is configured to guide the self-moving device to move to the wireless charging transmitting module based on the signal detected by the guiding component detecting unit, and control the self-moving device to stop running based on the signal detected by the in-place component detecting unit.

In one possible embodiment, the guiding component comprises a coil component, and the first control module is configured to guide the mobile device to move from the mobile device to the wireless charging transmitting module along the coil component based on the magnetic force signal detected by the guiding component detecting unit.

In a possible implementation mode, the in-place component comprises a sensor component which is mutually inductive with the self-moving device or a mechanical structure component which enables the motion state of the self-moving device to generate abrupt change.

In one possible implementation, the in-place guiding device comprises an annular assembly, the annular assembly comprises an outer ring assembly and an inner ring assembly, a wireless charging transmitting module is arranged in the inner ring assembly, and the in-place sensing module comprises an outer ring detection unit for detecting the outer ring assembly and an inner ring detection unit for detecting the inner ring assembly;

the first control module is configured to adjust the posture of the self-moving device based on the signal detected by the outer ring detection unit so as to guide the self-moving device to move towards the wireless charging transmission module, and control the self-moving device to stop running based on the signal detected by the inner ring detection unit.

In a possible implementation, the outer loop detection unit includes a first outer loop detection unit and a second outer loop detection unit, and the first control module is configured to compare a signal detected by the first outer loop detection unit and a signal detected by the second outer loop detection unit, and to control entry from the mobile device into the outer loop assembly based on coincidence of the detected signals.

In a possible embodiment, the outer loop assembly includes an outer loop coil and a signal generator for generating an electrical signal, the outer loop coil transmits a current to form a magnetic signal, and the first control module is configured to control the mobile device to enter the outer loop coil when a phase or intensity of the magnetic signal of the outer loop coil detected by the first outer loop detection unit is consistent with a phase or intensity of the magnetic signal of the outer loop coil detected by the second outer loop detection unit.

In one possible embodiment, the signal parameters transmitted by the inner ring element and the outer ring element are different.

In one possible embodiment, the inner ring assembly comprises a magnetic strip and the inner ring assembly detection unit comprises a magnetic detection element.

In a possible implementation manner, the first control module is configured to receive, by the wireless charging receiving module, a wireless charging signal transmitted by the wireless charging station when the self-moving device enters a coverage area corresponding to a predetermined charging location.

In one possible embodiment, the self-moving device comprises a first communication module, and the wireless charging station comprises a second communication module;

detecting whether a wireless connection is established between the second communication module and the first communication module;

and if the second communication module and the first communication module successfully establish the wireless connection, determining that the self-mobile equipment enters a coverage range corresponding to a preset charging position.

establishing wireless connection between the second communication module and the first communication module, detecting the signal intensity of the wireless connection, and determining that the self-mobile equipment enters a coverage range corresponding to a preset charging position if the signal intensity of the wireless connection reaches a preset signal intensity.

According to a second aspect of the embodiments of the present disclosure, there is provided a wireless charging station for charging a self-moving device, comprising:

a first power module for providing power to the wireless charging station;

a wireless charging transmitting module disposed in a charging region and configured to transmit a wireless charging signal to the self-moving device through the power supplied from the first power supply module to charge the self-moving device;

the wireless charging station is used together with a guiding device, and the guiding device is configured to generate guiding information for guiding the self-moving equipment to move to the wireless charging station;

a guidance-in-place apparatus configured for the self-moving device to sense the guidance-in-place apparatus to determine a location of the wireless charging station and to adjust operating parameters of the self-moving device when the self-moving device senses the guidance-in-place apparatus, the operating parameters including: speed and/or direction of travel;

a second control module configured to control the wireless charging transmission module to transmit a wireless charging signal to charge the self-mobile device.

In a possible embodiment, the guiding means comprise a guide wire for generating the guiding message, to which the wireless charging station is connected, the guiding message being generated by an electric power signal transmitted by the guide wire; the self-moving device controls the self-moving device to move along the guide line to the wireless charging station based on the detected guide information.

In one possible embodiment, the position guide device comprises a magnet assembly, so that the self-moving equipment determines that the position guide device is detected when detecting that a magnetic field signal of the magnet assembly meets a first preset condition.

In a possible implementation manner, when the installation direction of the strip magnet assemblies is perpendicular to the running direction of the self-moving device, the strip magnet assemblies at least comprise two groups, and the strip magnet assemblies are used for controlling the self-moving device to reduce the running speed when the self-moving device detects that the magnetic field signal strength of the first group of strip magnet assemblies reaches a first preset threshold value, and controlling the self-moving device to stop running when the magnetic field signal strength of the second group of strip magnet assemblies meets a second preset threshold value.

In a possible implementation manner, when the installation direction of the strip-shaped magnet assembly is parallel to the running direction of the self-moving device, the self-moving device controls the self-moving device to reduce the running speed when detecting that the magnetic field signal intensity of the strip-shaped magnet assembly meets a third preset threshold, and controls the self-moving device to stop running when detecting that the magnetic field signal intensity meets a fourth preset threshold.

In one possible embodiment, the in-place guiding device comprises a wireless signal transmitting component, the self-moving equipment comprises an in-place sensing module, the in-place sensing module comprises a wireless signal receiving component, or the in-place guiding device comprises a wireless signal receiving component, and the in-place sensing module comprises a wireless transmitting component;

the wireless signal receiving component is used for receiving the wireless signal generated by the wireless signal transmitting component, and the wireless signal receiving component is used for receiving the wireless signal generated by the wireless signal transmitting component.

In one possible implementation, the in-place guiding device comprises a wireless charging transmitting module, and the self-moving equipment comprises a coil induction module; and when the equivalent impedance output by the coil induction module changes to a preset range, the self-moving equipment determines that the in-place guiding device is detected.

In a possible implementation manner, the coil sensing module is a metal detection module, and the equivalent impedance output by the metal detection module is obtained from the mobile device.

In one possible implementation, the coil sensing module includes an LC oscillator, and the equivalent impedance of the LC oscillator is obtained from the mobile device.

a second inductor and a second oscillator connected in parallel;

In one possible implementation manner, the guiding device comprises a positioning module, the self-moving equipment is connected with the positioning module, the self-moving equipment is used for positioning the first position information of the self-moving equipment and the second position information of the self-moving equipment by using the positioning module as guiding information, the self-moving equipment is controlled to move towards the wireless charging station, and the position information of the wireless charging station comprises a pre-stored position of the wireless charging station.

In one possible embodiment, the in-place guiding device comprises an auxiliary coil assembly, the auxiliary coil assembly comprises a guiding assembly and an in-place assembly, and the self-moving equipment comprises a guiding assembly detection unit for detecting the guiding assembly and an in-place assembly detection unit for detecting the in-place assembly;

the self-moving equipment is guided to move to the wireless charging transmitting module based on the signal detected by the guiding component detecting unit, and the self-moving equipment is controlled to stop running based on the signal detected by the in-place component detecting unit.

In one possible embodiment, the guiding component comprises a coil component, and the self-moving device guides the self-moving device to move along the coil component to the wireless charging transmitting module based on the magnetic force signal detected by the guiding component detecting unit.

In a possible implementation mode, the in-place component comprises a sensor component which is mutually inductive with the self-moving device or a mechanical structure component which can enable the motion state of the self-moving device to generate abrupt change.

In a possible implementation manner, the in-place guiding device comprises an annular assembly, the annular assembly comprises an outer ring assembly and an inner ring assembly, a wireless charging transmitting module is arranged in the inner ring assembly, and the self-moving equipment comprises an outer ring detection unit for detecting the outer ring assembly and an inner ring detection unit for detecting the inner ring assembly;

the self-moving equipment adjusts the posture of the self-moving equipment based on the signal detected by the outer ring detection unit so as to guide the self-moving equipment to move towards the wireless charging emission module, and controls the self-moving equipment to stop running based on the signal detected by the inner ring detection unit.

In a possible implementation, the outer loop detection unit includes a first outer loop detection unit and a second outer loop detection unit, and the first control module of the self-mobile device is configured to compare the signal detected by the first outer loop detection unit and the signal detected by the second outer loop detection unit, and to control the self-mobile device to enter the outer loop assembly based on the detected signals being consistent.

In a possible embodiment, the outer loop assembly includes an outer loop coil and a signal generator for generating a point signal, the outer loop coil transmits a current to form a magnetic signal, and the first control module is configured to control the mobile device to enter the outer loop coil when a phase or intensity of the magnetic signal of the outer loop coil detected by the first outer loop detection unit is consistent with a phase or intensity of the magnetic signal of the outer loop coil detected by the second outer loop detection unit.

In one possible embodiment, the inner ring assembly comprises a magnetic strip and the inner ring detection unit comprises a magnetic detection element.

In one possible embodiment, the wireless charging and transmitting module includes a resonant coil assembly.

In one possible embodiment, the wireless charging station comprises a hollow floor.

In a possible implementation manner, when the self-moving device enters a coverage range corresponding to a predetermined charging position, the second control module is configured to control the wireless charging transmission module to transmit a wireless charging signal to charge the self-moving device.

In one possible embodiment, the wireless charging station comprises a second communication module, and the self-moving device comprises a first communication module;

According to a third aspect of the embodiments of the present disclosure, there is provided a wireless charging station for charging a self-moving device, comprising:

a first power module for providing power to the wireless charging station;

a wireless charging transmission module configured to transmit a wireless charging signal to the self-moving device through the power provided by the first power supply module to charge the self-moving device;

the wireless charging station is used together with a guiding device, and the guiding device is configured to generate guiding information for guiding the self-moving device to move to the wireless charging station;

the in-place guiding device comprises an annular assembly, the annular assembly comprises an outer annular assembly and an inner annular assembly arranged inside the outer annular assembly, the wireless charging transmitting module is positioned in the inner annular assembly, the self-moving equipment adjusts the posture of the self-moving equipment based on the sensed signal of the outer annular assembly so as to guide the self-moving equipment to move towards the wireless charging transmitting module, and controls the self-moving equipment to reduce the running speed or stop running based on the sensed signal of the inner annular assembly;

According to a fourth aspect of embodiments of the present disclosure, there is provided an automatic work system comprising the self-moving apparatus according to any one of the first aspects and the wireless charging station according to any one of the second or third aspects.

According to a fifth aspect of the embodiments of the present disclosure, there is provided a wireless charging method for an automatic work system, the automatic work system including a self-moving device and a wireless charging station, the wireless charging station being used in cooperation with a guiding device for generating a guiding signal, the wireless charging station being provided with an in-place guiding device thereon, the method including:

detecting a pilot signal;

controlling the self-moving apparatus to move toward the wireless charging station upon detection of a guidance signal;

sensing an in-place guide device arranged on the wireless charging station;

adjusting operating parameters of the self-moving equipment upon sensing the position guidance device, the operating parameters including: speed and/or direction of travel;

and controlling the wireless charging station to emit a wireless charging signal outwards to charge the self-moving equipment.

In one possible embodiment, the in-place guide includes a magnet assembly, and the sensing the in-place guide disposed on the wireless charging station includes:

detecting a magnetic field signal of the magnet assembly by a magnetic detection element;

when the magnetic detection element detects that the magnetic field signal of the magnet assembly meets a first preset condition, the in-place guiding device is determined to be detected.

In one possible embodiment, the in-place guidance apparatus includes a wireless signal emitting assembly, and the sensing an in-place guidance apparatus provided on the wireless charging station includes:

when the wireless signal generated by the wireless signal transmitting component is detected by the wireless signal receiving component, the in-place guiding device is determined to be detected.

In one possible embodiment, the in-place guidance apparatus includes a wireless signal receiving component, and the sensing an in-place guidance apparatus provided on the wireless charging station includes:

In one possible embodiment, the in-place guiding device includes a wireless charging transmission module, and the sensing the in-place guiding device provided on the wireless charging station includes:

and determining that the in-place guiding device is detected when the equivalent impedance output by the coil induction module changes to a preset range.

In one possible embodiment, the in-place guide includes an auxiliary coil assembly including a guide assembly and an in-place assembly, and the sensing the in-place guide disposed on the wireless charging station includes:

and guiding the mobile equipment to move to the wireless charging transmitting module based on the signal detected by the guiding component detecting unit, and controlling the mobile equipment to stop running based on the signal detected by the in-place component detecting unit.

In one possible embodiment, the in-place guide apparatus includes a ring assembly including an outer ring assembly and an inner ring assembly, a wireless charging transmission module is disposed within the inner ring assembly, and the sensing the in-place guide apparatus disposed on the wireless charging station includes:

and adjusting the posture of the self-moving equipment based on the signal detected by the outer ring detection unit so as to guide the self-moving equipment to move towards the wireless charging transmission module, and controlling the self-moving equipment to stop running based on the signal detected by the inner ring detection unit.

In one possible embodiment, the method further comprises:

and when the self-moving equipment enters a coverage range corresponding to a preset charging position, receiving a wireless charging signal sent by the wireless charging station through the wireless charging receiving module.

According to a sixth aspect of the embodiments of the present disclosure, there is provided a wireless charging method for an automatic work system, the automatic work system including a self-moving device and a wireless charging station, wherein the wireless charging station is used in cooperation with a guiding device for generating a guiding signal, and the wireless charging station is provided with an in-place guiding device, the method includes:

detecting a pilot signal;

sensing an in-place guide device disposed on the wireless charging station, wherein the in-place guide device comprises a ring assembly comprising an outer ring assembly and an inner ring assembly disposed inside the outer ring assembly, a wireless transmission module being located inside the inner ring assembly;

adjusting the posture of the self-moving equipment based on the sensed signal of the outer ring component so as to guide the self-moving equipment to move towards the wireless transmitting module, and controlling the self-moving equipment to reduce the running speed or stop running based on the sensed signal of the inner ring component;

According to a seventh aspect of the embodiments of the present disclosure, there is provided a self-moving apparatus which is charged by a wireless charging station, comprising:

a wireless charging reception module configured to perform a charging operation based on a wireless charging signal received from the wireless charging station;

the first control module is configured to receive a wireless charging signal sent by the wireless charging station through the wireless charging receiving module when the self-moving device enters a coverage range corresponding to a preset charging position.

In one possible embodiment, the self-moving device includes a first request module that transmits a request signal to the wireless charging station;

after the wireless charging station receives the request signal, the wireless charging station charges the self-moving equipment.

In a possible implementation manner, the self-moving device comprises a response module, the wireless charging station sends a request signal to the self-moving device, and the response module returns a response signal according to the request signal sent by the wireless charging station;

and after the wireless charging station receives the response signal which is responded by the response module and matched with the request signal, the wireless charging station charges the self-moving equipment.

In a possible implementation manner, after the self-moving device enters a coverage range corresponding to a predetermined charging position, the first control module is configured to control the self-moving device to reduce the operation speed and move to the predetermined charging position.

In a possible implementation manner, after the self-moving device enters a coverage area corresponding to a predetermined charging position, the self-moving device controls the wireless charging station to start a self wireless charging transmitting module.

In a possible implementation manner, the wireless charging station further comprises a detection module, wherein during the charging process, the detection module detects whether the charging of the self-moving device is completed, and if the charging is completed, the detection module controls the wireless charging station to enter a low power consumption mode.

According to an eighth aspect of the embodiments of the present disclosure, there is provided a wireless charging station for charging a self-moving device, comprising:

a first power module for providing power to the wireless charging station;

a wireless charging transmission module configured to transmit a wireless charging signal to the self-moving device through the power provided by the power supply module to charge the self-moving device;

the second control module is configured to switch on the first power supply module and the wireless charging transmitting module when the self-mobile device enters a coverage range corresponding to a preset charging position, so as to start the wireless charging transmitting module to transmit a wireless charging signal to the self-mobile device.

In one possible embodiment, the wireless charging station comprises a receiving module, and the self-moving device sends a request signal to the wireless charging station;

after the receiving module receives the request signal, the second control module is configured to charge the self-moving device by a wireless charging station.

In one possible embodiment, the wireless charging station comprises a second request module and a receiving module, wherein the second request module sends a request signal to the self-moving device;

after the receiving module receives a response signal which is responded by the self-moving device and is matched with the request signal, the second control module is configured to control the wireless charging station to charge the self-moving device.

In a possible implementation manner, after the self-moving device enters a coverage range corresponding to a preset charging position, the second control module controls the self-moving device to reduce the operation speed and move to the preset charging position.

According to a ninth aspect of the embodiments of the present disclosure, there is provided an automatic working system comprising the self-moving apparatus of any one of the seventh aspects and the wireless charging station of any one of the eighth aspects.

According to a tenth aspect of the embodiments of the present disclosure, there is provided a charging method for an automatic working system, which is applied to a self-working system including a self-moving device and a wireless charging station for performing a charging operation for the self-moving device, the method including:

determining whether the self-moving equipment enters a coverage range corresponding to a preset charging position;

if yes, the wireless charging transmitting module is started to transmit a wireless charging signal so as to charge the self-mobile equipment.

In one possible embodiment, the self-moving device comprises a first communication module, and the wireless charging station comprises a second communication module; the determining whether the self-moving device enters the coverage corresponding to the preset charging position comprises:

In one possible embodiment, the wireless charging station includes a receiving module, and the method further includes:

the self-moving equipment sends a request signal to the wireless charging station;

after the receiving module receives the request signal, the wireless charging station charges the self-moving equipment.

In one possible implementation, the self-moving device includes a response module, and the method further includes:

the wireless charging station sends a request signal to the self-moving equipment, and the response module returns a response signal according to the request signal sent by the wireless charging station;

In one possible embodiment, the method further comprises:

and after the self-moving equipment enters a coverage range corresponding to the preset charging position, controlling the wireless charging station to start a self wireless charging transmitting module.

In one possible embodiment, the method further comprises:

in the charging process, detecting whether the charging of the self-moving equipment is finished;

and if the charging is finished, controlling the wireless charging station to enter a low power consumption mode.

In the embodiment of the disclosure, the self-moving device can return to the wireless charging station according to the guiding information through the arrangement of the return guiding device and the in-place guiding device, and can be accurately butted to the wireless charging transmitting module, so that the effect of accurate positioning is achieved. In addition, the embodiment of the disclosure can also start the wireless charging receiving module or the wireless charging transmitting module when the mobile device enters the coverage range corresponding to the charging position, so that the power consumption of the wireless charging station or the mobile device can be effectively reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 illustrates a block diagram of a self-moving device in accordance with an embodiment of the present disclosure;

fig. 2 shows a schematic diagram of a self-moving device when docked with a wireless charging station, according to an embodiment of the disclosure;

FIG. 3 illustrates another block diagram of a self-moving device in accordance with an embodiment of the present disclosure;

FIG. 4 shows a schematic diagram of a return wireless charging station from a mobile device, according to an embodiment of the present disclosure;

FIG. 5 shows a schematic structural view of an in-place guidance arrangement of a wireless charging station according to an embodiment of the present disclosure;

FIG. 6 shows another schematic structural view of the in-place guidance apparatus of the wireless charging station in accordance with an embodiment of the present disclosure;

FIG. 7 illustrates a schematic diagram of detecting a wireless transmission module from a coil sensing module of a mobile device in accordance with an embodiment of the disclosure;

FIG. 8 illustrates another schematic diagram of detecting a wireless transmission module from a coil sensing module of a mobile device in accordance with an embodiment of the disclosure;

fig. 9 shows a schematic diagram of a process of docking a self-moving device with a wireless charging station in accordance with an embodiment of the present disclosure;

FIG. 10 is a schematic view of FIG. 9 in another orientation;

fig. 11 shows a schematic structural composition diagram of an LC oscillator in accordance with an embodiment of the present disclosure;

fig. 12 shows another structural composition schematic of an LC oscillator in accordance with an embodiment of the present disclosure;

fig. 13 shows another structural composition schematic of an LC oscillator in accordance with an embodiment of the present disclosure;

fig. 14 shows another structural composition schematic of an LC oscillator in accordance with an embodiment of the present disclosure;

fig. 15 shows another schematic structural view of the in-place guiding apparatus 201 of the wireless charging station according to the embodiment of the present disclosure;

fig. 16 shows another schematic structural view of the in-place guiding apparatus 201 of the wireless charging station according to the embodiment of the present disclosure;

fig. 17 shows a block diagram of a wireless charging station according to an embodiment of the present disclosure;

fig. 18 shows another block diagram of a wireless charging station according to an embodiment of the present disclosure;

fig. 19 shows a flow chart of a wireless charging method of an automatic work system according to an embodiment of the present disclosure;

fig. 20 illustrates another flowchart of a wireless charging method of an automatic work system according to an embodiment of the present disclosure;

FIG. 21 illustrates a block diagram of a self-moving device in accordance with an embodiment of the present disclosure;

FIG. 22 illustrates another block diagram of a self-moving device in accordance with an embodiment of the present disclosure;

FIG. 23 illustrates yet another block diagram of a self-moving device in accordance with an embodiment of the present disclosure;

FIG. 24 illustrates a block diagram of a wireless charging station in accordance with an embodiment of the present disclosure;

fig. 25 shows a flowchart of a charging method of an automatic working system according to an embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

Fig. 1 shows a block diagram of a self-moving device according to an embodiment of the present disclosure, where the self-moving device provided by the embodiment of the present disclosure may be a device capable of automatically traveling, and may include any intelligent robot, such as an intelligent sweeper, an intelligent snowsweeper, an intelligent mower, an intelligent sprinkler, an intelligent camera robot, and the like, as long as the self-moving device can automatically travel.

Embodiments of the present disclosure may configure a wireless charging station for an automated mobile device, which may be used to charge, i.e., provide power to, the automated device. The self-moving equipment can move to work in the working area according to the type of the equipment, and can move to the wireless charging station when the charging condition is met, so that the charging operation can be executed through the wireless charging station.

As shown in fig. 1, the self-moving apparatus 100 of the embodiment of the present disclosure may include:

a wireless charging reception module 101 configured to perform a charging operation based on a wireless charging signal received from a wireless charging transmission module on a wireless charging station;

a return guidance module 102 configured to detect guidance information for guiding movement from the mobile device to the wireless charging station;

a position sensing module 103 configured to sense a position guide device;

a first control module 104 configured to control movement of the self-moving device to the wireless charging station based on the detected guidance information, and configured to adjust operating parameters of the self-moving device when the guidance-in-place apparatus is sensed, the operating parameters including: speed of travel and/or direction of travel.

The wireless charging station for performing the charging operation for the self-moving device can comprise a location guide device, and the self-moving device can determine the location of the wireless charging station by sensing the location guide device during moving to the wireless charging station. Fig. 2 shows a schematic diagram of a self-moving device when docked with a wireless charging station, according to an embodiment of the disclosure. The charging base plate 203 of the wireless charging station 200 may include an in-place guiding device 201 and a wireless charging transmitting module 202, where the wireless charging transmitting module 202 is configured to transmit a wireless charging signal, and when moving to a charging area of the wireless charging station, the mobile device may perform a charging operation through the wireless charging signal transmitted by the wireless charging transmitting module.

As described in the above embodiments, the self-moving device may detect guidance information guiding its movement to the wireless charging station 200 through the return guidance module 102, and the location of the wireless charging station may be determined through the guidance information, thereby implementing a guided return from the movement of the self-moving device to the wireless charging station. Meanwhile, the self-moving device may also determine that the wireless charging station 200 is about to arrive or has arrived by sensing the location guide 201 through the location sensing module 103, thereby performing the adjustment of the operation parameter.

In one possible implementation manner, the self-moving device may determine whether the charging condition is satisfied according to the condition of the remaining power, and control the regression guiding module to detect the guiding information when the charging condition is satisfied. Fig. 3 illustrates another block diagram of a self-moving device in accordance with an embodiment of the present disclosure. As shown in fig. 3, compared to the embodiment of fig. 1, the self-moving device in the embodiment of the present disclosure may further include a detection module 105 and a power supply module 106, where the detection module 105 may be configured to detect whether the self-moving device satisfies a charging condition. The power module 106 is used for providing power for the mobile device, and may be connected to the wireless charging receiving module 101, so as to perform the charging operation of the power module 106 through the wireless charging signal received by the wireless charging receiving module 101. The detecting module 105 may be connected to the power module 106, and configured to obtain a current remaining power value of the power module 106, and determine whether the charging condition is satisfied according to the detected remaining power value, for example, determine whether the remaining power value exceeds a reference power, if so, the charging condition is not satisfied, and if not, the charging condition is satisfied. The reference electric quantity can be set according to the battery capacity and the charging requirement of the power module, and the specific numerical value is not limited in the embodiment of the disclosure. Alternatively, the detection module 105 may also determine whether the charging condition is satisfied according to a ratio between the remaining power and the power capacity, where when the ratio is greater than a reference ratio, it is determined that the charging condition is not satisfied, and when the ratio is smaller than the reference ratio, it is determined that the charging condition is satisfied, and similarly, the reference ratio may also be set according to the power capacity of the device and the charging requirement, for example, may be set to 10%, and the disclosure is not specifically limited.

In another possible implementation, the detection module 105 may also determine that the charging condition is satisfied according to the received charging instruction. As shown in fig. 3, the self-moving device may further include a first communication module 107, and the first communication module 107 may perform communication with other devices. For example, the first communication module 107 may include a bluetooth unit, a wifi unit, or other communication units, as long as a communication operation can be performed, which may be the first communication module 107 in the embodiment of the present disclosure. The first communication module 107 may receive a charging control command transmitted by another device (e.g., a controller), and transmit the charging control command to the detection module 105, where the detection module may determine that the mobile device satisfies the charging condition when receiving the charging control command. In addition, the detection module 106 may also detect instruction information input by a user, for example, the mobile device may be provided with an input module 108, the input module may include an input interface such as a touch screen, a keyboard, and a voice input module, and the user may input a control instruction through the input module, for example, a charging control instruction, a power-on instruction, a power-off instruction, and the like, for controlling the mobile device. The detection module 106 may be connected to the input module 108, and receive the charging control instruction transmitted by the input module 108, and when receiving the charging control instruction, it may be determined that the charging condition is satisfied.

The above is merely an exemplary description of the case where the charging condition is satisfied, and in other embodiments of the present disclosure, whether the charging condition is satisfied may be determined in other ways, and the present disclosure is not particularly limited thereto, and may be taken as an embodiment of the present disclosure as long as the charging condition can be determined.

When it is detected that the charging condition is satisfied, the first control module 104 may detect the guidance information through the return guidance module 102. The regression guidance module 104 of the disclosed embodiment may determine the guidance information by detecting the boundary information of the working area of the self-moving device, or may also determine the guidance information by obtaining the second location information of the wireless charging station.

Fig. 4 shows a schematic diagram of a return wireless charging station from a mobile device according to an embodiment of the disclosure. Wherein, a guide line 109 for generating boundary information is arranged around the boundary of the working area of the self-moving device, the guide line 109 can be electrically connected with the wireless charging station 200, the wireless charging station 200 can supply power to the guide line 109, so that power is transmitted in the guide line 109, and guiding information can be generated based on a power signal transmitted by the guide line, for example, an electromagnetic field can be generated around the guide line based on the power transmitted by the guide line, the guiding information can be a magnetic signal of the electromagnetic field, and the guiding module 102 can detect the magnetic signal as the guiding information, and the first control module 104 can receive the guiding information detected by the guiding module 102 and control the self-moving device to move along the guide line to the wireless charging station 200 according to the detected guiding information. In one possible embodiment, the return guidance module 102 may include two first detection units disposed at both sides of the charging base 203 of the self-moving device, the two first detection units may respectively detect magnetic signals as guidance information, and the first detection unit may include a magnetic sensor. When the self-moving device does not reach the position of the guide line 109 in the working area, the first control module 104 may determine the position of the guide line according to the strength of the magnetic signal detected by the two first detection units, and since the strength of the magnetic signal is stronger at a position closer to the guide line, the self-moving device may be controlled to move to the guide line according to the strength of the magnetic signal detected by the first detection unit.

When the self-moving device moves to the position of the guide line, the first control unit can control the self-moving device to move to the wireless charging station along the guide line according to the strength of the magnetic force signals detected by the two first detection units. Likewise, during the movement along the guide wire, the first control module 104 may control the self-moving device to move along the direction in which the strength of the magnetic force signals detected by the two first detection units is the same and the strength of the magnetic force signals collected in real time is also the same, so that the self-moving device may move along the guide wire to the wireless charging station.

Alternatively, in another embodiment of the present disclosure, the regression guiding module 102 may use the phase of the magnetic signal as the guiding information, and the first control module may control the self-moving device to move along the guiding line according to the phases of the magnetic signals detected by the two first detecting units, where the first detecting units may detect the phase values of the magnetic signals respectively, and when the phase values of the magnetic signals detected by the two first detecting units are identical, the two first detecting units are symmetrically located on two sides of the guiding line, and at this time, the first control module may control the self-moving device to move along the direction in which the phases of the magnetic signals detected by the two first detecting units are identical.

In another embodiment, the first control module 104 can control the self-moving device to move to the position of the guiding line according to the strength of the magnetic signal detected by the two first detecting units, and then control the self-moving device to move along the direction in which the phases of the magnetic signals detected by the two first detecting units are consistent according to the phases of the magnetic signals detected by the two first detecting units, in this way, the self-moving device can be controlled to return across the guiding line, the left-right swing amplitude can be made within ± 20mm, and finally the self-moving device can move to the position of the wireless charging station to be docked with the wireless charging station.

According to the embodiment of the present disclosure, the first control module 104 may control the self-moving apparatus to move to the wireless charging station 200 along the guide line 109, while the in-place sensing module 103 may sense the in-place guiding means 201 in the wireless charging station 200, and the in-place guiding means 201 may be disposed near the wireless charging transmitting module 202 or configured as the wireless charging transmitting module 202, so that the first control module 104 performs control of the deceleration or stop operation of the self-moving apparatus when sensing the in-place guiding means 201.

In another embodiment of the present disclosure, the guiding line may not be provided, and the regression guiding module 102 may be further configured to detect whether the autonomous moving device is at the boundary of the working area, so that the first control module may control the autonomous moving device to move along the boundary of the working area. That is, the regression guide module 102 may also use the detected grassland information as the guide information. The regression guiding module 102 may include two second detecting units respectively disposed on two sides of the base of the mobile device, and the two second detecting units may be configured to detect the grassland information to determine whether the grassland information is the boundary information of the working area, for example, the second detecting unit may include a camera and an image recognition unit, and an image obtained from the camera may be transmitted to the image recognition unit. The image recognition unit may recognize whether grass is included in the obtained image and transmit the recognition result to the first control module. The first control module can judge that the position of the mobile device is the boundary of the working area when the grassland is identified by one second detection unit and the grassland is not included in the image of the other second detection unit, and at the moment, the mobile device can be controlled to move along the grassland detected by one detection unit of the two second detection units and along the direction that the other detection unit cannot detect the grassland, so that the mobile device can move to the wireless charging station according to the boundary of the working area.

Alternatively, the second detecting units of the embodiment of the present disclosure may also be capacitive sensors, and since the capacitive sensors may contact with grass, thereby detecting capacitance values of the grass, the first control module 104 may determine whether the mobile device is in the working area or not, or in the boundary of the working area, according to the capacitance values detected by the two second detecting units. If the capacitance values detected by the two detection units are the same and are pre-stored capacitance values, it indicates that the mobile device is in the working area, and if the capacitance values detected by the two detection units are the same and are not pre-stored capacitance values, it indicates that the mobile device moves outside the working area, at this time, the first control module may control the mobile device to adjust the operation direction to move into the working area, and if the capacitance value detected by one of the two second detection units is a pre-stored capacitance value and the capacitance value detected by the other one of the two second detection units is not a pre-stored capacitance value, it may be determined that the mobile device is located at the boundary of the working area, at this time, the first control module 104 may control the mobile device to move along the boundary of the working area.

In another possible implementation, the regression guiding module may detect the first location information from the mobile device, for example, the regression guiding module may further include a GPS positioning unit for obtaining the location from the mobile device. The self-moving device may further store second location information of the wireless charging station, or the wireless charging station may transmit the second location information to the outside, and the self-moving device may receive the second location information. Correspondingly, the second control module can guide the self-moving device to move to the wireless charging station according to the first position information of the self-moving device detected by the return guiding module and the second position information of the wireless charging station stored in the self-moving device. The second control module can use the difference value between the first position information and the second position information as guide information, adjust the running direction of the self-moving equipment according to the difference value, and move the self-moving equipment to the wireless charging station.

According to the embodiment of the disclosure, the guiding information acquired by the regression guiding module 102 can be used for controlling the self-moving device to move to the wireless charging station. The above embodiment is merely an exemplary illustration of the return guidance module, and in other embodiments of the disclosure, the return guidance module may also obtain the guidance information in other manners, so that the first control module controls the mobile device to move to the wireless charging station according to the guidance information.

The self-moving apparatus may sense an in-place guide means provided to the wireless charging station while moving toward the wireless charging station, and may reduce an operation speed of the self-moving apparatus or control the self-moving apparatus to stop moving while sensing the in-place sensing means. The in-place guide apparatus will be described in detail below.

Fig. 5 shows a schematic structural diagram of an in-place guiding device of a wireless charging station according to an embodiment of the present disclosure. In one possible embodiment, the location guide 201 may be disposed in the charging base 203 of the wireless charging station and the location guide 201 may include a magnet assembly, and correspondingly, the location sensing module 103 in the self-moving device 100 may include a magnetic detection element that may detect a magnetic field signal of the magnet and transmit a parameter value of the magnetic field signal to the first control module 104, wherein the parameter value of the magnetic field signal may include a magnetic force value of the magnetic field, i.e., a magnetic field strength of the magnetic field signal. The magnetic detection element may include a magnet sensor or other device capable of detecting the magnetic force of the magnet, which is not limited by the embodiments of the present disclosure. The first control module 104 may receive a parameter value of the magnetic field signal transmitted by the magnetic detection element, and determine that the mobile device reaches the in-place guiding apparatus 201 when the parameter value of the magnetic field signal detected by the magnetic detection element meets a first preset condition, where an operation parameter of the mobile device may be adjusted.

The wireless charging transmitting module 202 and the in-place guiding device 201 are both arranged in the charging base 203, and the in-place guiding device 201 can also be arranged at the bottom of the charging base, so that the influence on the movement of the self-moving equipment is avoided. In addition, the charging base 203 and the surface of the self-moving device for performing charging operation can be installed flush with the ground or embedded into the ground without protruding from the ground, so that the influence on the self-moving device can be further avoided.

In addition, the first control module 104 determines that the magnetic field signal satisfies the first preset condition when determining that the magnetic field strength of the received magnetic field signal is greater than or equal to the reference strength value. The reference strength value or the reference strength relationship may be determined according to magnetism, number, and arrangement of the set magnet assemblies, and different reference strength values or reference strength relationships may be set according to requirements and the above variables, that is, the embodiment of the present disclosure does not specifically limit the reference strength value or the reference strength relationship, and may be used as the embodiment of the present disclosure as long as the strength value or the strength relationship indicates that the mobile device moves to the position of the in-place guiding device.

In addition, in the embodiment of the present disclosure, the magnet assembly configured as the in-place guiding device 201 in the charging base 203 includes a bar magnet assembly, which may include at least one magnetic strip or a bar magnet assembly arranged by magnetic objects, and the at least one magnetic strip or the magnetic objects may be sequentially mounted on the charging base 203. For example, the substrates may be arranged in sequence in the horizontal direction, or may be arranged in the vertical direction, which is not limited in the present disclosure.

Based on the above configuration, when the in-place sensing module 103 moving from the mobile device senses the in-place guiding apparatus 201, i.e., indicates that the mobile device moves to the location of the wireless charging station 200, the first control module 104 may control the mobile device to reduce the operation speed or stop the operation.

In one embodiment as shown in fig. 5, when the installation direction of the magnetic stripe or the magnetic object in the bar magnet assembly is perpendicular to the running direction of the self-moving device, the bar magnet assembly includes at least two groups, such as a first group of bar magnet assemblies and a second group of bar magnet assemblies, and the self-moving device passes through the first group of bar magnet assemblies first. Correspondingly, the first control module 104 may control the self-moving device to reduce the operation speed when the magnetic detection element detects that the strength of the magnetic field signal of the first group of strip magnet assemblies reaches a first preset threshold, and control the self-moving device to stop operating when the magnetic detection element detects that the strength of the magnetic field signal of the second group of strip magnet assemblies meets a second preset threshold. The first preset threshold and the second preset threshold may be determined according to the set number of the magnet assemblies in each group and the position of the wireless charging and transmitting module 202, which is not limited in this disclosure. That is, the embodiment of the present disclosure can accurately locate the wireless charging transmission module 202 of the wireless charging station according to the change of the magnetic field signal strength of the arranged magnet assembly.

In another embodiment, when the number of bar magnet assemblies comprises multiple sets, for example, the third magnetic strip is in a stop position, and when the third magnetic strip is crossed by the self-moving device, the device can go backwards, re-detect the bar magnet assemblies and re-dock.

In another embodiment, when the number of the strip magnet assemblies is one, the operation speed is reduced when the magnetic field signal is detected, and the self-moving equipment stops operating when the magnetic field intensity meets a certain value.

In addition, as shown in fig. 6, the installation direction of the bar magnet assembly 201 may also be parallel to the running direction of the self-moving device, and at this time, the first control module 104 may control the self-moving device to reduce the running speed when the strength of the magnetic field signal detected by the magnetic detection element meets a third preset threshold, and control the self-moving device to stop running when the strength of the magnetic field signal meets a fourth preset threshold. Likewise, the third preset threshold and the fourth preset threshold may be determined according to the number of the magnet assemblies in each group and the position of the wireless charging and transmitting module 202, which is not limited in this disclosure. That is, the embodiment of the present disclosure can accurately locate the wireless charging transmission module 202 of the wireless charging station according to the change of the magnetic field signal strength of the arranged magnet assembly. Also, the disclosed embodiments can accurately locate the wireless charging transmission module 202 to the wireless charging station according to the change of the magnetic field signal strength of the arranged magnet assembly.

In other embodiments of the present disclosure, the in-place guiding device 201 may further include a wireless signal transmitting component and the in-place sensing module 103 may include a wireless signal receiving component, or the in-place guiding device 201 may include a wireless signal receiving component and the in-place sensing module 103 may include a wireless transmitting component. Wherein the wireless signal transmitting component can transmit a wireless signal, and the wireless signal receiving component can receive a discovery signal transmitted by the wireless signal transmitting component, and the wireless signal can be transmitted within a preset distance in the embodiment of the disclosure. Wherein the wireless signal transmitting component may comprise an RFID (radio frequency) transmitter and the corresponding wireless signal receiving component comprises an RFID reader.

In one possible embodiment, the in-place guiding device 201 is an RFID transmitter, the in-place sensing module 103 is an RFID reader, and the RFID reader sends a first signal to the first control module when detecting a radio frequency signal transmitted by the RFID transmitter, indicating that the in-place guiding device is detected. And the corresponding first control module executes speed reduction adjustment of the self-moving equipment or controls the self-moving equipment to stop running when receiving the first signal.

In another possible embodiment, the in-place guiding apparatus 201 may be an RFID reader, the in-place sensing module 103 may be an RFID transmitter, a communication module for transmitting signals is further included between the wireless charging station and the self-moving device, the RFID reader detects a radio frequency signal transmitted by the RFID transmitter, and when the communication signal transmitted by the wireless charging station is received from the self-moving device, the first control module 104 may determine that the in-place guiding apparatus is detected, and at this time, perform speed reduction adjustment of the self-moving device or control the self-moving device to stop operating.

In addition, in some other embodiments of the present disclosure, the positioning guiding device 201 of the wireless charging station 200 may include a wireless charging transmitting module 202, i.e., the wireless charging transmitting module 202 may be used to provide charging power and also to position the inductor. Since the wireless charging transmission module 202 includes a charging coil therein, the corresponding in-place sensing module 103 may include a coil induction module for sensing the charging coil. Due to the influence of the magnetic field of the charging coil, the equivalent impedance of the metal, coil, magnet, etc. near the charging coil changes, and it can be determined that the in-place guiding device 201 is detected according to the change of the equivalent impedance. The wireless charging transmitting module is used as the in-place guiding device, so that the reliability of the detection system is improved, and the cost is reduced.

Fig. 7 shows a schematic diagram of detecting a wireless charging transmission module from a coil induction module of a mobile device in accordance with an embodiment of the present disclosure. As shown in fig. 7, the coil sensing module 103 is composed of a PCB on-board coil, a capacitor and an Inductance to digital converter (referred to as "detection IC"), and the wireless charging transmission module 202, i.e. the in-place guiding device 201, can be detected by the coil sensing module 103. Fig. 8 shows another schematic diagram of detecting a wireless charging transmit module from a coil sensing module of a mobile device in accordance with an embodiment of the present disclosure. As shown in fig. 8, the coil induction module 103 in the self-moving device 100 in the embodiment of the present disclosure may be a metal detection module 103, and the metal detection module 103 may generate a change of impedance when approaching a coil or the like in the in-place guiding apparatus 201 including the wireless charging transmission module, and therefore, the first control module 104 may determine whether to detect the wireless charging transmission module 202 according to an output equivalent impedance of the metal detection module 103. The first control module 104 is connected to the metal detection module 103 to obtain an equivalent impedance output by the metal detection module, and when the equivalent impedance output by the metal detection module 103 changes to a preset range, it is determined that the wireless charging transmitting module 202 is detected. The preset range may indicate that the distance between the metal detection module 103 and the wireless charging transmission module 202 reaches the distance requirement, and the metal detection module may be determined to detect the in-place guiding device, so that the embodiment of the present disclosure does not limit the value of the preset range, and may specifically be set according to different requirements.

Fig. 9 shows a schematic diagram of a process of docking a self-moving device with a wireless charging station. Fig. 10 is a schematic view in another direction of fig. 9. As shown in fig. 9-10, in the embodiment of the disclosure, when the metal detection module 103 is directly above the wireless charging transmission module 202, the equivalent impedance output by the metal detection module 103 is the smallest, and when the equivalent impedance output by the metal detection module 103 is within a certain preset range (which is detected and set in advance), it is determined that the metal detection module 103 is above the wireless charging transmission module 202. At this time, the first control module 104 may control the mobile device 100 to walk at a reduced speed for a period of time, so as to ensure that the wireless charging receiving module 101 on the mobile device 100 is located right above the wireless charging transmitting module 202, and then the mobile device may be charged in a standby mode.

In addition, the coil sensing module 103 in the embodiment of the present disclosure may also include an LC oscillator, and the first control module 104 may be connected with the LC oscillator to obtain an equivalent impedance of the LC oscillator. And the first control module 104 may determine that the position guidance device is detected when the equivalent impedance of the LC oscillator output changes to a preset range. The preset range may indicate that the distance between the LC oscillator and the wireless charging transmission module 201 at this time satisfies the distance requirement, and the guiding device may be determined to be detected in place at this time, so that the embodiment of the present disclosure does not limit the value of the preset range, and may specifically be set according to different requirements.

In an embodiment of the present disclosure, the LC oscillator may include at least one of the following structures:

fig. 11 illustrates a schematic structural diagram of an LC oscillator according to an embodiment of the present disclosure, wherein as shown in fig. 9, the LC oscillator may include a first inductor L1, a first capacitor C1, a first resistor R1, and a first oscillator LC1, which are respectively connected in parallel.

Fig. 12 illustrates another composition structure diagram of an LC oscillator according to an embodiment of the present disclosure, wherein, as shown in fig. 12, the LC oscillator may include a second inductor L2 and a second oscillator LC2 connected in parallel.

Fig. 13 shows another schematic diagram of the LC oscillator according to the embodiment of the present disclosure, wherein, as shown in fig. 13, the LC oscillator may include a first coil S1 and a first circuit coupled to the first coil S1, the first circuit includes a third inductor L3, a second resistor R3 and a third oscillator LC3 connected in series, wherein the first coil S1 is coupled to the third inductor L3.

Fig. 14 shows another schematic structural diagram of an LC oscillator according to an embodiment of the present disclosure, wherein, as shown in fig. 14, the LC oscillator may include a fourth inductor L4 and a third resistor R3 connected in series, and a second capacitor C2 and a third oscillator LC3 connected in parallel on both sides of the fourth inductor L4 and the third resistor R3.

Based on the LC oscillator, whether the LC oscillator is close to the wireless charging and transmitting module 202 can be determined by detecting the change of the equivalent impedance output by the LC oscillator, in the embodiment of the present disclosure, the equivalent impedance output by the LC oscillator is smaller when the LC oscillator is closer to the wireless charging and transmitting module 202, and the equivalent impedance is the smallest when the LC oscillator is located right above the wireless charging and transmitting module 202.

Alternatively, in the embodiment of the present disclosure, the in-place sensing module 103 may also be a coil assembly, the coil assembly may generate impedance change according to the signal transmitted by the wireless charging transmitting module 202, and the first control module may determine that the in-place guiding device 201 is sensed when the impedance change reaches a preset range.

In addition, fig. 15 shows another structural schematic diagram of the in-place guiding device 201 of the wireless charging station according to the embodiment of the present disclosure. Among them, the in-place guiding device 201 in the embodiment of the present disclosure may further include an auxiliary coil assembly including a guiding assembly 2011 and an in-place assembly 2012, and the in-place sensing module 103 includes a guiding assembly detecting unit that detects the guiding assembly and an in-place assembly detecting unit (not shown in the figures) that detects the in-place assembly. Wherein, the disclosed embodiment may first further guide the mobile device to move to the wireless charging transmission module of the wireless charging station through the guiding assembly 2011, for example, during the process that the first control module 104 controls the mobile device to move to the wireless charging station through the stored second position information of the wireless charging station and the obtained first position information of the mobile device, the guiding assembly 2011 may be further sensed by the guiding assembly detection unit, the design of the guiding assembly 2011 may be the same as the principle of the guiding wire 109, that is, the guiding assembly 2011 may be a guiding wire (may be configured as a coil) located in a partial area of the charging base 203 of the wireless charging station 200, so the guiding assembly detection unit may sense the magnetic signal of the guiding assembly 109, the first control module 104 may control the mobile device 100 to move to the wireless charging station 200 according to the detected magnetic signal, the principle of the first control module 104 controlling the mobile device according to the received magnetic force signal is the same as that described in the above embodiments, and the description is not repeated here.

In addition, the in-place component 2022 may include a sensor component that interacts with the self-moving device 100 or a mechanical structure component that may cause the self-moving device 100 to change its motion state abruptly. The sensor component may include the wireless signal transmitter/receiver in the above embodiments, for example, an RFID transmitter/receiver, a magnetic component, such as a magnetic stripe or magnetic steel, and the in-place component detection unit controls the self-moving device to stop operating based on the detected signal. The mechanical structure component may be a structure protruding or recessed on the charging base 203, and may stop the self-moving device from moving when the self-moving device moves onto the charging base, and at this time, the wireless charging receiving module of the self-moving device may be located right above the wireless charging transmitting module. The in-place component detection unit can detect a magnetic signal, and the first control module can control the self-moving equipment to stop running when the magnetic signal meets a first preset condition.

In addition, fig. 16 shows another structural schematic diagram of the in-place guiding device 201 of the wireless charging station according to the embodiment of the present disclosure. Wherein, the in-place guiding device 201 includes a ring assembly, the ring assembly may include an outer ring assembly 2013 and an inner ring assembly 2014, the wireless charging transmitting module 202 is disposed in the inner ring assembly 2014, and the outer ring assembly 2013 is located at the outer side of the inner ring assembly 2014, and the in-place sensing module 103 may include an outer ring detecting unit for detecting the outer ring assembly and an inner ring detecting unit for detecting the inner ring assembly. The first control module 104 may be configured to adjust an attitude of the self-moving device based on the signal detected by the outer loop detection unit to guide the self-moving device to move toward the wireless charging transmission module, and to control the self-moving device to stop operating based on the signal detected by the inner loop detection unit.

That is, the present disclosure embodiment may dispose the wireless charging transmission module 202 of the wireless charging station 200 in a ring assembly, the in-place sensing module 103 may sense the ring assembly and the first control module may control to move to the wireless charging transmission module 202 for charging according to information sensed by the in-place sensing module 103.

The outer loop detection unit in the in-place sensing module 103 may include a first outer loop detection unit and a second outer loop detection unit, and the first control module is configured to compare a signal detected by the first outer loop detection unit and a signal detected by the second outer loop detection unit, and control the mobile device to enter the outer loop assembly based on the detected signals being consistent. The first outer loop detection unit and the second outer loop detection unit may be respectively located in a base of the self-moving device, and are symmetrically disposed on two sides of the base, and when the strength of the signal detected by the first outer loop detection unit is the same as the strength of the signal detected by the second outer loop detection unit, it indicates that the current moving direction is the direction of the center of the outer loop assembly, and at this time, the first control module 104 may control the self-moving device to move along the current direction and enter the outer loop assembly 2013. In addition, the outer loop assembly 2013 in the embodiment of the disclosure may include an outer loop coil and a signal generator for generating an electrical signal, the outer loop coil transmits a current to form a magnetic signal, the first control module is configured to control the self-moving device to enter the outer loop coil when a phase or an intensity of the magnetic signal of the outer loop coil detected by the first outer loop detection unit is respectively corresponding to a phase or an intensity of the magnetic signal of the outer loop coil detected by the second outer loop detection unit, so that the self-moving device moves toward a center of a circle of the wireless transmission module, and is finally ready to be docked with the wireless transmission module

In addition, different signals can be transmitted on the outer ring assembly 2013 and the inner ring assembly 2014 in the disclosed embodiment, for example, the outer ring assembly 2013 and the inner ring assembly 2014 can both be configured as coils and can both be connected with a signal generator and receive different signals, so that the outer ring assembly 2013 and the inner ring assembly 2014 can transmit different signal parameters, for example, two different types of electrical signals or the same type of electrical signals with different frequencies. Therefore, the inner ring assembly detection unit of the in-place sensing module can send a second signal to the first control module when detecting the magnetic signal matched with the inner ring assembly, and at this time, the first control module can control the self-moving device to operate in a decelerating manner or stop operating. It is understood that the inner-ring component detection unit may also include two inner-ring component detection units, and further adjust the posture of the mobile device according to the strength and/or phase of the signal detected by the two inner-ring component detection units, so that the mobile device moves towards the center of the wireless charging transmission module 202.

In addition, the inner ring assembly 2014 may also include a magnetic stripe, and the corresponding inner ring assembly detection unit may also include a magnetic detection unit, so that when the magnetic detection unit detects a magnetic force value matched with the magnetic stripe, a second signal is sent to the first control module, and at this time, the second control module may control the self-moving device to perform deceleration operation or stop operation.

Based on the above configuration of the embodiment of the present disclosure, the movement from the mobile device to the wireless charging station can be realized in various ways, and the positioning of the wireless charging transmitting module is further accurately realized by sensing the in-place guiding device, so that the charging from the mobile device is conveniently realized.

In addition, in the embodiment of the disclosure, the first control module 104 may further control the wireless charging receiving module to receive the wireless charging signal sent by the wireless charging station when the mobile device 100 enters the coverage area corresponding to the predetermined charging location, that is, the charging operation may be performed. During the process of moving from the mobile device 100 to the wireless charging station, it may be determined whether the mobile device enters a coverage area corresponding to the predetermined charging location, where the mobile device may enter the coverage area corresponding to the predetermined charging location by at least one of the following manners:

a) determining whether the distance between the first position information and the second position information of the wireless charging station is smaller than a preset distance or not based on the first position information of the mobile device and the second position information of the wireless charging station, and if so, judging that the mobile device enters a coverage range corresponding to the preset charging position;

b) detecting whether a first communication module of the mobile equipment establishes wireless connection with a second communication module of the wireless charging station, if so, judging that the mobile equipment enters a coverage range corresponding to a preset charging position;

c) whether a first communication module of the mobile device is in wireless connection with a second communication module of the wireless charging station or not and whether the signal intensity of the wireless connection reaches the preset signal intensity or not are detected, and if the first communication module is in wireless connection with the second communication module and the signal intensity reaches the preset signal intensity, the mobile device is judged to enter the coverage range corresponding to the preset charging position.

In summary, the embodiment of the present disclosure can conveniently implement the return guidance from the mobile device and the accurate positioning of the wireless charging transmitting module of the wireless charging station.

It is understood that the above-mentioned embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted.

In addition, the present disclosure also provides a wireless charging station, an automatic working system and a charging method thereof, and the above technical solutions and descriptions can refer to corresponding records of the embodiments of the mobile device and are not repeated.

In addition, the disclosed embodiment also provides a wireless charging station, fig. 17 shows a block diagram of the wireless charging station according to the disclosed embodiment, wherein the wireless charging station 200 can be used for charging self-moving devices, and the wireless charging station 200 can include:

a first power module 204 for providing power to a wireless charging station;

a wireless charging transmission module 202 disposed in the charging region and configured to transmit a wireless charging signal to the self-moving device through the power provided by the first power supply module to charge the self-moving device;

the wireless charging station is used together with a guiding device, and the guiding device is configured to generate guiding information for guiding the mobile device to move to the wireless charging station;

a position guide 201 configured for sensing the position guide from the mobile device to determine the location of the wireless charging station and adjusting operating parameters of the mobile device when the position guide is sensed from the mobile device, the operating parameters including: speed and/or direction of travel;

a second control module 205 configured to control the wireless charging transmission module to transmit the wireless charging signal to charge the mobile device.

Wherein, the guiding means may be the guiding line 109 of the above embodiment, and the wireless charging station may provide a power signal for the guiding line arranged from the boundary of the working area of the mobile device, and based on the power signal, guiding information (such as a magnetic signal) may be generated, so that the mobile device may detect the movement information to move to the wireless charging station.

In addition, the guiding device may also include a position transmitting device that may transmit second position information of the wireless charging station so as to receive the second position information from the mobile device and move to the wireless charging station.

In addition, the position guiding device can also comprise a magnet assembly, so that the self-moving equipment can determine that the position guiding device is detected when the magnetic field signal of the magnet assembly is detected to meet the first preset condition.

In one possible embodiment, the magnet assembly comprises a bar magnet assembly comprising a magnetic strip or a bar magnet assembly formed by an arrangement of magnetic objects. And when the installation direction of the strip magnet assemblies is perpendicular to the running direction of the self-moving device, in one embodiment, the strip magnet assemblies at least comprise two groups, and the two groups are used for controlling the self-moving device to reduce the running speed when the self-moving device detects that the strength of the magnetic field signal of the first group of strip magnet assemblies reaches a first preset threshold value, and controlling the self-moving device to stop running when the strength of the magnetic field signal of the second group of strip magnet assemblies meets a second preset threshold value. Or when the installation direction of the strip magnet assembly is parallel to the running direction of the self-moving device, the self-moving device controls the self-moving device to reduce the running speed when detecting that the magnetic field signal intensity of the strip magnet assembly meets a third preset threshold, and controls the self-moving device to stop running when detecting that the magnetic field signal intensity meets a fourth preset threshold.

In one possible embodiment, the in-place guiding device comprises a wireless signal transmitting component, the self-moving device comprises an in-place sensing module, the in-place sensing module comprises a wireless signal receiving component, or the in-place guiding device comprises a wireless signal receiving component, the in-place sensing module comprises a wireless transmitting component; and the wireless signal transmitting component is used for determining that the guiding device is detected to the place after the wireless signal receiving component detects the wireless signal generated by the wireless signal transmitting component. Wherein the wireless signal transmitting assembly comprises an RFID transmitter and the wireless signal receiving assembly comprises an RFID reader.

In one possible embodiment, the in-place guiding device is an RFID transmitter, the in-place sensing module is an RFID reader, and the RFID reader determines that the in-place guiding device is detected when detecting a radio frequency signal transmitted by the RFID transmitter.

In a possible implementation manner, the in-place guiding device is an RFID reader, the in-place sensing module is an RFID transmitter, a communication module for transmitting signals is further included between the wireless charging station and the self-moving device, the RFID reader detects a radio frequency signal transmitted by the RFID transmitter, and when the communication signal transmitted by the wireless charging station is received from the self-moving device, it is determined that the in-place guiding device is detected.

The in-place guiding device comprises a wireless charging transmitting module, and the self-moving equipment comprises a coil induction module; when the equivalent impedance output by the coil induction module of the mobile equipment is changed to a preset range, the in-place guiding device is determined to be detected.

a second inductor and a second oscillator connected in parallel;

the first circuit comprises a third inductor, a second resistor and a third oscillator which are connected in series, wherein the first coil is coupled with the third inductor;

the second capacitor and the third oscillator are connected in parallel on two sides of the fourth inductor and the third resistor.

In one possible implementation, the guiding device comprises a positioning module, the self-moving device is connected with the positioning module, the self-moving device is used for controlling the self-moving device to move towards the wireless charging station based on the second position information of the wireless charging station as guiding information, the first position information and the second position information of the self-moving device are positioned by the positioning module, and the second position information of the wireless charging station comprises a pre-stored position of the wireless charging station.

the self-moving equipment guides the self-moving equipment to move to the wireless charging transmitting module based on the signal detected by the guide component detection unit, and controls the self-moving equipment to stop running based on the signal detected by the in-place component detection unit.

In one possible embodiment, the guiding component comprises a coil component, and the self-moving device is guided to move along the coil component to the wireless charging transmission module based on the magnetic force signal detected by the guiding component detection unit.

In one possible implementation, the in-place component comprises a sensor component which is mutually inductive with the self-moving device or a mechanical structure component which can enable the motion state of the self-moving device to generate abrupt change.

In one possible implementation mode, the in-place guiding device comprises an annular assembly, the annular assembly comprises an outer ring assembly and an inner ring assembly, a wireless charging emission module is arranged in the inner ring assembly, and the self-moving equipment comprises an outer ring detection unit for detecting the outer ring assembly and an inner ring detection unit for detecting the inner ring assembly;

the self-moving equipment adjusts the posture of the self-moving equipment based on the signal detected by the outer ring detection unit so as to guide the self-moving equipment to move towards the wireless charging emission module, and the self-moving equipment is controlled to stop running based on the signal detected by the inner ring detection unit.

In one possible embodiment, the outer loop detection unit comprises a first outer loop detection unit and a second outer loop detection unit, and the first control module is configured to compare a signal detected by the first outer loop detection unit and a signal detected by the second outer loop detection unit, and to control entry from the mobile device into the outer loop assembly based on coincidence of the detected signals.

In one possible embodiment, the outer loop assembly includes an outer loop coil to which a current is transmitted to form a magnetic signal, and a signal generator for generating a point signal, and the first control module is configured to control the self-moving device to enter the outer loop coil when a phase or intensity of the magnetic signal of the outer loop coil detected by the first outer loop detection unit coincides with a phase intensity of the magnetic signal of the outer loop coil detected by the second outer loop detection unit.

In one possible embodiment, the inner and outer ring assemblies transmit different signal parameters.

In one possible embodiment, the wireless charging and transmitting module comprises a resonant coil assembly.

In one possible embodiment, the charging base of the wireless charging station is designed as a hollow floor.

In one possible implementation manner, when the self-mobile device enters a coverage range corresponding to the predetermined charging position, the second control module is configured to control the wireless charging transmitting module to transmit the wireless charging signal to charge the self-mobile device.

and if the second communication module is successfully connected with the first communication module in a wireless mode, determining that the mobile equipment enters a coverage range corresponding to the preset charging position.

the method comprises the steps of establishing wireless connection between a second communication module and a first communication module, detecting signal intensity of the wireless connection, and determining that the mobile equipment enters a coverage range corresponding to a preset charging position if the signal intensity of the wireless connection reaches preset signal intensity.

Fig. 18 shows a block diagram of a wireless charging station according to an embodiment of the present disclosure, wherein, as shown in fig. 18, the wireless charging station may be used to charge a self-moving device and may include:

a first power module 204 for providing power to a wireless charging station;

a wireless charging transmission module 202 configured to transmit a wireless charging signal to the self-moving device through the power provided by the first power supply module to charge the self-moving device;

the wireless charging station 200 is used in cooperation with a guidance apparatus configured to generate guidance information for guiding movement from the mobile device to the wireless charging station;

the in-place guiding device 201 comprises an annular assembly, the annular assembly comprises an outer annular assembly 2013 and an inner annular assembly 2014 arranged inside the outer annular assembly, the wireless charging transmitting module is located in the inner annular assembly, the self-moving device adjusts the posture of the self-moving device based on the sensed signal of the outer annular assembly so as to guide the self-moving device to move towards the wireless charging transmitting module, and the self-moving device is controlled to reduce the running speed or stop running based on the sensed signal of the inner annular assembly;

The embodiment of the present disclosure further provides an automatic working system, where the automatic working system includes the self-moving device 100 and the wireless charging station 200 in the above embodiment, and the corresponding technical solutions and descriptions may refer to corresponding records of embodiments of the self-moving device and the wireless charging station, and are not described again.

Fig. 19 shows a flowchart of a wireless charging method of an automatic operation system according to an embodiment of the present disclosure, wherein the automatic operation system includes the self-moving device 100 and the wireless charging station 200 in the above-described embodiment, and the wireless charging station 200 is used in cooperation with a guiding device for generating a guiding signal, the wireless charging station 100 is provided with a guiding device in place, and the method includes:

s10: detecting a pilot signal;

s20: controlling the self-moving device to move towards the wireless charging station when the guiding signal is detected;

s30: sensing an in-place guide device arranged on the wireless charging station;

s40: adjusting operating parameters of the self-moving equipment when the position guide device is sensed, wherein the operating parameters comprise: speed of travel and/or direction of travel.

S50: and controlling the wireless charging station to emit a wireless charging signal outwards to charge the self-moving equipment.

In one possible embodiment, the in-place guide includes a magnet assembly, and sensing the in-place guide disposed on the wireless charging station includes:

In one possible embodiment, the in-place guidance apparatus includes a wireless signal transmitting assembly, and sensing an in-place guidance apparatus disposed on a wireless charging station includes:

when the wireless signal generated by the wireless signal transmitting component is detected by the wireless signal receiving component, the detection of the position guiding device is determined.

In one possible embodiment, the in-place guidance apparatus includes a wireless signal receiving assembly, and sensing an in-place guidance apparatus provided on a wireless charging station includes:

In one possible embodiment, the in-place guidance device includes a wireless charging transmission module, and sensing an in-place guidance device provided on a wireless charging station includes:

and when the equivalent impedance output by the coil induction module changes to a preset range, determining that the in-place guiding device is detected.

In one possible embodiment, the in-place guide includes an auxiliary coil assembly including a guide assembly and an in-place assembly, and sensing the in-place guide disposed on the wireless charging station includes:

In one possible embodiment, the in-place guiding device comprises a ring assembly including an outer ring assembly and an inner ring assembly, the inner ring assembly having the wireless charging transmission module disposed therein, and the sensing of the in-place guiding device disposed on the wireless charging station comprises:

In one possible embodiment, the method further comprises:

when the mobile device enters a coverage range corresponding to the preset charging position, the wireless charging receiving module receives a wireless charging signal sent by the wireless charging station.

Fig. 20 shows another flowchart of a wireless charging method of an automatic work system according to an embodiment of the present disclosure, wherein the automatic work system includes a self-moving device and a wireless charging station, the wireless charging station is used with a guidance device for generating a guidance signal, the wireless charging station is provided with an in-place guidance device, and the method includes:

s100: detecting a pilot signal;

s200: controlling the self-moving device to move towards the wireless charging station when the guiding signal is detected;

s300: sensing a positioning guide device arranged on the wireless charging station, wherein the positioning guide device comprises an annular assembly, the annular assembly comprises an outer ring assembly and an inner ring assembly arranged inside the outer ring assembly, and the wireless transmitting module is positioned in the inner ring assembly;

s400: adjusting the posture of the self-mobile equipment based on the sensed signal of the outer ring component to guide the self-mobile equipment to move towards the wireless transmitting module, and controlling the self-mobile equipment to reduce the running speed or stop running based on the sensed signal of the inner ring component;

s500: and controlling the wireless charging station to emit a wireless charging signal outwards to charge the self-moving equipment.

In addition, in the prior art, in order to implement the charging operation between the wireless charging station and the self-moving device quickly and conveniently, the wireless charging station establishes the electrical connection between the power module and the wireless charging transmitting module in real time, and starts the wireless charging receiving module from the self-moving device in real time to ensure that the wireless charging signal can be received to execute charging, but because the starting state of the wireless charging transmitting module or the wireless charging receiving module is maintained, a large amount of power needs to be consumed, and the energy-saving requirement is not met.

FIG. 21 illustrates a block diagram of a self-moving device in accordance with an embodiment of the present disclosure. The self-moving device 100 can start the wireless charging receiving module to receive the wireless charging signal to execute the charging operation when moving to the coverage area corresponding to the predetermined charging position, and the wireless charging receiving module does not need to be started in real time, so that the power consumption is effectively reduced.

As shown in fig. 21, the self-moving apparatus of the embodiment of the present disclosure may include:

a wireless charging reception module 101 configured to perform a charging operation based on a wireless charging signal received from a wireless charging station;

the first control module 104 is configured to receive a wireless charging signal transmitted by the wireless charging station through the wireless charging receiving module when the mobile device enters a coverage area corresponding to the predetermined charging position.

The first control module 104 may determine whether the mobile device enters a coverage area corresponding to the predetermined charging location, where the first control module 104 may determine that the mobile device enters the coverage area corresponding to the predetermined charging location through at least one of the following manners:

a) the self-moving device comprises a first communication module, and the wireless charging station comprises a second communication module;

determining whether the distance between the first position information and the second position information of the wireless charging station is smaller than a preset distance or not based on the first position information of the mobile device and the second position information of the wireless charging station, and if so, judging that the mobile device enters a coverage range corresponding to the preset charging position; the preset distance may be 0.1m, or 0.5m, or may be other distance values, and those skilled in the art may set the preset distance according to requirements, which is not specifically limited in the embodiment of the present disclosure.

b) The self-moving device comprises a first communication module, and the wireless charging station comprises a second communication module; whether a first communication module of the mobile device is in wireless connection with a second communication module of the wireless charging station is detected, and if yes, the mobile device is judged to enter a coverage range corresponding to a preset charging position.

The communication connection between the self-moving device and the wireless charging station according to the embodiment of the disclosure may be established, for example, the first communication module of the self-moving device may send pairing information to the outside, and the second communication module of the wireless charging station may receive the pairing information, where the pairing information includes an identifier of the self-moving device. The second control module of the wireless charging station may verify the pairing information, return verification pass information if the verification passes, and establish a wireless connection with the first communication module. The first communication module and the second communication module can be matched Bluetooth modules, WIFI modules and the like, whether the self-moving charging identification matched with the wireless charging station is stored or not can be inquired when the pairing information is verified, and if yes, the self-moving charging identification passes verification.

Or, in other embodiments, the wireless charging station may send pairing information to the outside through the second communication module, and the first communication module of the mobile device may receive the pairing information, where the pairing information includes an identifier of the wireless charging station. The first communication module of the self-mobile device can verify the pairing information, if the pairing information passes the verification, the verification passing information is returned, and wireless connection with the second communication module is established. When the pairing information is verified, whether the identification of the wireless charging station matched with the self-moving equipment is stored or not can be inquired, and if the identification is stored, the verification is passed.

Based on the above embodiment, the embodiment of the present disclosure may determine that the mobile device enters the coverage corresponding to the preset charging position when the first communication module and the second communication module establish the communication connection.

The manner for establishing the communication connection between the first communication module and the second communication module may be as in the embodiment of the manner b), and details are not repeated here. When it is determined that the first communication module and the second communication module establish a wireless connection, it is further required to detect whether the signal strength of the wireless connection reaches a preset signal strength, where the preset signal strength may be set according to the type of the communication module or different requirements, and the disclosure is not particularly limited. In the process of moving from the mobile device to the wireless charging station, if the mobile device and the wireless charging station are connected, the closer the distance between the mobile device and the wireless charging station is, the greater the signal strength is, so that when the signal strength reaches a preset signal strength, it can be determined that the mobile device enters a coverage range corresponding to a predetermined charging position.

In other embodiments of the present disclosure, it may also be determined whether the self-moving device enters the coverage range corresponding to the predetermined charging location according to other manners, for example, the self-moving device may determine to enter the coverage range corresponding to the predetermined charging location when the self-moving device senses the in-place guidance module 201 in the wireless charging station through the in-place sensing module 103. That is, as long as the coverage from the mobile device entering the predetermined charging location can be determined, this embodiment of the present disclosure can be regarded.

The mobile device can also charge the request of the wireless charging station after determining to enter the coverage range of the preset charging position so as to determine to execute the charging operation through the wireless charging receiving module.

Fig. 22 illustrates another block diagram of the self-moving device, wherein the first communication module of the self-moving device may further include a first request module 110, and the first request module 110 generates a request signal and transmits the request signal to the wireless charging station, according to an embodiment of the present disclosure; after the wireless charging station receives the request signal, the wireless charging station charges the self-moving device.

That is, in the embodiment of the present disclosure, after the self-moving device 100 enters the coverage area of the predetermined charging location, the first request module 110 may send a request signal to the wireless charging station to request charging, and after the second communication module of the wireless charging station 200 receives the request signal, the second communication module may switch to the normally open mode and send a response signal to the self-moving device to indicate that charging is possible, and at the same time, the wireless charging station starts the transmitting coil of the wireless charging transmitting module, and the wireless charging station is ready to charge. And after receiving the response signal from the first communication module of the mobile equipment, executing accurate docking operation.

In a specific embodiment, after the self-moving device receives the response signal, the first control module reduces the running speed of the self-moving device and moves to the preset charging position.

In addition, in the embodiment of the present disclosure, the wireless charging station may also inquire whether to charge the mobile device, and perform the charging operation after receiving the response.

As shown in fig. 23, the self-moving device may further include a response module 111, where the wireless charging station sends a request signal to the self-moving device, and the response module returns a response signal according to the request signal sent by the wireless charging station; and after the wireless charging station receives the response signal matched with the request signal and responded by the response module, the wireless charging station charges the self-moving equipment.

The wireless charging station may send the request signal to the mobile device when the mobile device moves to a coverage area corresponding to a predetermined charging location, may also send the request signal periodically according to a preset time interval, or may also send the request signal when a wireless connection is established with the mobile device, which is not limited in the embodiment of the present disclosure. Wherein the request signal may include an identification of the wireless charging station to assist in authenticating the request signal from the mobile device.

When the request signal sent by the wireless charging station is received by the self-moving device through the first communication module, a response signal for executing the charging operation can be returned based on the request signal, and the response signal can also comprise the identification of the self-moving device. In addition, the self-moving device can also return a response signal for executing the charging operation after the identification of the wireless charging station in the request signal is authenticated, so as to ensure that the charging request and the response between the self-moving device and the wireless charging station which are matched are not influenced by other signals.

In addition, in the embodiment of the present disclosure, the first control module may control the self-moving device to reduce the operation speed and move to the predetermined charging position when it is determined that the self-moving device enters the coverage corresponding to the predetermined charging position.

In addition, in the embodiment of the present disclosure, after the mobile device enters the coverage area corresponding to the predetermined charging position, the wireless charging station is controlled to start the wireless charging transmitting module of the mobile device. After the mobile device enters the coverage range corresponding to the preset charging position, the mobile device can send an in-place signal to the wireless charging station, and at the moment, the wireless charging station can start the wireless charging transmitting module to execute charging operation.

In addition, in the embodiment of the present disclosure, the self-moving device further includes a detection module 105 (as shown in fig. 3), and during the charging process, the detection module detects whether charging of the self-moving device is completed, and if the charging is completed, controls the wireless charging station to enter the low power consumption mode. The detection module 105 may be electrically connected to the power module 106 of the mobile device to detect the power of the power module, and determine that the charging of the mobile device is completed when the power of the power module meets a predetermined power, for example, a total capacity value of the power is reached. At the moment, the first control module can send a charging completion message to the wireless charging station through the first communication module, and after the second communication module of the wireless charging station receives the charging completion message, the second control module controls the wireless charging station to enter a low power consumption state. Understandably, in the low power consumption state, the wireless charging station only maintains the wireless communication function.

Based on the above configuration, it is possible to realize that the activation of the wireless charging reception device is performed in a case where the mobile device is moved to the coverage corresponding to the predetermined charging position, thereby performing the charging operation using the wireless charging station.

Fig. 24 shows a block diagram of a wireless charging station according to an embodiment of the present disclosure, wherein, as shown in fig. 24, the wireless charging station may include:

a first power module 204 for providing power to a wireless charging station;

a wireless charging transmission module 202 configured to transmit a wireless charging signal to the self-moving device through the power provided by the power supply module to charge the self-moving device;

and the second control module 205 is configured to switch on the first power supply module and the wireless charging transmitting module when the self-mobile device enters a coverage range corresponding to the predetermined charging position, so as to start the wireless charging transmitting module to transmit a wireless charging signal to the self-mobile device.

The wireless charging transmitting module can be started only when the mobile equipment moves to the coverage range corresponding to the preset charging position through the embodiment of the disclosure, so that the starting state of the wireless charging transmitting module can be kept, and the power consumption can be effectively reduced.

Also, in one possible embodiment, the wireless charging station includes a second communication module, the self-moving device includes a first communication module;

detecting whether a wireless connection is established between the second communication module and the first communication module; and if the second communication module is successfully connected with the first communication module in a wireless mode, determining that the mobile equipment enters a coverage range corresponding to the preset charging position.

The second control module 205 may determine whether a distance between the first position information and the second position information of the wireless charging station is smaller than a preset distance, and if so, determine that the mobile device enters a coverage area corresponding to the preset charging position; the preset distance may be 0.1m, or 0.5m, or may be other distance values, and those skilled in the art may set the preset distance according to requirements, which is not specifically limited in the embodiment of the present disclosure. The self-moving charging device can send first position information of the self-moving charging device to the wireless charging station through the first communication module, so that the second control module can receive the first position information through the second communication module and determine the distance between the self-moving device and the wireless charging station.

In a possible implementation manner, it may also be detected whether the first communication module of the self-moving device establishes a wireless connection with the second communication module of the wireless charging station, and if so, the second control module determines that the self-moving device enters a coverage area corresponding to the preset charging location.

In a possible implementation manner, it may be further detected whether the first communication module of the self-moving device establishes a wireless connection with the second communication module of the wireless charging station, and whether the signal strength of the wireless connection reaches a preset signal strength, and if the first communication module establishes a wireless connection with the second communication module, and the signal strength reaches the preset signal strength, the first control module may determine that the self-moving device enters a coverage range corresponding to the preset charging position.

In one possible embodiment, the wireless charging station comprises a receiving module for sending a request signal from the mobile device to the wireless charging station;

after the receiving module receives the request signal, the second control module is configured to charge the self-moving device by the wireless charging station.

after the receiving module receives the response signal matched with the request signal and responded by the mobile device, the second control module is configured to control the wireless charging station to charge the mobile device.

In a possible implementation manner, after the mobile device enters a coverage range corresponding to the predetermined charging position, the first control module is configured to control the mobile device to reduce the operation speed and move to the predetermined charging position.

In a possible implementation manner, after the mobile device enters a coverage range corresponding to the predetermined charging position, the wireless charging station is controlled to start the wireless charging transmitting module of the wireless charging station.

In a possible implementation manner, the wireless charging station further comprises a detection module, wherein during the charging process, the detection module detects whether the charging of the self-moving device is completed, and if the charging is completed, the detection module controls the wireless charging station to enter the low power consumption mode.

In addition, the embodiment of the disclosure also provides an automatic working system, which comprises the wireless charging station in any one of the above embodiments and the self-moving device in any one of the above embodiments.

Fig. 25 is a flowchart illustrating a charging method of an automatic working system according to an embodiment of the present disclosure, which is applied to an automatic working system including a self-moving device and a wireless charging station that performs a charging operation for the self-moving device, the method including:

s1000: determining whether the mobile equipment enters a coverage range corresponding to a preset charging position;

s2000: if yes, the wireless charging transmitting module is started to transmit a wireless charging signal so as to charge the self-mobile device.

In one possible embodiment, the self-moving device comprises a first communication module, and the wireless charging station comprises a second communication module; determining whether the mobile device enters a coverage area corresponding to the predetermined charging location comprises:

if the second communication module and the first communication module successfully establish wireless connection, determining that the mobile equipment enters a coverage range corresponding to a preset charging position:

sending a request signal from the mobile device to the wireless charging station;

after the receiving module receives the request signal, the wireless charging station charges the self-moving device.

In one possible embodiment, the self-moving device includes a response module, and the method further includes:

and after the wireless charging station receives the response signal matched with the request signal and responded by the response module, the wireless charging station charges the self-moving equipment.

In one possible embodiment, the method further comprises:

and after the mobile equipment enters a coverage range corresponding to the preset charging position, controlling the wireless charging station to start the wireless charging transmitting module of the mobile equipment.

In one possible embodiment, the method further comprises:

in the charging process, whether charging of the mobile equipment is completed is detected;

In summary, in the embodiment of the disclosure, the mobile device can return to the wireless charging station according to the guiding information by setting the return guiding device and the in-place guiding device, and can be accurately guided and positioned to the wireless charging transmitting module, so that the effect of accurate positioning is achieved. In addition, the embodiment of the disclosure can also start the wireless charging receiving module or the wireless charging transmitting module when the mobile device enters the coverage range corresponding to the charging position, so that the power consumption of the wireless charging station or the mobile device can be effectively reduced.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, 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/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A self-moving apparatus, wherein the self-moving apparatus is charged by a wireless charging station, wherein a location guide device is provided on the wireless charging station, wherein the self-moving apparatus determines a location of the wireless charging station by sensing the location guide device, and wherein the self-moving apparatus comprises:

a home position sensing module configured to sense the home position guide;

2. The self-moving apparatus of claim 1, wherein the return guidance module detects work area boundary information, and the first control module is configured to control the self-moving apparatus to move along the boundary toward the wireless charging station according to the boundary information.

3. The self-propelled device of claim 2, wherein said wireless charging station is connected to a guide wire for generating said boundary information, said guide information being generated by a power signal transmitted by the guide wire; the first control module is configured to control the self-moving device to move along a guide line to the wireless charging station according to the guide information detected by the return guide module.

4. The self-moving device according to claim 3, wherein the regression guiding module comprises two first detecting units respectively disposed at two sides of a base of the self-moving device; the first control module is further configured to guide the mobile device to return to the wireless charging station along a guide line according to the phases and/or intensities of the magnetic force signals detected by the two first detection units when the charging operation needs to be performed.

5. The self-moving device according to claim 2, wherein the regression guiding module comprises two second detecting units respectively disposed at two sides of a base of the self-moving device; the two second detection units detect grassland information and judge whether the grassland information is work area boundary information, and the first control module is configured to control the self-moving equipment to move to the wireless charging station along the work area boundary according to the boundary information detected by the regression guiding module.

6. The self-moving apparatus according to claim 5, wherein the second detection unit is a capacitive sensor.

7. The self-moving apparatus according to claim 1, wherein the in-place guiding device comprises a magnet assembly, the in-place sensing module comprises a magnetic detection element; the first control module is configured to determine that the in-place guiding device is detected when the magnetic detection element detects that the magnetic field signal of the magnet assembly meets a first preset condition.

8. The self-moving device of claim 7, wherein the magnet assembly comprises a bar magnet assembly comprising a magnetic strip or a bar magnet assembly formed from an arrangement of magnetic objects.

9. The self-moving device as claimed in claim 7, wherein the first control module is configured to control the self-moving device to reduce the operation speed or stop the operation of the self-moving device when the magnetic detection element detects that the magnetic field signal of the magnet assembly meets a first preset condition.

10. The self-moving device according to claim 8, wherein when the installation direction of the strip magnet assemblies is perpendicular to the running direction of the self-moving device, the strip magnet assemblies include at least two groups, the first control module is configured to control the self-moving device to reduce the running speed when the magnetic detection element detects that the strength of the magnetic field signal of the first group of strip magnet assemblies reaches a first preset threshold, and control the self-moving device to stop running when the strength of the magnetic field signal of the second group of strip magnet assemblies reaches a second preset threshold.

11. The self-moving device according to claim 8, wherein when the installation direction of the bar magnet assembly is parallel to the running direction of the self-moving device, the first control module is configured to control the self-moving device to reduce the running speed when the strength of the magnetic field signal detected by the magnetic detection element meets a third preset threshold, and control the self-moving device to stop running when the strength of the magnetic field signal meets a fourth preset threshold.

12. The self-moving apparatus according to claim 1, wherein the in-place guiding device comprises a wireless signal transmitting component, the in-place sensing module comprises a wireless signal receiving component, or the in-place guiding device comprises a wireless signal receiving component, the in-place sensing module comprises a wireless transmitting component; the first control module is configured to determine that the position guide device is detected when the wireless signal receiving component detects the wireless signal generated by the wireless signal transmitting component.

13. The self-moving device of claim 12, wherein the wireless signal transmitting component comprises an RFID transmitter and the wireless signal receiving component comprises an RFID reader.

14. The self-moving device as claimed in claim 13, wherein the in-place guiding device is an RFID transmitter, the in-place sensing module is an RFID reader, and the RFID reader determines that the in-place guiding device is detected when detecting a radio frequency signal transmitted by the RFID transmitter.

15. The self-moving device as claimed in claim 13, wherein the in-place guiding device is an RFID reader, the in-place sensing module is an RFID transmitter, a communication module for transmitting signals is further included between the wireless charging station and the self-moving device, the RFID reader detects a radio frequency signal transmitted by the RFID transmitter, and the self-moving device determines that the in-place guiding device is detected when receiving the communication signal transmitted by the wireless charging station.

16. The self-moving device of claim 1, wherein the in-place guiding means comprises a wireless charging transmission module, and the in-place sensing module comprises a coil induction module; the first control module is configured to determine that the in-place guiding device is detected when the equivalent impedance output by the coil induction module changes to a preset range.

17. The mobile device of claim 16, wherein the coil sensing module is a metal detection module, and the first control module is connected to the metal detection module to obtain an equivalent impedance output by the metal detection module.

18. The self-moving device of claim 16, wherein the coil induction module comprises an LC oscillator, and wherein the first control module is connected to the LC oscillator to obtain an equivalent impedance of the LC oscillator.

19. The self-moving device of claim 18, wherein the LC oscillator comprises at least one of:

a second inductor and a second oscillator connected in parallel;

20. The self-moving device of claim 1, wherein the return guidance module is further configured to detect first location information of the self-moving device, and the first control module is further configured to guide the self-moving device to move to the wireless charging station according to the second location information of the wireless charging station and the first location information.

21. The self-moving apparatus according to claim 1, wherein the in-place guiding device comprises an auxiliary coil assembly including a guiding assembly and an in-place assembly, and the in-place sensing module comprises a guiding assembly detecting unit that detects the guiding assembly and an in-place assembly detecting unit that detects the in-place assembly;

22. The self-moving device of claim 21, wherein the guiding component comprises a coil component, and the first control module is configured to guide the self-moving device to move along the coil component to the wireless charging transmission module based on the magnetic force signal detected by the guiding component detection unit.

23. The self-moving device as claimed in claim 21, wherein the in-place component comprises a sensor component which interacts with the self-moving device or a mechanical structure component which makes the motion state of the self-moving device change abruptly.

24. The self-moving device of claim 1, wherein the in-place guiding device comprises a ring assembly, the ring assembly comprises an outer ring assembly and an inner ring assembly, a wireless charging transmitting module is arranged in the inner ring assembly, and the in-place sensing module comprises an outer ring detection unit for detecting the outer ring assembly and an inner ring detection unit for detecting the inner ring assembly;

25. The self-moving device of claim 24, wherein the outer loop detection unit comprises a first outer loop detection unit and a second outer loop detection unit, and wherein the first control module is configured to compare the signal detected by the first outer loop detection unit and the signal detected by the second outer loop detection unit and control the self-moving device into the outer loop assembly based on the detected signals being consistent.

26. The self-moving apparatus according to claim 25, wherein the outer loop assembly comprises an outer loop coil and a signal generator for generating an electrical signal, the outer loop coil is fed with an electrical current to form a magnetic signal, and the first control module is configured to control the self-moving apparatus to enter the outer loop coil when a phase or intensity of the magnetic signal of the outer loop coil detected by the first outer loop detection unit is identical to a phase or intensity of the magnetic signal of the outer loop coil detected by the second outer loop detection unit.

27. The self-moving device of claim 24, wherein the signal parameters transmitted by the inner loop assembly and the outer loop assembly are different.

28. The self-propelled device of claim 24, wherein the inner ring assembly comprises a magnetic strip and the inner ring assembly detection unit comprises a magnetic detection element.

29. The self-moving device of claim 1, wherein the first control module is configured to receive the wireless charging signal transmitted by the wireless charging station through the wireless charging receiving module when the self-moving device enters a coverage area corresponding to a predetermined charging location.

30. The self-moving apparatus according to claim 29, wherein the self-moving apparatus comprises a first communication module, the wireless charging station comprises a second communication module;

31. The self-moving apparatus according to claim 29, wherein the self-moving apparatus comprises a first communication module, the wireless charging station comprises a second communication module;

32. A wireless charging station for charging a self-moving device, comprising:

a first power module for providing power to the wireless charging station;

33. The wireless charging station according to claim 32, wherein the guiding means comprises a guide wire for generating the guiding message, the wireless charging station being connected to the guide wire, the guiding message being generated by a power signal transmitted by the guide wire; the self-moving device controls the self-moving device to move along the guide line to the wireless charging station based on the detected guide information.

34. The wireless charging station of claim 32, wherein the position-directing device comprises a magnet assembly for the self-moving apparatus to determine as detecting the position-directing device when detecting that a magnetic field signal of the magnet assembly meets a first predetermined condition.

35. The wireless charging station of claim 34, wherein the magnet assembly comprises a bar magnet assembly comprising a magnetic strip or a bar magnet assembly formed from an arrangement of magnetic objects.

36. The wireless charging station according to claim 35, wherein when the installation direction of the bar magnet assemblies is perpendicular to the operation direction of the self-moving device, the bar magnet assemblies comprise at least two groups, and the two groups are used for controlling the self-moving device to reduce the operation speed when the self-moving device detects that the intensity of the magnetic field signal of the first group of bar magnet assemblies reaches a first preset threshold value, and controlling the self-moving device to stop operating when the intensity of the magnetic field signal of the second group of bar magnet assemblies reaches a second preset threshold value.

37. The wireless charging station according to claim 35, wherein when the installation direction of the bar magnet assembly is parallel to the operation direction of the self-moving device, the self-moving device controls the self-moving device to reduce the operation speed when detecting that the strength of the magnetic field signal of the bar magnet assembly meets a third preset threshold, and controls the self-moving device to stop operating when detecting that the strength of the magnetic field signal meets a fourth preset threshold.

38. The wireless charging station of claim 32, wherein the in-place directing apparatus comprises a wireless signal transmitting component, the self-moving device comprises an in-place sensing module comprising a wireless signal receiving component, or the in-place directing apparatus comprises a wireless signal receiving component, the in-place sensing module comprising a wireless transmitting component;

39. The wireless charging station of claim 38, wherein the wireless signal transmitting component comprises an RFID transmitter and the wireless signal receiving component comprises an RFID reader.

40. The wireless charging station of claim 38, wherein the location guidance device is an RFID transmitter, the location sensing module is an RFID reader, and the RFID reader determines that the location guidance device is detected when it detects a radio frequency signal transmitted by the RFID transmitter.

41. The wireless charging station of claim 38, wherein the location guidance device is an RFID reader, the location sensing module is an RFID transmitter, and a communication module for transmitting signals is further included between the wireless charging station and the self-moving device, wherein the RFID reader detects a radio frequency signal transmitted by the RFID transmitter, and the self-moving device determines that the location guidance device is detected when receiving the communication signal transmitted by the wireless charging station.

42. The wireless charging station of claim 32, wherein the in-place guidance apparatus comprises a wireless charging transmission module, and the self-moving device comprises a coil induction module; and when the equivalent impedance output by the coil induction module changes to a preset range, the self-moving equipment determines that the in-place guiding device is detected.

43. The wireless charging station of claim 42, wherein the coil sensing module is a metal detection module, and the equivalent impedance output by the metal detection module is obtained from the mobile device.

44. The wireless charging station of claim 42, wherein the coil induction module comprises an LC oscillator, and wherein the equivalent impedance of the LC oscillator is obtained from the mobile device.

45. The wireless charging station of claim 44, wherein the LC oscillator comprises at least one of:

a second inductor and a second oscillator connected in parallel;

46. The wireless charging station of claim 32, wherein the guiding apparatus comprises a positioning module, the self-moving device is connected to the positioning module, the self-moving device uses the first position information of the positioning module for positioning the self-moving device and the second position information to control the self-moving device to move towards the wireless charging station based on the second position information of the wireless charging station as the guiding information, and the position information of the wireless charging station comprises a pre-stored position of the wireless charging station.

47. The wireless charging station according to claim 32, wherein the in-place guiding device comprises an auxiliary coil assembly including a guiding assembly and an in-place assembly, and the self-moving apparatus comprises a guiding assembly detecting unit that detects the guiding assembly and an in-place assembly detecting unit that detects the in-place assembly;

48. The wireless charging station according to claim 47, wherein the guiding component comprises a coil component, and the self-moving device guides the self-moving device to move along the coil component to the wireless charging transmission module based on the magnetic force signal detected by the guiding component detecting unit.

49. The wireless charging station of claim 47, wherein the in-place component comprises a sensor component that interacts with the self-moving device or a mechanical structure component that can cause abrupt changes in the motion state of the self-moving device.

50. The wireless charging station according to claim 32, wherein the in-place guiding device comprises a ring assembly, the ring assembly comprises an outer ring assembly and an inner ring assembly, a wireless charging transmission module is arranged in the inner ring assembly, and the self-moving device comprises an outer ring detection unit for detecting the outer ring assembly and an inner ring detection unit for detecting the inner ring assembly;

51. The wireless charging station of claim 50, wherein the outer loop detection unit comprises a first outer loop detection unit and a second outer loop detection unit, and wherein the first control module of the self-moving device is configured to compare the signal detected by the first outer loop detection unit and the signal detected by the second outer loop detection unit and control the self-moving device to enter the outer loop assembly based on the detected signals being consistent.

52. The wireless charging station of claim 51, wherein the outer loop assembly comprises an outer loop coil and a signal generator for generating a point signal, wherein the outer loop coil is configured to transmit a current to form a magnetic signal, and wherein the first control module is configured to control the mobile device to enter the outer loop coil when a phase or intensity of the magnetic signal of the outer loop coil detected by the first outer loop detection unit is consistent with a phase or intensity of the magnetic signal of the outer loop coil detected by the second outer loop detection unit.

53. The wireless charging station of claim 50, wherein the signal parameters transmitted by the inner ring assembly and the outer ring assembly are different.

54. The wireless charging station of claim 50, wherein the inner ring assembly comprises a magnetic strip and the inner ring detection unit comprises a magnetic detection element.

55. The wireless charging station according to claim 32, wherein the wireless charging transmitter module comprises a resonant coil assembly.

56. The wireless charging station of claim 32, wherein the wireless charging station comprises a hollowed out floor.

57. The wireless charging station of claim 32, wherein when the self-moving device enters a coverage area corresponding to a predetermined charging location, the second control module is configured to control the wireless charging transmission module to transmit a wireless charging signal to charge the self-moving device.

58. The wireless charging station of claim 56, wherein the wireless charging station comprises a second communication module, and wherein the self-moving device comprises a first communication module;

59. The wireless charging station of claim 56, wherein the wireless charging station comprises a second communication module, and wherein the self-moving device comprises a first communication module;

60. A wireless charging station for charging a self-moving device, comprising:

a first power module for providing power to the wireless charging station;

61. An automatic work system comprising a self-moving device as claimed in any one of claims 1 to 31 and a wireless charging station as claimed in any one of claims 32 to 60.

62. A wireless charging method for an automatic work system including a self-moving device and a wireless charging station, wherein the wireless charging station is used in cooperation with a guidance device for generating a guidance signal, and an in-place guidance device is provided on the wireless charging station, the method comprising:

detecting a pilot signal;

sensing an in-place guide device arranged on the wireless charging station;

63. The method of claim 62, wherein the in-place guide includes a magnet assembly and the sensing the in-place guide disposed on the wireless charging station comprises:

64. The method of claim 62, wherein the position guide includes a wireless signal transmitting assembly, and wherein sensing the position guide disposed on the wireless charging station comprises:

65. The method of claim 62, wherein the position guide includes a wireless signal receiving assembly, and wherein sensing the position guide disposed on the wireless charging station comprises:

66. The method of claim 62, wherein the in-place guidance device comprises a wireless charging transmission module, and wherein the sensing an in-place guidance device disposed on the wireless charging station comprises:

67. The method of claim 62, wherein the in-place guide comprises an auxiliary coil assembly comprising a guide assembly and an in-place assembly, and wherein sensing the in-place guide disposed on the wireless charging station comprises:

68. The method of claim 62, wherein the in-place guide comprises a ring assembly including an outer ring assembly and an inner ring assembly, a wireless charging transmit module is disposed within the inner ring assembly, and the sensing the in-place guide disposed on the wireless charging station comprises:

69. The method of claim 62, further comprising:

70. A wireless charging method for an automatic work system including a self-moving device and a wireless charging station, wherein the wireless charging station is used in cooperation with a guidance device for generating a guidance signal, and an in-place guidance device is provided on the wireless charging station, the method comprising:

detecting a pilot signal;

71. A self-moving device that is charged by a wireless charging station, comprising:

72. The self-moving apparatus according to claim 71, wherein said self-moving apparatus comprises a first communication module, and said wireless charging station comprises a second communication module;

73. The self-moving apparatus according to claim 71, wherein said self-moving apparatus comprises a first communication module, and said wireless charging station comprises a second communication module;

74. The self-moving apparatus according to claim 71, wherein the self-moving apparatus comprises a first request module that transmits a request signal to the wireless charging station;

75. The self-moving device according to claim 71, wherein the self-moving device comprises a response module, the wireless charging station sends a request signal to the self-moving device, and the response module returns a response signal according to the request signal sent by the wireless charging station;

76. The self-moving device according to claim 72, wherein after the self-moving device enters a coverage area corresponding to a predetermined charging location, the first control module is configured to control the self-moving device to reduce an operation speed and move to the predetermined charging location.

77. The self-moving device as claimed in claim 72, wherein the self-moving device controls the wireless charging station to turn on its wireless charging transmitting module after entering a coverage area corresponding to a predetermined charging location.

78. The self-moving device of claim 72, further comprising a detection module, wherein during the charging process, the detection module detects whether the charging of the self-moving device is completed, and if the charging is completed, the detection module controls the wireless charging station to enter a low power consumption mode.

79. A wireless charging station for charging a self-moving device, comprising:

a first power module for providing power to the wireless charging station;

80. The wireless charging station of claim 79, wherein the wireless charging station comprises a second communication module, and wherein the self-moving device comprises a first communication module;

81. The wireless charging station of claim 79, wherein the wireless charging station comprises a second communication module, and wherein the self-moving device comprises a first communication module;

82. The wireless charging station of claim 79, wherein the wireless charging station comprises a receiving module, the self-moving device sending a request signal to the wireless charging station;

83. The wireless charging station of claim 79, wherein the wireless charging station comprises a second request module and a receiving module, the second request module sending a request signal to the self-moving device;

84. The wireless charging station of claim 79, wherein the second control module controls the self-moving device to reduce the operation speed and move to the predetermined charging position after the self-moving device enters the coverage area corresponding to the predetermined charging position.

85. The wireless charging station of claim 79, wherein the wireless charging station is controlled to turn on its wireless charging transmitter module after the mobile device enters a coverage area corresponding to the predetermined charging location.

86. The wireless charging station of claim 79, further comprising a detection module that detects whether charging of the self-moving device is complete during charging and controls the wireless charging station to enter a low power consumption mode if charging is complete.

87. An automatic work system comprising a wireless charging station according to any of claims 79 to 86 and a self-moving device according to any of claims 74 to 78.

88. A charging method for an automatic working system, which is applied to a self-working system including a self-moving device and a wireless charging station for performing a charging operation for the self-moving device, the method comprising:

89. The method of claim 88, wherein the self-moving device comprises a first communication module, wherein the wireless charging station comprises a second communication module; the determining whether the self-moving device enters the coverage corresponding to the preset charging position comprises:

90. The method of claim 88, wherein the self-moving device comprises a first communication module, wherein the wireless charging station comprises a second communication module; the determining whether the self-moving device enters the coverage corresponding to the preset charging position comprises:

91. The method of claim 88, wherein the wireless charging station comprises a receiving module, the method further comprising:

92. The method of claim 88, wherein the self-moving device comprises a reply module, and wherein the method further comprises:

93. The method of claim 88, further comprising:

94. The method of claim 88, further comprising: