CN113447912A

CN113447912A - Distance detection method, system, robot, docking station and storage medium

Info

Publication number: CN113447912A
Application number: CN202110548164.8A
Authority: CN
Inventors: 陈荣
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2021-09-28

Abstract

The application discloses a distance detection method, a system, a robot, a docking station and a storage medium, wherein the method comprises the following steps: the robot receives carrier signals with different preset frequencies which are continuously transmitted by the docking station according to preset interval time; and the robot determines the distance range of the robot relative to the docking station according to the received carrier signal. According to the method and the device, carrier signals with different frequencies are transmitted through the docking station, and accurate distance detection between the robot and the docking station is achieved under the condition that hardware cost and size space are not increased.

Description

Distance detection method, system, robot, docking station and storage medium

Technical Field

The application relates to the technical field of robots, in particular to a distance detection method, a distance detection system, a robot, a docking station and a storage medium.

Background

With the development of science and technology, detecting distance information between two devices is more and more important in the field of intelligent control. Exemplarily, in the prior art, the robot detects the distance between the robot and the docking station by detecting signals with different intensities emitted by the docking station providing power for the robot, and the basic working principle of the above prior art solution is as follows: when the distance between the robot and the docking station is close, the robot can receive signals with all intensities, and when the distance between the robot and the docking station is far, the robot can only receive strong signals, and the robot judges the distance between the robot and the docking station by whether the robot receives the strong signals or not. However, the above method of adjusting the transmission signal strength of the docking station requires increased hardware costs; meanwhile, due to the limitations of cost and size space, the adjustment range of the transmitted signal strength is usually small (for example, two ranges are usually adopted), the detectable distance resolution is low, and accurate distance detection between the robot and the docking station cannot be realized.

Disclosure of Invention

In view of the above drawbacks of the prior art, embodiments of the present application provide a distance detection method, a distance detection system, a robot, a docking station, and a storage medium, where carrier signals of different frequencies are transmitted through the docking station, and accurate distance detection between the robot and the docking station is achieved without increasing hardware cost and size space.

Specifically, in one embodiment of the present application, there is provided a distance detection method, including: the robot receives carrier signals with different preset frequencies which are continuously transmitted by the docking station according to preset interval time; and the robot determines the distance range of the robot relative to the docking station according to the received carrier signal.

In another embodiment of the present application, there is provided a distance detection method including: the first device receives carrier signals with different preset frequencies which are continuously transmitted by the second device according to preset interval time; and the first device determines the distance range of the first device relative to the second device according to the received carrier signal.

In another embodiment of the present application, there is provided a distance detection system, the system including: the first device is used for receiving a carrier signal from the second device and determining the distance range of the carrier signal relative to the second device according to the received carrier signal; and second means for transmitting a plurality of said carrier signals having different predetermined frequencies at predetermined intervals.

In another embodiment of the present application, there is provided a robot including: a body; the signal receiving unit is arranged on the body and comprises a band-pass filter, and the band-pass filter has different attenuation capacities on carrier signals with different preset frequencies; and a control unit comprising a storage unit and a processing unit, wherein the storage unit stores a computer program that, when executed by the processing unit, enables the following steps: receiving carrier signals with different preset frequencies continuously transmitted by the docking station according to preset interval time; and determining its range of distance from the docking station from the received carrier signal.

In another embodiment of the present application, there is provided a docking station comprising: a main body; a signal transmitter disposed on the body, wherein the signal transmitter continuously transmits carrier signals having different preset frequencies at preset intervals; and a controller comprising a memory and a processor, wherein the memory stores a computer program that when executed by the processor is capable of performing the steps of: and continuously transmitting carrier signals with different preset frequencies to a robot in communication connection with the docking station at preset intervals so that the robot determines the distance range of the robot relative to the docking station.

In yet another embodiment of the present application, a computer-readable storage medium is provided that stores computer instructions that when executed by a processor implement the steps of: determining, from received carrier signals having different preset frequencies, a range of a device in which the computer instruction resides relative to a device transmitting the carrier signals, wherein the carrier signals having different preset frequencies respectively correspond to different reception ranges of distances.

In yet another embodiment of the present application, a computer-readable storage medium is provided that stores computer instructions that when executed by a processor implement the steps of: continuously transmitting a first group of carrier signals to a target device according to a preset interval time so that the target device determines a first position area where the target device is located; and transmitting a second set of carrier signals to the target device to cause the target device to determine a second location area in which it is currently located in accordance with distance feedback data regarding the first location area fed back by the target device, wherein the second location area is a sub-area of the first location area and indicates a range of distances of the target device relative to devices in which the computer instructions reside.

According to the method and the device, the docking station transmits carrier signals with different frequencies corresponding to different receiving distance ranges, so that the robot obtains distance information with the docking station, and accurate distance detection between the robot and the docking station is achieved under the condition that hardware cost and size space are not increased.

Drawings

The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.

Fig. 1 shows a schematic flow chart of a distance detection method provided in a first embodiment of the present application;

fig. 2 shows a bandpass filtering frequency and a receive gain curve of a bandpass filter provided by a first embodiment of the present application;

fig. 3 shows a schematic diagram of an application scenario one provided according to a first embodiment of the present application;

fig. 4 shows a graph of carrier frequency versus receive gain for application scenario one provided in accordance with the first embodiment of the present application;

fig. 5 shows another schematic flow chart of a distance detection method provided by a second embodiment of the present application;

fig. 6 shows a schematic diagram of an application scenario two provided according to a second embodiment of the present application;

fig. 7 shows a graph of carrier frequency versus receive gain for application scenario two provided in accordance with a second embodiment of the present application;

fig. 8 is a block diagram showing a structure of a distance detection system provided in a third embodiment of the present application;

figure 9 shows a schematic view of a robot provided by a fourth embodiment of the present application;

fig. 10 shows a schematic view of a docking station provided by a fifth embodiment of the present application.

Detailed Description

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

The terms "first," "second," "third," and the like in the description and in the claims of the present application, and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the objects so described are interchangeable under appropriate circumstances. In the description of the present application, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover a non-exclusive inclusion. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware circuits or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The present application is further described in detail below with reference to the accompanying drawings and the detailed description, so that the objects, features and advantages of the present application can be more clearly understood.

Fig. 1 shows a schematic flow chart of a distance detection method provided in a first embodiment of the present application, where the method specifically includes the following steps:

step 10, the first device receives carrier signals with different preset frequencies which are continuously transmitted by the second device according to preset interval time;

step 20, the first device determines its distance range relative to the second device according to the received carrier signal.

Specifically, in step 10, carrier signals having different frequencies are continuously transmitted by the second device at preset intervals (e.g., 50 msec, 100 msec, 200 msec). In this embodiment, the second device is configured to be able to transmit a carrier signal of a specific frequency, for example, the second device is configured to be able to transmit a carrier signal of a frequency range between 30kHz and 50kHz with a center frequency of 38 kHz. The preset interval time includes an emission period (i.e. a time period occupied by emitting a group of carrier signals with different frequencies) and an interval time between periods and/or an interval time between emission of carrier signals with different frequencies in one period.

The first device is configured to be able to receive a carrier signal of a particular frequency transmitted by the second device and to have different attenuation capabilities for the carrier signal of the different frequency. Specifically, the first device has a signal receiver which has a band-pass filter built therein, and fig. 2 shows a band-pass filtering frequency and a receiving gain curve of the band-pass filter which has the highest receiving sensitivity in a pass band and has a frequency range, also called a roll-off range, in which a signal is attenuated but not isolated, outside the pass band, as shown in the A, B region in fig. 2. In the passband and the roll-off range thereof (i.e., the passband roll-off interval), several frequency points are selected as the carrier frequency transmitted by the second device, the signal receiver of the first device has different sensitivities to different frequency signals, for example, when the carrier frequency is f1 (i.e., the center frequency of the passband), the receiving gain of the carrier signal based on the frequency is the largest (i.e., the signal attenuation is the smallest), the receiving distance is the farthest, and as the deviation value of the carrier frequency from f1 increases, the receiving gain decreases (the signal attenuation increases), and the receiving distance decreases accordingly. Therefore, according to the different distance ranges reached by the carrier signals with different frequencies (i.e. the carrier signals with different frequencies correspond to different receiving distances), the first device can obtain the distance range between the first device and the second device by identifying the received carrier signals with different frequencies. It should be understood that the curves of the bandpass filtering frequency and the receiving gain of the bandpass filter shown in fig. 2 are only exemplary curves, and the curves differ between different signal receivers.

In step 20, the first device determines a location area where the first device is located according to a receiving distance range corresponding to a carrier signal on each preset frequency that can be correctly received within a preset time period, where each preset frequency is within a band-pass roll-off interval of a receiver of the first device.

Specifically, in step 20, the first device parses the code information of the carrier signal on each preset frequency received in the preset time period, and if the parsed code information of the carrier signal on any preset frequency matches with the corresponding code information pre-stored in the first device, it is determined that the carrier signal on the preset frequency can be correctly received.

In an embodiment, when the carrier signals on each preset frequency have the same encoding information, the first device determines the frequencies of the received different carrier signals according to time points of the encoding information which can be correctly received by the first device in the preset time period, and determines the location area where the first device is located according to the receiving distance range corresponding to the carrier signal on each frequency.

In another embodiment, in order to distinguish the carrier signals of different frequencies more conveniently, the second device may transmit carrier signals with different coding information, i.e. the coding information carried by the carrier signals at different preset frequencies are different from each other. Specifically, when the carrier signal at each preset frequency has different encoding information, the first device determines whether the carrier signal at the preset frequency can be correctly received according to whether the encoding information of the carrier signal at each preset frequency received by the first device within a preset time period matches with the pre-stored corresponding encoding information, and further determines the location area where the first device is located according to the receiving distance range corresponding to the carrier signal at each frequency.

Fig. 3 shows a schematic diagram of an application scenario one provided according to the first embodiment of the present application. Fig. 4 shows a graph of carrier frequency versus receive gain for application scenario one provided in accordance with the first embodiment of the present application. The specific process of the distance detection between the first device and the second device is described in detail below with reference to fig. 3 and 4.

As shown in fig. 3, in the present application scenario one, the first device is a robot 100 configured to move within a predetermined work area without user manipulation and simultaneously perform a predetermined task. The second device may be a docking station 200 configured to communicatively couple with the robot 100 and provide power to the robot 100 upon docking.

In the first application scenario, the area range extending from the center of the docking station 200 to the robot 100 is divided into three areas with partial overlap by distance from the docking station, i.e., a first reception distance range (including area 1, area 2, and area 3), a second reception distance range (including area 1 and area 2), and a third reception distance range (area 1); a second receive distance range is within and partially overlapping the first receive distance range, and a third receive distance range is within and partially overlapping the second receive distance range. As can be seen from the above, the first receiving distance range, the second receiving distance range and the third receiving distance range correspond to the carrier signals at the first frequency f1, the second frequency f2 and the third frequency f3, respectively. As shown in fig. 4, the first frequency f1 is the center frequency of the band pass filter, the second frequency f2 has a first deviation value Δ 1 with respect to the first frequency f1, and the third frequency f3 has a second deviation value Δ 2 with respect to the first frequency f1, which is greater than the first deviation value Δ 1. The first deviation value Δ 1 and the second deviation value Δ 2 are positive values, that is, when the second frequency f2 or the third frequency f3 is greater than the first frequency f1, the first deviation value Δ 1 or the second deviation value Δ 2 is set as the difference between the second frequency f2 or the third frequency f3 and the first frequency f 1; when the second frequency f2 or the third frequency f3 is less than the first frequency f1, the first deviation value Δ 1 or the second deviation value Δ 2 is set as the difference between the first frequency f1 and the second frequency f2 or the third frequency f 3. It should be understood that the above three frequencies are exemplarily selected according to the frequency-gain characteristic of the band-pass filter in the signal receiver of the robot 100, wherein each of the frequencies f1, f2 and f3 is within the band-pass roll-off interval (i.e., between the frequencies fn to fn') of the signal receiver of the robot 100. In practical application, any number and value of frequency points can be selected in the interval to increase the accuracy of distance detection.

The robot 100 determines the frequency of the carrier signal that can be correctly received by the robot 100 at the current position according to the encoded information of the carrier signal of the three frequencies received within a preset time period (for example, 100 milliseconds, etc.), and determines the current position area based on the frequency that can correctly receive the carrier signal. The encoded information of the carrier signals of different frequencies transmitted by the docking station 200 may be the same code with the same code value or different codes with different code values. The robot 100 compares the received code information with the pre-stored corresponding code information to confirm that the correct code information corresponding to the different carrier frequencies is received.

In an embodiment, when the docking station 200 sequentially transmits the carrier signals at the three frequencies f1, f2, and f3 and the three carrier signals carry the same encoded information a (i.e., the same code), the robot 100 determines which preset carrier frequency the encoded information a received at different time points belongs to according to the time point of the encoded information a received at the current position within the time period of one cycle, and determines the current position area of the robot 100 according to the receiving distance range corresponding to the carrier signal at each preset frequency.

Specifically, for example, the docking station 200 transmits an encoded signal a at time t0 at a carrier frequency f 1; after a delay of t1 milliseconds, docking station 200 transmits an encoded signal a at carrier frequency f 2; delayed by t2 milliseconds, the docking station 200 transmits an encoded signal a at carrier frequency f 3. For the duration of the signal, the coded signal a with the carrier frequencies f1, f2 and f3 can be repeatedly transmitted after a delay of t3 milliseconds. Where t1, t2, and t3 may be set to any suitable time, such as 50 milliseconds, 100 milliseconds, 200 milliseconds, respectively. As shown in fig. 3, when the robot 100 is in the area 1 in the third reception distance range during a time period consisting of t1, t2, and t3, three coded signals a corresponding to carrier frequencies f1, f2, and f3, respectively, transmitted from the docking station 200 may be received due to the close proximity to the docking station 200; when the robot 100 is in area 2 outside the third reception distance range and within the second reception distance range, two encoded signals a corresponding to carrier frequencies f1 and f2 transmitted by the docking station 200 may be received; when the robot 100 is in zone 3 outside the second range of reception distances and within the first range of reception distances, only one encoded signal a corresponding to carrier frequency f1 transmitted by the docking station 200 may be received. According to the time point of receiving the coded signal, the carrier signals which can be correctly received by the robot 100 at present can be identified to which preset frequency respectively belongs, and then the area in which the robot is located at present is determined according to the frequency which can be correctly received by the robot 100 at present, so that the distance range between the robot 100 and the docking station 200 is judged.

In another embodiment, when the docking station 200 sequentially transmits the carrier signals of the three frequencies f1, f2, and f3, and the three carrier signals carry different encoded information a, b, and c (i.e., different codes), the robot 100 determines which preset frequencies the robot 100 can currently correctly receive the carrier signals on according to the encoded information of the carrier signals of the three frequencies received at the current position in the time period of one cycle, and then determines the current position area according to the frequency which can currently correctly receive the carrier signals.

Specifically, similar to the same code case, the docking station 200 transmits an encoded signal a at time t0 at a carrier frequency f 1; after a delay of t1 milliseconds, docking station 200 transmits a coded signal b at a carrier frequency f 2; delayed by t2 milliseconds, the docking station 200 transmits an encoded signal c at carrier frequency f 3. For the duration of the signal, the coded signals a, b and c with frequencies f1, f2 and f3 can be repeatedly transmitted after a delay of t3 milliseconds. Where t1, t2, and t3 may be set to any suitable time, such as 50 milliseconds, 100 milliseconds, 200 milliseconds, respectively. As also shown in fig. 3, when the robot 100 is in the area 1 in the third reception distance range during a time period consisting of t1, t2, and t3, three code signals a, b, c corresponding to carrier frequencies f1, f2, and f3, respectively, transmitted from the docking station 200 may be received due to the close proximity to the docking station 200; when the robot 100 is in area 2 outside the third reception distance range and within the second reception distance range, two encoded signals a and b corresponding to carrier frequencies f1 and f2 transmitted by the docking station 200 may be received; when the robot 100 is in zone 3 outside the second range of reception distances and within the first range of reception distances, only one encoded signal a corresponding to carrier frequency f1 transmitted by the docking station 200 may be received. Due to the fact that the codes are different, the carrier signals on preset frequencies which can be correctly received by the robot 100 currently can be identified according to the received different coded signals, and then the current area in which the robot 100 is located is determined according to the frequency which can correctly receive the carrier signals currently, so that the distance range between the robot 100 and the docking station 200 is judged.

It should be understood that, in practical applications, the distance of the receiving range can be achieved by adjusting the deviation values Δ 1 and Δ 2 of the carrier frequency from the center frequency.

Fig. 5 shows another schematic flow chart of the distance detection method provided in the second embodiment of the present application, and fig. 6 shows a schematic diagram of an application scenario two provided in the second embodiment of the present application. Fig. 7 shows a graph of carrier frequency versus receive gain for application scenario two provided in accordance with the second embodiment of the present application. Another distance detection process of the first device and the second device is described in detail below with reference to fig. 5 to 7.

It should be understood that the relevant features of the first embodiment and the second embodiment can be mutually referred and cited, and are not repeated herein.

As shown in fig. 5, the distance detection method provided according to the second embodiment specifically includes the following steps:

step 11, the first device determines a first location area where the first device is currently located according to a first group of carrier signals which are received by the first device within a first preset time period and sent by the second device;

step 21, the first device determines a second location area from a second set of carrier signals it receives within a second preset time period after the first preset time period, the second location area being a sub-area of the first location area, and the second location area indicating a range of distances of the first device with respect to the second device.

The

above steps

11 and 21 are described in detail below according to the second application scenario shown in fig. 6 and the selection of the carrier frequency shown in fig. 7. In the second application scenario, similar to the first application scenario, the first device is the robot 100 and the second device is the docking station 200 that provides power to the robot 100 when docked. Different from the first application scenario, in the second application scenario, the area extending from the center of the docking station 200 to the robot 100 is divided into three location areas 1-3 from near to far according to the distance relative to the docking station 200, and each location area is further divided into two location sub-areas, that is, six sub-areas 1a-3b are finally obtained.

In step 11, the first set of carrier signals comprises at least a carrier signal having a first frequency f1 and a carrier signal having a second frequency f2, wherein: the second frequency f2 has a first deviation value Δ 1 with respect to the first frequency, and the first set of carrier signals may further include carrier signals having a third frequency f3, wherein the third frequency f3 has a second deviation value Δ 2 with respect to the first frequency f1 that is greater than the first deviation value Δ 1, as shown in fig. 7. In addition, the carrier signal having the first frequency f1 corresponds to a first reception distance range (including sub-areas 1a through 3b) centered on the docking station 200, the carrier signal having the second frequency f2 corresponds to a second reception distance range (including sub-areas 1a through 2b) within the first reception distance range and partially overlapping the first reception distance range, and the carrier signal having the third frequency f3 corresponds to a third reception distance range (including sub-areas 1a and 1b) within the second reception distance range and partially overlapping the second reception distance range.

Meanwhile, as shown in fig. 6, determining the first location area where the robot 100 is located according to the first group of carrier signals received by the robot within the first preset time period includes: when the robot 100 receives only the carrier signal with the first frequency f1 within the first preset time period, the robot 100 determines that the first position area where the robot 100 is currently located is an area 3 (including sub-areas 3a and 3b) which is outside the second receiving distance range and within the first receiving distance range; and when the robot 100 receives only the carrier signals having the first frequency f1 and the second frequency f2 within the first preset time range, the robot 100 determines that the first location area where it is currently located is an area 2 (including sub-areas 2a and 2b) outside the third reception distance range and within the second reception distance range; and when the robot 100 receives the carrier signal having the first frequency f1, the second frequency f2 and the third frequency f3 within the first preset time range, the robot 100 determines that the first position region in which it is currently located is the region 1 (including the sub-regions 1a and 1b) within the third receiving distance range.

In step 21, the robot 100 sends distance feedback data, i.e. data of the first location area, to the docking station 200, and in response to a second set of carrier signals transmitted by the docking station 200 according to the distance feedback data, the robot 100 receives the second set of carrier signals within a second preset time period, and further determines a second location area according to the reception condition of the second set of carrier signals, wherein the second location area is a sub-area of the first location area. As shown in fig. 7, the deviation value of the frequency of each carrier signal in the second set of carrier signals from the first frequency f1 is a third deviation value Δ 3 smaller than the first deviation value Δ 1, a fourth deviation value Δ 4 between the first deviation value Δ 1 and the second deviation value Δ 2, or a fifth deviation value Δ 5 larger than the second deviation value Δ 2. The deviation value of the frequency of each carrier signal in the second set of carrier signals from the first frequency f1 is smaller than the deviation value of the signal isolation frequency (i.e. the cut-off frequencies fn and fn') from the first frequency f 1. In other words, each of the three first stage frequencies (i.e., f1, f2, and f3) to which the first set of carrier signals corresponds has a second stage frequency corresponding thereto that belongs to the second set of carrier signals, and the second set of carrier signals in each time period includes only one second stage frequency corresponding to the first stage frequency.

Illustratively, the second set of carrier signals includes at least carrier signals having a fourth frequency f 4. Referring again to fig. 6 and 7, when the robot 100 determines that the first location area is the area 3 (including the sub-areas 3a and 3b) outside the second receiving distance range and inside the first receiving distance range, the offset value of the fourth frequency f4 corresponding to the first frequency f1 in the first-level frequency relative to the first frequency f1 has a third offset value Δ 3 (i.e., the fourth frequency is f1+ Δ 3), and the carrier signal of the fourth frequency f4 corresponds to a fourth receiving distance range (including the sub-areas 1a to 3a) smaller than the first receiving distance range and larger than the second receiving distance range. When the robot 100 determines that the first location area in which it is located is the area 2 (including the sub-areas 2a and 2b) outside the third receiving distance range and within the second receiving distance range, the offset value of the fourth frequency f4 corresponding to the second frequency f2 in the first level frequency with respect to the first frequency f1 has a fourth offset value Δ 4 (i.e., the fourth frequency is f1- Δ 4), and the carrier signal of the fourth frequency f4 corresponds to a fifth receiving distance range (including the sub-areas 1 a-2 a) that is smaller than the second receiving distance range and larger than the third receiving distance range. When the robot 100 determines that the first location area in which it is located is the area 1 (including the sub-areas 1a and 1b) within the third receiving distance range, the offset value of the fourth frequency f4 corresponding to the third frequency f3 in the first level frequency with respect to the first frequency f1 has a fifth offset value Δ 5 (i.e., the fourth frequency is f1- Δ 5), and the carrier signal of the fourth frequency f4 corresponds to a sixth receiving distance range (including the sub-area 1a) smaller than the third receiving distance range.

Determining, by the robot 100, a second location area from a second set of carrier signals it received within a second preset time period after the first preset time period comprises: when receiving the carrier signal of the fourth frequency f4 having the third deviation value Δ 3, the robot 100 determines that the second position area in which it is located is the sub-area 3a outside the second reception distance range and within the fourth reception distance range; when failing to correctly receive the carrier signal of the fourth frequency f4 having the third deviation value Δ 3, the robot 100 determines that the second location area in which it is located is the sub-area 3b outside the fourth receiving distance range and within the first receiving distance range; when receiving the carrier signal of the fourth frequency f4 having the fourth deviation value Δ 4, the robot 100 determines that the second position area in which it is located is the sub-area 2a outside the third reception distance range and within the fifth reception distance range; when failing to correctly receive the carrier signal of the fourth frequency f4 having the fourth deviation value Δ 4, the robot 100 determines that the second position area in which it is located is the sub-area 2b outside the fifth reception distance range and within the second reception distance range; when receiving the carrier signal of the fourth frequency f4 having the fifth deviation value Δ 5, the robot 100 determines that the second location area is the sub-area 1a within the sixth reception distance range area, and when not receiving the carrier signal of the fourth frequency f4 having the fifth deviation value Δ 5, the robot 100 determines that the second location area in which it is located is the sub-area 1b outside the sixth reception distance range and within the third reception distance range.

It should be understood that the process of determining the first location area and the second location area by the robot 100 according to the first set of carrier signals and the second set of carrier signals received by the robot in the first preset time period and the second preset time period may further include: the robot 100 determines which carrier signals on preset frequencies can be correctly received by the robot 100 at present according to the coding information of the first group of carrier signals and the second group of carrier signals received in the first preset time period and the second preset time period, and then determines the current position area according to the frequencies capable of correctly receiving the carrier signals at present. The robot 100 compares the received encoded information with the pre-stored corresponding encoded information to determine which carrier signals on the preset frequency can be correctly received. The above specific processes may specifically refer to the specific steps described in detail in the first embodiment, and are not described in detail here.

In this embodiment, the robot feeds back a primary distance detection result to the docking station, and performs a secondary distance detection operation based on the primary distance detection result, thereby further achieving accurate distance measurement between the robot and the docking station.

Fig. 8 shows a block diagram of a distance detection system 300 according to a third embodiment of the present application. The system 300 includes: a first device 320, configured to receive a carrier signal from a second device 310, and determine a distance range of the carrier signal from the second device 310 according to the received carrier signal; and a second means 310 for transmitting a plurality of said carrier signals having different predetermined frequencies at predetermined intervals.

The second device 310 further includes a transmitting element 311 and a control element 312 connected to the transmitting element 311, wherein the control element 312 is configured to drive the transmitting element 311 to transmit carrier signals with different frequencies continuously at preset intervals. The second device 310 further comprises a feedback signal receiving element 313 connected to the control element 312 for receiving distance feedback data from the first device 320.

The first device 320 includes a signal receiving module 321 and a control module 322 connected to the signal receiving module 321, where the control module 322 determines a current location area of the first device 320 according to a receiving distance range corresponding to a carrier signal on each preset frequency that the signal receiving module 321 can correctly receive within a preset time period, where each preset frequency is within a band-pass roll-off interval of the signal receiving module 321 of the first device 320. The control module 322 analyzes the coding information of the carrier signal on each preset frequency received by the signal receiving module 321 within a preset time period, and if the analyzed coding information of the carrier signal on any preset frequency matches with the corresponding coding information pre-stored in the control module 322, it is determined that the carrier signal on the preset frequency can be correctly received. The first apparatus 320 further includes a signal feedback module 323 connected to the control module 322, wherein the signal feedback module 323 is configured to: after determining a first location area where the first device 320 is located according to a first set of carrier signals with different preset frequencies received by the signal receiving module 321 within a first preset time period, the signal feedback module 323 sends distance feedback data about the first location area to the second device 310, so that the second device 310 transmits a second set of carrier signals based on the distance feedback data to determine a second location area where the first device 320 is located, where the second location area is a sub-area of the first location area.

The implementation principle of each component in the distance detection system 300 can be referred to the contents of the first embodiment and the second embodiment, and will not be described herein again.

Fig. 9 shows a schematic view of a robot 400 provided by a fourth embodiment of the present application. Specifically, the robot 400 may be an unmanned aerial vehicle, a service robot, a shopping guide robot, a meal delivery robot, a cleaning robot, or the like, which is not limited in this embodiment. Specifically, the robot 400 includes: a body 410; a signal receiving unit 420 disposed on the body 410, wherein the signal receiving unit 420 includes a band pass filter 421 (not shown in the figure), and the band pass filter 421 has different attenuation capabilities for carrier signals with different preset frequencies; and a control unit 430, the control unit 430 comprising a storage unit 431 and a processing unit 432 (not shown in the figure), wherein the storage unit 431 stores a computer program, which when executed by the processing unit 432, enables the following steps: receiving carrier signals with different preset frequencies continuously transmitted by the docking station according to preset interval time; and determining its range of distance from the docking station from the received carrier signal. The processing unit 432 is further configured to: controlling the signal receiving unit 420 to receive carrier signals with different preset frequencies continuously transmitted by the docking station within a preset time period; and determining a current position area of the robot 400 according to a receiving distance range corresponding to a carrier signal on each preset frequency that can be correctly received by the signal receiving unit 420 within the preset time period, where the current position area indicates a distance range of the robot 400 currently relative to the docking station, and each preset frequency is within a band-pass roll-off interval of the signal receiving unit 420 of the robot 400. The processor 432 is further configured to: the encoding information of the carrier signal on each preset frequency received by the signal receiving unit 420 within the preset time period is analyzed, and if the analyzed encoding information of the carrier signal on any preset frequency matches with the corresponding encoding information pre-stored in the storage unit 431, it is determined that the carrier signal on the preset frequency can be correctly received. The robot 400 further comprises a signal feedback unit 440 connected to the control unit 430; and the processing unit 432 is further configured to: after determining a first location area where the robot 400 is currently located according to a first set of carrier signals with different preset frequencies received by the signal receiving unit 420 within a first preset time period, instructing the signal feedback unit 440 to send distance feedback data about the first location area to the docking station, and instructing the signal receiving unit to receive a second set of carrier signals within a second preset time period in response to a second set of carrier signals transmitted by the docking station, and determining a second location area according to the receiving condition of the second set of carrier signals, where the second location area is a sub-area of the first location area.

The implementation principle of each component in the robot 400 can be referred to the contents of the first device in the first to third embodiments, and will not be described herein again.

Fig. 10 shows a schematic view of a docking station 500 provided by a fifth embodiment of the present application. Specifically, the docking station 500 may be a device that is communicatively coupled to and provides power to a robot such as an unmanned aerial vehicle, a service-type machine, a shopping guide robot, a meal delivery robot, a cleaning robot, or the like when docked, but this embodiment is not limited thereto. Specifically, the docking station 500 includes: a main body 510; a signal transmitter 520 disposed on the body 510, wherein the signal transmitter 520 continuously transmits carrier signals having different preset frequencies at preset intervals; and a controller 530, said controller 530 comprising a memory 531 and a processor 532 (not shown in the figure), wherein said memory 531 stores a computer program, said program when executed by the processor 532 is capable of performing the steps of: the transmission of carrier signals having different preset frequencies to a robot in communicative connection with the docking station 500 is continued at preset intervals to allow the robot to determine its range of distance relative to the docking station 500. The docking station 500 further comprises a feedback signal receiver 540 connected to the controller 530; the processor 532 is further configured to: controlling the signal transmitter 520 to transmit a first set of carrier signals to the robot so as to enable the robot to determine a first location area where the robot is located, and controlling the signal transmitter 520 to transmit a second set of carrier signals according to the distance feedback data, which is received by the feedback signal receiver 540 and sent by the robot, about the first location area so as to enable the robot to determine a second location area where the robot is currently located, wherein the second location area is a sub-area of the first location area, and each preset frequency of the first set of carrier signals and the second set of carrier signals is within a band-pass roll-off interval of a receiver of the robot.

The implementation principle of each component of the docking station 500 can be referred to the contents of the second device or the docking station in the first to fourth embodiments, and will not be described herein again.

In another embodiment, a computer-readable storage medium is provided that stores computer instructions that, when executed by a processor, perform the steps of:

determining, from received carrier signals having different frequencies, a range of distances of a device in which the computer instructions reside relative to a device transmitting the carrier signals, wherein the carrier signals having different frequencies respectively correspond to different received ranges of distances. Wherein each preset frequency is within a band pass roll off interval of a receiver of a device in which the computer instructions reside.

For specific limitations and implementation of the above steps, reference may be made to the contents of the first device or the robot in the first to fifth embodiments, which are not described herein again.

In yet another embodiment, a computer readable storage medium is provided that stores computer instructions that when executed by a processor implement the steps of:

continuously transmitting a first group of carrier signals to a target device according to a preset interval time so that the target device determines a first position area where the target device is located; and transmitting a second set of carrier signals to the target device to cause the target device to determine a second location area in which it is currently located in accordance with distance feedback data regarding the first location area fed back by the target device, wherein the second location area is a sub-area of the first location area and indicates a range of distances of the target device relative to devices in which the computer instructions reside. Wherein each preset frequency of the first set of carrier signals and the second set of carrier signals is within a band-pass roll-off interval of a receiver of the target device.

For specific limitations and implementation of the above steps, reference may be made to the contents of the first to fifth embodiments regarding the second device or the docking station, which are not described herein again.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The working process and principle of the technical solution provided by the embodiment of the present application are exemplarily described below with reference to a specific application scenario of the cleaning robot.

The cleaning robot can perform a cleaning task within a certain area range by acquiring an instruction of a user, and detect distance information from the docking station when charging is required to complete docking. When the cleaning robot moves to a position where the signal of the docking station can be received, the cleaning robot detects the distance range from the docking station according to the carrier signal of different frequencies continuously transmitted by the docking station and received in a certain period of time. When the cleaning robot cannot receive the signal of the docking station, for example, when the front side is blocked by an obstacle or the cleaning robot is too far away from the docking station, the cleaning robot searches and moves the position to search the signal of the docking station again. Meanwhile, in order to achieve accurate docking with the docking station and avoid collision with the docking station, when the robot detects that the distance between the signal receiver of the robot and the docking station is less than a preset threshold (for example, 10cm) or less than the radius of the body, the robot moves a first distance in a direction away from the docking station and then turns, and then performs a preset docking operation, wherein the first distance may be set to be greater than the radius of the body of the robot.

In summary, the technical scheme provided by the embodiment of the application can realize that the docking station continuously transmits the carrier signals with the same strength but different frequencies, so that the robot can determine the distance range information with the docking station, and more accurate distance range detection between the robot and the docking station is realized without increasing hardware cost and size space.

The distance detection method, the distance detection system, the robot, the docking station and the storage medium provided by the embodiments of the present application are introduced in detail, and specific examples are applied in the present application to explain the principle and the implementation of the present application, and the description of the embodiments is only used to help understanding the technical scheme and the core concept of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A method of distance detection, the method comprising:

the robot receives carrier signals with different preset frequencies which are continuously transmitted by the docking station according to preset interval time; and

and the robot determines the distance range of the robot relative to the docking station according to the received carrier signal.

2. The distance detection method of claim 1 wherein said robot determining its range of distance from said docking station based on said received carrier signal further comprises: the robot determines a current position area according to a receiving distance range corresponding to a carrier signal on each preset frequency correctly received in a preset time period, the current position area indicates a distance range of the robot relative to the docking station, and each preset frequency is within a band-pass roll-off interval of a receiver of the robot.

3. The distance detection method according to claim 2, wherein the determining, by the robot, the current location area according to the reception distance range corresponding to the carrier signal on each preset frequency correctly received within the preset time period further comprises: and the robot analyzes the code information of the carrier signal on each preset frequency received in the preset time period, and if the analyzed code information of the carrier signal on any preset frequency is matched with the corresponding code information prestored by the robot, the robot confirms that the carrier signal on the preset frequency is correctly received.

4. The distance detection method of claim 1 wherein said robot determining its range of distance from said docking station based on said received carrier signal further comprises: the robot determines a first location area in which it is currently located based on a first set of carrier signals transmitted by the docking station that it receives within a first predetermined time period.

5. The distance detection method of claim 4 wherein said first set of carrier signals comprises at least a carrier signal having a first frequency and a carrier signal having a second frequency, wherein:

the second frequency has a first deviation value relative to the first frequency; and

the carrier signal having the first frequency corresponds to a first reception distance range centered on the docking station, and the carrier signal having the second frequency corresponds to a second reception distance range within and partially overlapping the first reception distance range.

6. The distance detection method of claim 5 wherein said first set of carrier signals further comprises a carrier signal having a third frequency, wherein:

the third frequency has a second deviation value relative to the first frequency that is greater than the first deviation value; and

the carrier signal having the third frequency corresponds to a third reception range that is within and partially overlapping the second reception range.

7. The distance detection method of claim 6, wherein said robot determining a first location area in which it is currently located based on a first set of carrier signals it receives within a first preset time period comprises:

when the robot receives only a carrier signal with a first frequency within a first preset time period, the robot determines that a first position area where the robot is located currently is a position area which is out of the second receiving distance range and in the first receiving distance range; and

when the robot receives only the carrier signals with the first frequency and the second frequency within a first preset time period, the robot determines that a first position area where the robot is located currently is a position area which is out of the third receiving distance range and in the second receiving distance range; and

when the robot receives a carrier signal with a first frequency, a second frequency and a third frequency within a first preset time period, the robot determines that a first position area where the robot is located currently is a position area within the third receiving distance range.

8. The distance detection method of claim 7 wherein said robot determining its range of distance from said docking station based on said received carrier signal further comprises: the robot determines a second location area from a second set of carrier signals it receives within a second preset time period after the first preset time period, the second location area being a sub-area of the first location area and the second location area indicating a range of distance of the robot relative to the docking station.

9. The method of claim 8, wherein the offset value of the frequency of each carrier signal in the second set of carrier signals relative to the first frequency is a third offset value that is less than the first offset value, a fourth offset value that is between the first offset value and the second offset value, or a fifth offset value that is greater than the second offset value.

10. The distance detection method of claim 9 wherein said second set of carrier signals includes at least a carrier signal having a fourth frequency, wherein:

when the robot determines that a first location area in which the robot is currently located is a location area outside the second receiving distance range and within the first receiving distance range, an offset value of the fourth frequency relative to the first frequency is the third offset value, and a carrier signal of the fourth frequency corresponds to a fourth receiving distance range that is smaller than the first receiving distance range and larger than the second receiving distance range;

when the robot determines that the first location area where the robot is currently located is a location area outside the third reception distance range and within the second reception distance range, the deviation value of the fourth frequency with respect to the first frequency is the fourth deviation value, and the carrier signal of the fourth frequency corresponds to a fifth reception distance range that is smaller than the second reception distance range and larger than the third reception distance range; and

when the robot determines that the first location area where the robot is currently located is a location area within the third receiving distance range, the deviation value of the fourth frequency with respect to the first frequency is the fifth deviation value, and the carrier signal of the fourth frequency corresponds to a sixth receiving distance range smaller than the third receiving distance range.

11. The distance detection method of claim 10 wherein said robot determining a second location area based on a second set of carrier signals it receives within a second predetermined time period after said first predetermined time period comprises:

when receiving a carrier signal of a fourth frequency having a third deviation value, the robot determines that a second location area is a sub-area outside the second reception distance range and within the fourth reception distance range;

when a carrier signal of a fourth frequency having a third bias value is not correctly received, the robot determines that a second location area is a sub-area outside the fourth reception distance range and within the first reception distance range;

when receiving a carrier signal of a fourth frequency having a fourth deviation value, the robot determines that a second location area is a sub-area outside the third reception distance range and within the fifth reception distance range;

when a carrier signal of a fourth frequency having a fourth bias value is not correctly received, the robot determines that a second position region is a sub-region that is outside the fifth reception distance range and within the second reception distance range;

when receiving a carrier signal of a fourth frequency having a fifth deviation value, the robot determines that a second position area is a sub-area within the sixth reception distance range; and

when the carrier signal of the fourth frequency having the fifth deviation value is not correctly received, the robot determines that the second position area is a sub-area outside the sixth reception distance range and within the third reception distance range.

12. A method of distance detection, the method comprising:

the first device receives carrier signals with different preset frequencies which are continuously transmitted by the second device according to preset interval time; and

the first device determines its range of distance relative to the second device from the received carrier signal.

13. A distance detection system, characterized in that the system comprises:

the first device is used for receiving a carrier signal from the second device and determining the distance range of the carrier signal relative to the second device according to the received carrier signal; and

second means for transmitting a plurality of said carrier signals having different predetermined frequencies at predetermined intervals.

14. The distance detecting system of claim 13, wherein the second device comprises a transmitting element and a control element connected to the transmitting element, the control element is configured to drive the transmitting element to continuously transmit carrier signals with different preset frequencies at preset intervals, and each preset frequency is within a band-pass roll-off interval of the signal receiving module of the first device.

15. The distance detection system of claim 14 wherein said second means further comprises a feedback signal receiving element coupled to said control element for receiving distance feedback data from said first means.

16. The distance detection system according to claim 13, wherein the first device includes a signal receiving module and a control module connected to the signal receiving module, and the control module determines the current location area of the first device according to a receiving distance range corresponding to a carrier signal on each preset frequency correctly received by the signal receiving module within a preset time period.

17. The distance detecting system of claim 16, wherein the control module parses the code information of the carrier signal received by the signal receiving module at each predetermined frequency within a predetermined time period, and if the parsed code information of the carrier signal at any predetermined frequency matches with the corresponding code information pre-stored in the control module, the control module determines that the carrier signal at the predetermined frequency is correctly received.

18. The distance detection system of claim 16 wherein said first means further comprises a signal feedback module coupled to said control module, said signal feedback module configured to:

after a first position area where the first device is located is determined according to a first group of carrier signals with different preset frequencies received by the signal receiving module within a first preset time period, sending distance feedback data about the first position area to the second device, so that the second device transmits a second group of carrier signals based on the distance feedback data to determine a second position area where the first device is located, wherein the second position area is a sub-area of the first position area.

19. The distance detection system of claim 13 wherein said second device is a docking station and said first device is a robot in communicative connection with said docking station.

20. A robot, comprising:

a body;

the signal receiving unit is arranged on the body and comprises a band-pass filter, and the band-pass filter has different attenuation capacities on carrier signals with different preset frequencies; and

a control unit comprising a storage unit and a processing unit, wherein the storage unit stores a computer program that when executed by the processing unit is capable of performing the steps of:

receiving carrier signals with different preset frequencies continuously transmitted by the docking station according to preset interval time; and

determining its range of distance relative to the docking station from the received carrier signal.

21. The robot of claim 20, wherein said processing unit is further configured to:

controlling the signal receiving unit to receive carrier signals with different preset frequencies continuously transmitted by the docking station within a preset time period, wherein each preset frequency is within a band-pass roll-off interval of the signal receiving unit of the robot; and

and determining a current position area of the robot according to the receiving distance range corresponding to the carrier signal on each preset frequency correctly received by the signal receiving unit in the preset time period, wherein the current position area indicates the current distance range of the robot relative to the docking station.

22. The robot of claim 21, wherein the processing unit is further configured to: and analyzing the coding information of the carrier signal on each preset frequency received by the signal receiving unit in a preset time period, and if the analyzed coding information of the carrier signal on any preset frequency is matched with the corresponding coding information prestored in the storage unit, determining that the carrier signal on the preset frequency is correctly received.

23. The robot of claim 20, further comprising a signal feedback unit connected to said control unit; and

the processing unit is further to: when a first position area where the robot is located is determined according to a first group of carrier signals with different preset frequencies received by the signal receiving unit within a first preset time period, the signal feedback unit is instructed to send distance feedback data related to the first position area to the docking station, the signal receiving unit is instructed to receive a second group of carrier signals within a second preset time period in response to a second group of carrier signals sent by the docking station, and a second position area is determined according to the receiving condition of the second group of carrier signals, wherein the second position area is a sub-area of the first position area.

24. A docking station, comprising:

a main body;

a signal transmitter disposed on the body, wherein the signal transmitter continuously transmits carrier signals having different preset frequencies at preset intervals; and

a controller comprising a memory and a processor, wherein the memory stores a computer program that when executed by the processor is capable of performing the steps of:

and continuously transmitting carrier signals with different preset frequencies to a robot in communication connection with the docking station at preset intervals so that the robot determines the distance range of the robot relative to the docking station.

25. The docking station of claim 24, wherein the docking station further comprises a feedback signal receiver connected to the controller;

the processor is further configured to:

controlling the signal transmitter to transmit a first set of carrier signals to the robot to cause the robot to determine a first location area in which it is located, an

Controlling the signal transmitter to transmit a second group of carrier signals according to the distance feedback data which is sent by the robot and is about the first position area and received by the feedback signal receiver, so that the robot determines a second position area where the robot is located currently, wherein the second position area is a sub-area of the first position area;

wherein each preset frequency of the first set of carrier signals and the second set of carrier signals is within a band-pass roll-off interval of a receiver of the robot.

26. A computer readable storage medium storing computer instructions that when executed by a processor perform the steps of:

determining, from received carrier signals having different preset frequencies, a range of a device in which the computer instruction resides relative to a device transmitting the carrier signals, wherein the carrier signals having different preset frequencies respectively correspond to different reception ranges of distances.

27. A computer readable storage medium storing computer instructions that when executed by a processor perform the steps of:

continuously transmitting a first group of carrier signals to a target device according to a preset interval time so that the target device determines a first position area where the target device is located; and

transmitting a second set of carrier signals to the target device to cause the target device to determine a second location area in which it is currently located in accordance with distance feedback data regarding the first location area fed back by the target device, wherein the second location area is a sub-area of the first location area and indicates a range of distances of the target device relative to a device in which the computer instructions reside.