CN113725943A

CN113725943A - Charging stand, recharging method and self-moving equipment

Info

Publication number: CN113725943A
Application number: CN202110785879.5A
Authority: CN
Inventors: 丁民权; 刘振涛; 于昊田
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-07-12
Filing date: 2021-07-12
Publication date: 2021-11-30
Anticipated expiration: 2041-07-12
Also published as: CN113725943B

Abstract

The embodiment of the application provides a charging seat, a recharging method and a self-mobile device. In the embodiment of the application, the charging stand can respectively adopt a first coding mode to externally transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal of which the coding mode is different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part; when the self-mobile device receives the fourth recharging signal, the self-mobile device can move to the charging seat under the guidance of the fourth recharging signal so as to be in butt joint with the charging part to realize recharging. The fourth recharging signal generated by partially overlapping the two recharging signals in space and time sequence has higher stability, the accuracy of the butt joint of the self-mobile equipment and the charging part during recharging is improved, and the recharging efficiency is improved.

Description

Charging stand, recharging method and self-moving equipment

Technical Field

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

Background

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

The existing automatic recharging mode is as follows: the center of the charging seat is provided with two infrared lamps which are symmetrically distributed, the two infrared lamps transmit back charging signals in turn, and after the sweeping robot detects the back charging signals, the back charging action is executed along the back charging signals until the sweeping robot is in butt joint with the charging seat. However, in practical applications, it is difficult to accurately determine the charging reed in the process of docking the sweeping robot with the charging stand, the docking success rate is low, and the user experience is not good.

Disclosure of Invention

Aspects of the present application provide a charging stand, a recharging method, and a self-moving device, so as to improve the accuracy of docking the self-moving device with a charging reed on the charging stand during recharging.

The embodiment of the application provides a charging seat, include: the charging base comprises a charging base body, wherein a charging part, a first signal emitter and a second signal emitter are arranged on the charging base body; the first signal transmitter and the second signal transmitter respectively adopt a first coding mode to transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence to the front of the charging part; the overlapping part of the first recharging signal and the second recharging signal forms a fourth recharging signal with a different coding mode from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part and is used for guiding the self-mobile equipment to travel in the coverage area of the fourth recharging signal so as to be docked with the charging part.

The embodiment of the present application further provides a recharging method, which is applicable to a self-moving device, and the method includes: in the recharging moving process, receiving a target recharging signal transmitted by a charging seat, wherein the charging seat is provided with a charging part, a first signal transmitter and a second signal transmitter; if the received target recharging signal is not the fourth recharging signal, the mobile terminal moves to a coverage area of the fourth recharging signal corresponding to the charging part under the guidance of the received target recharging signal; after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is butted; the first signal emitter and the second signal emitter respectively adopt a first coding mode to emit first recharging signals and second recharging signals which are partially overlapped in space and time sequence towards the front of the charging part, the overlapped part of the first recharging signals and the second recharging signals forms a fourth recharging signal of which the coding mode is different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

An embodiment of the present application further provides a self-moving device, including: the device comprises a device body, a signal receiver, a processor and a memory, wherein the memory is used for storing a computer program; the signal receiver is used for receiving a recharging signal transmitted by a signal transmitter on a charging seat in the recharging moving process, and the charging seat is provided with a charging part, a first signal transmitter and a second signal transmitter; the processor to execute the computer program to: if the received target recharging signal is not the fourth recharging signal, the mobile terminal moves to a coverage area of the fourth recharging signal corresponding to the charging part under the guidance of the received target recharging signal; after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is butted; the first signal emitter and the second signal emitter respectively adopt a first coding mode to emit first recharging signals and second recharging signals which are partially overlapped in space and time sequence towards the front of the charging part, the overlapped part of the first recharging signals and the second recharging signals forms a fourth recharging signal of which the coding mode is different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

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

In the embodiment of the application, the charging stand can respectively adopt a first coding mode to externally transmit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal of which the coding mode is different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part; and when the self-mobile equipment receives the fourth recharging signal, the self-mobile equipment can move to the charging seat under the guidance of the fourth recharging signal so as to be in butt joint with the charging part to realize recharging. The fourth recharging signal generated by partially overlapping the two recharging signals in space and time sequence has higher stability, the accuracy of the butt joint of the self-mobile equipment and the charging part during recharging is improved, and the recharging efficiency is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1a is a schematic diagram of a structure and a signal coverage area of a charging dock according to an embodiment of the present disclosure;

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

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

fig. 1d is a schematic diagram illustrating a positional relationship between a first signal emitter, a second signal emitter and a third signal emitter, which are oppositely disposed in an accommodating cavity of a charging stand according to an embodiment of the present disclosure;

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

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

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

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

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

fig. 2b is a timing diagram of another transmission of a back-charging signal according to an embodiment of the present application;

fig. 2c is a schematic diagram of another process of moving a recharge from a mobile device under the guidance of a recharge signal according to an embodiment of the present application;

fig. 2d is a schematic diagram of another process of moving a mobile device to perform a recharge under the guidance of a recharge signal according to an embodiment of the present application;

FIG. 3a is a schematic diagram of logic levels "1" and "0" provided in the embodiments of the present application;

FIG. 3b is a schematic diagram of logic levels "1" and "0" with the opposite encoding logic as FIG. 3 a;

FIG. 3c is a schematic diagram of an embodiment of the present application providing a recharging signal from a plurality of signal emitters;

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

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

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

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

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the 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.

Before describing the technical solution of the embodiment of the present application in detail, a description is first given of a self-moving device provided in the embodiment of the present application. The self-moving device provided by the embodiment of the application can be any mechanical device capable of autonomously moving in the environment where the self-moving device is located, and for example, the self-moving device can be a robot, a purifier, an unmanned vehicle and the like. The robot may include a floor sweeping robot, a glass cleaning robot, a family accompanying robot, a guest greeting robot, an autonomous service robot, and the like, which are not limited herein. The self-mobile devices can autonomously move by means of the power provided by the rechargeable battery, and have an automatic recharging function, and automatically return to a charging seat adapted with the self-mobile devices for charging when the power is insufficient or other recharging conditions are met.

Under the condition that the self-mobile equipment is determined to have the recharging requirement, the charging seat can outwards transmit a recharging signal for guiding the self-mobile equipment to approach the charging seat, and the recharging signal is in butt joint with the charging part at the position of the charging part moved to the charging seat so as to carry out charging. For example, the self-mobile device, upon detecting a recharge event or receiving a recharge instruction, may send a recharge instruction back to the charging dock to instruct the charging dock to transmit a recharge signal externally. The self-moving equipment can be in communication connection with the charging seat through WiFi, Bluetooth and the like, and sends a charging instruction back to the charging seat through the communication connection. Of course, the charging dock may also transmit the recharging signal to the outside in other ways without sensing whether the mobile device has a recharging requirement, for example, the recharging signal may be always transmitted to the outside by default, or the recharging signal may also be transmitted to the outside within a set time range. In the scheme that the charging stand transmits the recharging signal to the outside within the set time range, the self-mobile equipment is required to be matched, and the self-mobile equipment is required to carry out recharging within the set time range.

Based on the transmission range and stability characteristics of the recharge signal, the received recharge signal may be more unstable when the mobile device is closer to the signal transmitter; moreover, the charging dock may be interfered during the process of transmitting the recharging signal outwards, so that the mobile device cannot accurately determine the position of the charging portion. In view of the above technical problem, an embodiment of the present invention provides a charging dock, where the charging dock can transmit a first recharging signal and a second recharging signal towards a front of a charging portion, the first recharging signal and the second recharging signal partially overlap in space and time sequence, the overlapping portion forms a fourth recharging signal, a coverage area of the fourth recharging signal corresponds to the charging portion on the charging dock, and the fourth recharging signal is mainly used to guide a mobile device to approach the charging dock until the fourth recharging signal is docked with the charging portion for recharging.

The first and second recharging signals have a certain duration, the duration refers to a period of time from the beginning to the end of the transmission, and the first and second recharging signals have a partial overlap in time sequence, that is, the transmission time of one recharging signal is earlier than the end time of the other recharging signal. The first and second recharge signals spatially overlap with each other, which means that the coverage areas of the two recharge signals overlap with each other. In the embodiment of the application, a partial region overlapped by the first and second recharging signals is a coverage region corresponding to the fourth recharging signal, and the coverage region corresponds to the charging portion, so that the mobile device can be accurately docked with the charging portion along the coverage region of the fourth recharging signal under the guidance of the fourth recharging signal; in addition, the fourth recharging signal is formed by the overlapping part of the two recharging signals in time sequence and space, and has higher stability, so that the accuracy of the butt joint of the self-mobile equipment and the charging part can be improved under the guidance of the fourth recharging signal, and the recharging efficiency of the self-mobile equipment is further improved.

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

In the embodiment of the present application, a specific implementation structure of the charging dock is not limited, and any charging dock structure that can provide the fourth recharging signal and the coverage area thereof is suitable for the embodiment of the present application. In the following embodiments, an exemplary charging cradle structure is provided to implement the above-described recharging guidance function. Fig. 1a is a schematic structural diagram of a charging dock according to an embodiment of the present disclosure. As shown in fig. 1a, the charging dock 10 includes a charging dock body, on which a charging part, a first signal emitter L1 and a second signal emitter L2 are disposed; the first signal transmitter L1 and the second signal transmitter L2 are respectively configured to transmit a first recharging signal and a second recharging signal towards the front of the charging unit, and the first recharging signal and the second recharging signal are partially overlapped in space and time sequence to generate a fourth recharging signal.

As shown in fig. 1a, the first recharging signal forms a coverage area in front of the charging dock 10; the second recharging signal also forms a coverage area in front of the charging dock 10; the fourth recharging signal also forms a coverage area in the area in front of the charging unit of the charging dock 10, which is denoted as a fourth signal area S4; the region of the coverage area of the first feedback signal other than the region S4 is referred to as a first signal region, denoted as S1; the area of the coverage area of the second backfill signal other than the fourth signal area S4 is referred to as a second signal area, denoted as S2. As shown in fig. 1a, the region S4 corresponds to the charging section, so the fourth recharge signal can be used to guide the mobile device to travel along the region S4 to interface with the charging section, which is illustrated in fig. 1a as the region S4 facing the charging section.

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

In the embodiment of the present application, the self-mobile device has a recharging function, and when the recharging condition is satisfied, under the guidance of the recharging signal transmitted from the charging dock 10 to the outside, the self-mobile device can gradually approach the charging dock 10 until the self-mobile device is in butt joint with the charging reed 11 on the charging dock 10 to implement recharging. For example, the mobile device may continuously monitor the battery power of the battery supplying power to the mobile device during the traveling process, and when the battery power is lower than the set threshold, it is determined that recharging is required, under the guidance of the recharging signal transmitted from the charging dock 10 to the outside, the mobile device gradually approaches the charging dock 10 until the mobile device is in butt joint with the charging reed 11 on the charging dock 10 to implement recharging. Or, after the mobile device completes the job task, it determines that it needs to return to the charging dock while waiting for a new job command, and under the guidance of the recharging signal transmitted from the charging dock 10 to the outside, it gradually approaches to the charging dock 10 until it is connected to the charging reed 11 on the charging dock 10 to implement recharging. Or, when receiving the recharging instruction, the self-mobile device may gradually approach the charging stand 10 under the guidance of the recharging signal transmitted from the charging stand 10 to the outside until the self-mobile device is in contact with the charging reed 11 on the charging stand 10 to implement recharging, which is not limited in specific manner.

In the embodiment of the present application, in the case that the self-mobile device needs to return to the charging dock 10 for recharging, there are two cases in the position relationship between the self-mobile device and the charging dock 10: case 1, the self-mobile device is already in the coverage area of some recharge signal transmitted outside the cradle 10; in case 2, the self-mobile device is not within the coverage area of any recharge signals transmitted outside of the cradle 10. For case 2, the embodiments of the present application do not limit the way in which the mobile device moves towards the cradle 10 until entering the coverage area of any recharge signal transmitted out of the cradle 10.

Alternatively, in the case that the self-mobile device includes an environment map, the self-mobile device may adopt a planned recharging manner, move to the charging dock 10 until entering the coverage area of any recharging signal according to the position information marked on the charging dock 10 in the environment map, and gradually approach the charging reed 11 on the charging dock 10 according to the guidance of the received recharging signal when entering the coverage area of a certain recharging signal externally transmitted by the charging dock 10, so as to perform recharging by docking with the charging dock. Or, under the condition that there is no environment map in the self-mobile device, the self-mobile device may adopt a detection recharging mode, continuously detect whether a recharging signal is received in the recharging moving process until any recharging signal transmitted by the charging stand 10 to the outside is received, and gradually approach the charging reed 11 on the charging stand 10 according to the guidance of the received recharging signal when entering the coverage area of a certain recharging signal transmitted by the charging stand 10 to the outside, so as to carry out recharging by docking with the charging reed 11. Or, in the case that the self-moving device includes the environment map, the self-moving device may perform the recharging movement by combining the planning recharging and the detection recharging until entering a coverage area of a certain recharging signal transmitted from the charging stand 10 to the outside, and further gradually approach the charging reed 11 on the charging stand 10 according to the guidance of the received recharging signal to perform the recharging by docking with the charging reed.

In the present embodiment, the self-mobile device can receive the recharging signal transmitted by the cradle 10 during the process of moving to the cradle 10. The received recharging signal may be a first recharging signal, a second recharging signal and a fourth recharging signal, and in order to distinguish the recharging signal received from the mobile device from the first recharging signal, the second recharging signal and the fourth recharging signal in description, the received recharging signal is called a target recharging signal; the target recharging signal may be the first recharging signal, the second recharging signal, or the fourth recharging signal. If the target recharging signal transmitted from the charging dock 10 is received, it is determined whether the received target recharging signal is the fourth recharging signal, and if the received target recharging signal is not the fourth recharging signal, the mobile terminal can move to the coverage area S4 of the fourth recharging signal corresponding to the charging reed 11 under the guidance of the received target recharging signal according to the positional relationship between the coverage area of the target recharging signal and the coverage area S4 of the fourth recharging signal. Further, after moving to the coverage area S4 of the fourth recharging signal, it can move toward the charging reed 11 under the guidance of the fourth recharging signal until it is butted against the charging reed 11. If the received target recharge signal is the fourth recharge signal, the target recharge signal can be directly guided by the fourth recharge signal and kept moving toward the charging reed 11 within the coverage area S4 of the fourth recharge signal until the target recharge signal is butted against the charging reed 11.

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

The third recharging signal is encoded in a manner different from the first and second recharging signals, so that when the third recharging signal is received from the mobile device, the third recharging signal is identified according to the encoding manner, and then the mobile device may be first guided to move to the area S1 or the area S2 based on the coverage relationship between the coverage area S3 of the third recharging signal and the area S1 and the coverage area S2 (the coverage relationship may reflect a relative positional relationship between the coverage areas to some extent), and after the mobile device enters the area S1 or the area S2, the mobile device may be further guided to move to the fourth red signal area S4 based on the coverage relationship between the area S1 or the area S2 and the area S4.

In practical applications, the mobile device may have different functions according to different operation requirements, and accordingly, the implementation form of the charging cradle may be different. In the embodiment of the present application, the installation position of the third signal transmitter L3 is not limited, and the installation position of the third signal transmitter L3 may be different according to the form of the charging dock 10, and the following description will exemplarily describe the installation manner of the charging dock corresponding to the third signal transmitter L3 in different forms with reference to the drawings.

Mode a 1: in the case that the charging dock only provides the charging function for the mobile device, the charging reed 11 can be disposed on the outer sidewall of the charging dock body, in this embodiment, a lampshade is disposed outside the first and second signal emitters L1 and L2, and the third signal emitter L3 can be disposed on the top of the lampshade, as shown in fig. 1 c. Further, as shown in fig. 1c, a reflector is disposed above the third signal emitter L3, and is used for reflecting the third recharging signal to the front of the charging reed 11 through the reflector when the third signal emitter L3 emits the third recharging signal upward, so as to form a covered area S3 of the third recharging signal.

In this embodiment, the implementation manner of the reflector above the third signal emitter L3 is not limited, for example, the inner wall of the reflector may be a concave surface, and the number of the concave surfaces corresponding to each other may be one or multiple; for example, the inner wall of the reflector may be a flat surface. As shown in fig. 1c, taking the inner wall of the reflector as an example of a plurality of concave surfaces, when the third signal emitter L3 emits the third recharging signal upwards, the concave surface of the inner wall of the reflector reflects the third recharging signal to the ground in front of the charging reed 11, thereby forming an area S3. Further, the third signal emitter L3 is not limited to be disposed on the top of the lampshade, and may be disposed near the edge of the lampshade, or disposed on the lampshade corresponding to the position between the first signal emitter L1 and the second signal emitter L2. In fig. 1c, the third signal emitter L3 is disposed at the edge of the lampshade and close to the first signal emitter L1.

Mode a 2: under the condition that different functions are realized to the charging seat cooperation that needs from mobile device, the charging seat body can be including being used for holding the chamber that holds from mobile device, and the reed 11 that charges sets up in holding the intracavity to join in marriage from mobile device and advance to holding and accomplish in the chamber and charge or other functions. For example, use as the robot of sweeping the floor from mobile device as an example, in the course of carrying out the operation task, may need to wash the rag, empty the dirt box, change demands such as functional module, correspondingly, can set up corresponding functional unit in the holding chamber of charging seat to after removing to holding the chamber from mobile device, except can realizing charging, can also wash the rag, empty the dirt box, change functions such as functional module.

In this embodiment, since the space in the accommodating cavity is limited, if the third signal emitter L3 is disposed on the top of the charging seat body, even if the third signal emitter L3 is provided with a reflector, the third recharging signal cannot be reflected into the accommodating cavity, and after the mobile device enters the accommodating cavity, there is no guidance of the third recharging signal, which may reduce the accuracy of docking between the mobile device and the charging reed 11. Therefore, in the present embodiment, the third signal transmitter L3 is disposed in the housing cavity between the two charging reeds 11, and the third signal transmitter L3 transmits the third recharging signal toward the front of the charging reeds 11 to form the area S3 in front of the charging reeds 11. Thus, after the self-moving device enters the accommodating cavity, the third recharging signal can still be guided to move to the coverage area S4 of the fourth recharging signal, and the third recharging signal is accurately butted with the charging reed 11.

Fig. 1d is a schematic diagram of a relative position relationship of the first, second and third signal emitters disposed in the accommodating cavity of the charging stand according to this embodiment, as shown in fig. 1d, a lamp cover is disposed outside the first signal emitter L1 and the second signal emitter L2, and the third signal emitter L3 is disposed above the lamp cover. In fig. 1d, a third signal emitter L3 is shown disposed on the lampshade at a position corresponding to the position between the first signal emitter L1 and the second signal emitter L2. In the present embodiment, the third signal transmitter L3 transmits the third recharging signal forward without a reflector on the third signal transmitter L3, and in this case, the area S3 may be formed in front of the charging reed 11. The signal coverage areas formed by the first, second and third signal emitters when emitting the back-charging signal shown in fig. 1d are shown in fig. 1f, and in fig. 1f, the area S3 completely covers the area S1, the area S2 and the area S4, but is not limited thereto.

In the embodiment of the present application, the diameter of the third signal emitter L3 may be larger than the sum of the diameters of the first signal emitter L1 and the second signal emitter L2, so that the coverage width of the region S3 is larger than the sum of the coverage widths of the region S1 and the region S2, and a signal coverage region is formed as shown in fig. 1b and 1 f; in this way, in the case of moving from the mobile device to the area S3, the area S1 or the area S2 can be quickly found according to the position relationship among the coverage areas of the first, second and third outer signals, and then the first moving direction of the coverage area S4 of the fourth recharging signal is determined and the coverage area S4 of the fourth recharging signal is moved along the first moving direction until the fourth recharging signal is received. Accordingly, the length of the coverage area of each recharge signal may depend on the transmission power of the signal transmitter, with the greater the power, the greater the length of the coverage area (i.e., in the direction indicated by the horizontal arrow in fig. 1 f).

In an alternative embodiment of the present application, in order to further ensure that the fourth recharging signal formed by overlapping the first recharging signal and the second recharging signal externally transmitted by the cradle 10 in the area S4 can more accurately guide recharging from the mobile device, an embodiment of the present application further provides a cradle implementation structure. Fig. 1e is a front view of the charging dock provided in this embodiment, and as shown in fig. 1e, the charging dock includes two charging reeds 11, a first signal emitter L1, a second signal emitter L2, and a third signal emitter L3; the two key reeds 11 respectively correspond to the positive pole and the negative pole, a lampshade is arranged outside the first signal emitter L1 and the second signal emitter L2, the third signal emitter L3 is arranged on the lampshade and close to one side of the first signal emitter L1, a reflector is arranged on the third signal emitter L3, the first signal emitter L1 and the second signal emitter L2 are symmetrically arranged between the two charging reeds 11, a black partition plate F1 is arranged between the first signal emitter L1 and the second signal emitter L2, and the black partition plate F1 partially shields the first signal emitter L1 and the second signal emitter L2 respectively, so that the coverage range of the first recharging signal and the second recharging signal cannot be overlapped in a larger range, and a region S4 with stronger directivity is formed right in front of the charging reeds 11 to improve the accuracy of guiding recharging.

In any charging cradle structure, during the recharging process, the mobile device receives the recharging signal, and can find the coverage area S4 of the fourth recharging signal under the guidance of the received recharging signal, and realize the docking with the charging reed under the guidance of the fourth recharging signal. In the above or the following embodiments of the present application, the fourth recharging signal is formed by overlapping the first recharging signal and the second recharging signal in terms of space and time sequence, and the encoding effect of the fourth recharging signal is related to the encoding method adopted by the first recharging signal and the second recharging signal. It should be noted that, in the embodiment of the present application, the encoding manners of the first and second recharging signals are not limited, and may be the same or different, and the following description, with reference to fig. 2a and 2b, exemplifies a process of forming a fourth recharging signal by superimposing the first and second recharging signals in two cases of adopting different encoding manners and the same encoding manner, and finding the coverage area S4 of the fourth recharging signal under the guidance of each recharging signal from the mobile device.

In an alternative embodiment, fig. 2a is a timing diagram of three signal transmitters transmitting the recharging signals, A, B represents two different encoding modes, a represents a signal that is the third recharging signal transmitted by the third signal transmitter L3, B represents a signal that is the first and second recharging signals transmitted by the first and second signal transmitters L1 and L2, the first and second recharging signals are encoded in the same manner, E represents a fourth recharging signal formed by overlapping two B recharging signals, and the first signal transmitter L1 transmits the first recharging signal at an interval t1 after the third signal transmitter L3 transmits the third recharging signal, and the second signal transmitter L2 transmits the second recharging signal at an interval t2 after the third signal transmitter L3 transmits the third recharging signal.

As shown in fig. 2a, taking a set of recharging signals as an example, the third recharging signal is the reference signal, the first recharging signal is transmitted after t1 time of the end of the transmission of the third recharging signal, the second recharging signal is transmitted after t2 time of the end of the transmission of the third recharging signal, and t1 is smaller than t 2. Wherein the time difference between t2 and t1 allows a portion of the bits in the transmitted backfill signal to be transmitted, and taking the example that the backfill signal includes 8 bits, the time difference can transmit 1, 2, 3, 4, 5, 6, or 7 bits. In this embodiment, the first, second and third backfill signals are composed of

logic levels

0 and 1, in addition, the first and second backfill signals partially overlap on the transmission time sequence, and on the overlapped partial time sequence, the logic level "0" and the logic level "1" in the two backfill signals can realize signal superposition according to one of the operation modes of bit and, bit or, bit exclusive or and the like, so as to form a fourth backfill signal encoded by the new encoding mode E. Since the encoding method E of the fourth recharging signal is different from the encoding methods of the first, second, and third recharging signals, when the recharging signal is received from the mobile device, it may be determined that the received recharging signal is the superimposed fourth recharging signal directly according to the encoding method corresponding to the received recharging signal, and if so, it may be determined that the area S4 is currently located. Further, the mobile phone can move to the charging base under the guidance of the fourth recharging signal, and is in butt joint with the charging reed 11 to carry out recharging.

In another alternative embodiment, fig. 2B is a timing diagram of three signal transmitters transmitting the recharge signals, A, B, C represents three different encoding modes, a represents a signal that is a third recharge signal transmitted by a third signal transmitter L3, B represents a first recharge signal transmitted by a first signal transmitter L1, C represents a signal that is a second recharge signal transmitted by a second signal transmitter L2, the first and second recharge signals are encoded differently, D represents a fourth recharge signal formed by superimposing two recharge signals B and C, and the first signal transmitter L1 transmits the first recharge signal at an interval t1 after the third signal transmitter L3 transmits the third recharge signal, and the second signal transmitter L2 transmits the second recharge signal at an interval t2 after the third signal transmitter L3 transmits the third recharge signal.

As shown in fig. 2b, taking a set of recharging signals as an example, the third recharging signal is the reference signal, the first recharging signal is transmitted after t1 time of the end of the transmission of the third recharging signal, the second recharging signal is transmitted after t2 time of the end of the transmission of the third recharging signal, and t1 is smaller than t 2. Wherein the time difference between t2 and t1 allows a portion of the bits in the transmitted backfill signal to be transmitted, and taking the example that the backfill signal includes 8 bits, the time difference can transmit 1, 2, 3, 4, 5, 6, or 7 bits. In this embodiment, the first, second and third backfill signals are composed of

logic levels

0 and 1, in addition, the first and second backfill signals partially overlap on the transmission time sequence, and on the overlapped partial time sequence, the logic level "1" and the logic level "0" in the two backfill signals can realize signal superposition according to one of the operation modes of bit and, bit or, bit exclusive or and the like, so as to form a fourth backfill signal equivalent to the one encoded by the new encoding mode D. Because the encoding method D corresponding to the fourth recharging signal is different from the encoding methods of the first, second, and third recharging signals, when the recharging signal is received from the mobile device, it can be directly determined whether the received recharging signal is the superimposed fourth recharging signal according to the encoding method corresponding to the received recharging signal, and if so, it can be determined that the received recharging signal is currently located in the area S4. Further, the mobile phone can move to the charging base under the guidance of the fourth recharging signal, and is in butt joint with the charging reed 11 to carry out recharging.

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

Case 1, receivingThe destination signal is not the fourth recharge signal:

mode B1:the first and second recharge signals are encoded in different manners, and the third recharge signal is encoded in a different manner than the first and second recharge signals.

Under the condition that the received target recharging signal is not the fourth recharging signal, firstly judging whether the received target recharging signal is the third recharging signal or not; if not, the received target recharging signal can be determined to be the first or second recharging signal; the self-moving apparatus moves to the coverage area S4 of the fourth recharging signal corresponding to the charging reed 11 under the guidance of the received target recharging signal until moving to the coverage area S4 to move to the charging reed under the guidance of the fourth recharging signal until docking with the charging reed. When the target recharging signal is one of the first and second recharging signals, the target recharging signal can be determined to be the first or second recharging signal according to the encoding method of the target recharging signal when the target recharging signal is guided to move to the coverage area S4 corresponding to the fourth recharging signal of the charging reed 11. If the coding mode of the target recharging signal is the same as that of the first recharging signal, determining the target recharging signal as the first recharging signal; and if the coding mode of the target recharging signal is the same as that of the second recharging signal, determining the target recharging signal as the second recharging signal. Further, in conjunction with the set positions of the first signal transmitter L L or the second signal transmitter L2 with respect to the two charging reeds 11, a first moving direction from the mobile device to the coverage area S4 of the fourth recharging signal from the current position (i.e., the position at which the target recharging signal is received) is determined, and the mobile device is moved to the coverage area S4 of the fourth recharging signal along the first moving direction until the fourth recharging signal is received.

Taking the front of the charging spring 11 of the charging stand 10 shown in fig. 1a as a reference direction (horizontal arrow direction in fig. 1 a), the positional relationship between the first and second signal transmitters and the two charging springs 11 is: the first signal transmitter L1 is disposed on the left side of the charging reed 11 corresponding to the negative pole, and the second signal transmitter L2 is disposed on the right side of the charging reed 11 corresponding to the positive pole. Taking the first and second recharging signals as 8-bit binary codes as an example, assuming that the code of the first recharging signal is "11111111" and the code of the second recharging signal is "00000000", if the target recharging signal coded as "11111111111" is received from the mobile device, it is determined that the received target recharging signal is the first recharging signal, and it is determined that the current location is within the area S1, i.e., the right side of the area S4.

Further, according to the positional relationship between the first signal transmitter L1 and the charging reed 11 corresponding to the negative electrode, the first moving direction from the right side of the mobile device can be determined with respect to the moving direction of the mobile device to the charging dock 10 (the direction opposite to the horizontal arrow in fig. 1 a). If a target refill signal encoded as "00000000" is received from the mobile device, it may be determined that the target refill signal is received as the second refill signal, and it may be determined that the current location is within the area S2, i.e., the left side of the area S4. Further, according to the positional relationship between the second signal transmitter and the charging reed 11 corresponding to the positive electrode, the first moving direction can be determined from the left side of the mobile device with respect to the moving direction from the mobile device to the charging stand 10. Further, in the case that the first moving direction is determined, the coverage area S4 of the fourth recharge signal may be moved along the first moving direction until the fourth recharge signal is received. It can be seen that, in the case where the target recharge signal is the first or second recharge signal, there is a guiding effect on the travel from the mobile device to the coverage area S4 of the fourth recharge signal.

Further alternatively, in the case that the received target recharge signal is the third recharge signal, since the region S3 is spatially overlapped with the region S1 or the region S2, in the case that the received recharge signal is determined to be the third recharge signal according to the encoding method from the mobile device, a second moving direction of the mobile device from the current position to the region S1 or the region S2 may also be determined according to the position relationship among the coverage areas of the first, second, and third external signals, and the mobile device may move to the region S1 or the region S2 along the second moving direction until the first or second recharge signal is received. Further, in the case of moving into the area S1 or the area S2, it is determined that the current area is the area S1 or the area S2 according to the encoding method, and the first moving direction to the area S4 is determined according to the positional relationship between the first signal transmitter L1 and the second signal transmitter L2 and the two charging reeds 11, and the current area moves to the coverage area S4 of the fourth recharging signal in the first moving direction until the fourth recharging signal is received, and the current area moves to the charging reeds under the guidance of the fourth recharging signal until the current area is in contact with the charging reeds.

In this embodiment of the application, the manner of determining the second moving direction from the mobile device is not limited, and in an optional embodiment, as shown in fig. 1g, the mobile device 100 moves to the area S3 in the process of moving to the charging dock 10, and in fig. 1g, an example of the current location of the mobile device 100 being close to the area S1 is shown and described, where the case of the mobile device 100 being located in the close area S2 is similar and is not repeated. According to the encoding method of the recharge signal, the self-mobile device 100 may determine whether the received target recharge signal is encoded in the same manner as the third recharge signal, and if so, determine that the self-mobile device is currently located in the area S3.

Further, as shown in fig. 1g, the self-moving device 100 may adopt a detection mode, and use a left direction, a right direction or a moving direction relative to the moving direction as a second moving direction, and move to the second moving direction until receiving the first recharging signal. Further, the self-moving apparatus 100 may determine to enter the zone S1 at this time in case of the received first refill signal, and determine a first moving direction moving from the current position to the zone S4 according to the positional relationship of the zone S1 and the zone S4 to continue moving in the first moving direction until receiving a fourth refill signal to determine to enter the zone S4. Further, the cradle 10 moves along the area S4 under the guidance of the fourth recharging signal received later, and is docked with the charging reed 11 for recharging.

In another alternative embodiment, to improve the accuracy of finding the region S1 from the mobile device 100, the edge of the region S3 may be determined from where the mobile device 100 started receiving the refill signal. As shown in fig. 1h, the self-moving apparatus 100 can move from the current location to the edge location of the area S3, and move any one direction of the edge of the area S3 to the second moving direction of the area S1. As shown in fig. 1h, the mobile device may move in the second moving direction (the R direction from the right side of the mobile device 100 in fig. 1h is taken as the second moving direction) from the left or right direction of the mobile device to the region S1 along the edge of the region S3 until the first recharging signal is received.

In this embodiment, if the second moving direction is a direction away from the area S1, the self-moving device 100 may turn to move to the boundary of the edge of the area S3 and continue to move in the opposite direction; or, after the first charging station collides with the sidewall of the charging stand or another obstacle (such as a wall), the direction is reversed, that is, the first charging station continues to move in the opposite direction until the first recharging signal is received. For example, as shown in fig. 1h, if the mobile device 100 uses the direction L as the second moving direction, when moving to the sidewall of the charging dock, the mobile device continues to move in the direction R until receiving the first recharging signal. Further, the self-mobile device 100 may determine to enter the zone S1 in case of the received first refill signal, and determine a first moving direction to move to the zone S4 to move in the first moving direction according to a positional relationship of the zone S1 and the zone S4 until receiving a fourth refill signal to determine to enter the zone S4. Further, the mobile phone is guided by the fourth recharging signal to move to the charging stand 10 to be in contact with the charging reed 11, and recharging is performed. In the process of moving to the charging dock 10 under the guidance of the fourth recharging signal, the self-moving device 100 can also continuously adjust its moving direction.

Mode B2:the first recharging signal and the second recharging signal have the same coding mode; for convenience of distinction and description, the coding method adopted by the first and second recharge signals is referred to as a first coding method, and the coding method adopted by the third recharge signal is referred to as a second coding method, wherein the second coding method is different from the first coding method.

It should be noted that, in the case that the first and second recharging signals are encoded in the same manner, and the target recharging signal received from the mobile device is not the fourth recharging signal, recharging guidance needs to be performed in cooperation with the third recharging signal transmitted by the third signal transmitter, that is, the case applies to the charging cradle having the relative position relationship of the signal transmitters shown in fig. 1c to 1 d.

In an optional embodiment, for the charging dock having the relative position relationship of the signal transmitters shown in fig. 1c to 1d, the charging dock body is further provided with a processor, which is configured to control the first, second, and third signal transmitters to transmit a plurality of sets of recharging signals to the outside according to a set transmission timing sequence when the mobile device needs recharging, so as to guide the mobile device to recharge. Each group of the back-charging signals comprises a third back-charging signal which is transmitted firstly, and a first back-charging signal and a second back-charging signal which are transmitted successively according to different transmission time delays after the third back-charging signal is transmitted, namely, the first back-charging signal and the second back-charging signal are transmitted between two adjacent third back-charging signals, and the transmission time delays of the first back-charging signal and the second back-charging signal are different relative to the third back-charging signal. In this case, when moving from the mobile device to an overlapping area of the area S3 and the area S1 or the area S3 and the area S2, the first or second backfill signal may be received again at a different point in time after the third backfill signal is received, which is determined by the transmission time delay of the first and second backfill signals with respect to the third backfill signal. For the corresponding timing relationship between the first, second and third signal emitters for emitting the recharging signal, reference may be made to fig. 2a and 2b and the corresponding embodiments, which are not repeated herein.

In this embodiment, if the mobile device receives the first or second recharge signal, since the second encoding method of the third recharge signal is different from the first encoding method of the first and second recharge signals, the mobile device may determine that the target recharge signal is not the third recharge signal according to the encoding method of the target recharge signal when receiving the target recharge signal. Since the first and second recharging signals are encoded in the same manner, the target recharging signal cannot be distinguished by the encoding manner, and therefore, it can only be determined that the target recharging signal is one of the first or second recharging signals. Further, if a third recharge signal is received at a time before the target recharge signal is received, which indicates that the mobile device is already in an overlapping area of the area S3 and the area S1 or the area S3 and the area S2, the target recharge signal can be determined to be the first or the second recharge signal according to the time interval between the third recharge signal and the target recharge signal and the transmission time delay of the first recharge signal and the second recharge signal relative to the third recharge signal.

Based on the timing relationship of the three signal transmitters transmitting the recharge signals shown in fig. 2a, if the target recharge signal is received from the mobile device at time t1 after the third recharge signal is received, the first recharge signal is determined, and if the target recharge signal is received at time t2 after the third recharge signal is received, the second recharge signal is determined. Further, in conjunction with the set positions of the first signal transmitter L1 or the second signal transmitter L2 with respect to the two charging reeds 11, respectively, a first moving direction of the mobile device from the current position (i.e., the position at which the target recharging signal is received) to the coverage area S4 of the fourth recharging signal is determined, and the mobile device is moved in the first moving direction to the coverage area S4 of the fourth recharging signal until the fourth recharging signal is received.

Further, if the third recharge signal is not received at the previous time when the target recharge signal is received, which indicates that the mobile device is not in the overlapping area of the area S3 and the area S1 or the area S3 and the area S2 at this time, the mobile device continues to move under the guidance of the target recharge signal until the mobile device moves to the overlapping area of the third recharge signal and the target recharge signal, and determines that the target recharge signal is the first or second recharge signal according to the time interval when the third recharge signal and the target recharge signal are received in the overlapping area (the target recharge signal at this time is the target recharge signal received again) in sequence, in combination with the transmission delay of the first and second recharge signals with respect to the third recharge signal. Further, in conjunction with the set positions of the first signal transmitter L L or the second signal transmitter L2 with respect to the two charging reeds 11, respectively, a first moving direction of the mobile device from the current position (i.e., the position at which the target recharging signal is received) to the coverage area S4 of the fourth recharging signal is determined, and the mobile device moves in the first moving direction to the coverage area S4 of the fourth recharging signal until the fourth recharging signal is received.

The third signal emitter L3 is disposed on the top of the lampshade corresponding to the first and second signal emitters L1 and L2, and the above embodiment is exemplified with reference to fig. 2c and 2 d.

Example 1: the self-moving device has moved to an overlapping region of the first or second recharge signals and the third recharge signal.

As shown in fig. 2c, when the mobile device 100 moves to the first position and receives the third recharge signal and the target recharge signal, it is determined that the current region is an overlapping region of the region S3 and the region S1 or the region S3 and the region S2 according to the encoding method. Further, in combination with the transmission delays of the first and second backfill signals relative to the third backfill signal, the current region can be determined to be the overlapping region of the region S3 and the region S1. Further, according to the installation position of the first signal transmitter L1 relative to the two charging reeds 11, the first moving direction of the mobile device 100 to the area S4 (i.e. the right side of the moving direction of the charging dock 10) is determined, and the mobile device moves to the area S4 along the first moving direction until receiving the fourth recharging signal, so as to move to the charging dock 10 under the guidance of the fourth recharging signal, and then the mobile device is docked with the charging reeds 11 for recharging.

Example 2: the self-moving device has not moved to the overlapping region of the first or second recharge signals and the third recharge signal.

As shown in fig. 2d, when the mobile device 100 moves to the second location and receives the target recharge signal, it may be determined that the mobile device is currently located in the area S1 or the area S2 according to the encoding method of the target recharge signal, but does not receive the recharge signal encoded in the same manner as the third recharge signal, and it is determined that the mobile device has not moved to the overlapping area between the area S3 and the area S1 or between the area S3 and the area S2, and the mobile device 100 may continue to move under the guidance of the target recharge signal until the third recharge signal is received, which means that the mobile device has moved to the overlapping area between the first or second recharge signal and the third recharge signal. Further, in the case where the third recharge signal and the target recharge signal are sequentially received from the mobile device 100, it may be determined that it is currently in an overlapping area of the area S3 and the area S1 or the area S3 and the area S2. Further, combining the transmission time delays of the first and second backfill signals relative to the third backfill signal, it can be determined that the current region is the overlapping region of the region S3 and the region S1, as shown in fig. 2 d. Further, according to the position of the first signal transmitter L1 relative to the two charging reeds 11, the first moving direction of the mobile device 100 to the area S4 (i.e. the right side of the moving direction of the charging dock 10) can be determined, and the mobile device moves to the area S4 along the first moving direction until receiving the fourth recharging signal, so as to move to the charging dock 10 under the guidance of the fourth recharging signal, and then dock with the charging reeds 11 for recharging.

It should be noted that, in the embodiment of the present application, the various recharging signals may be composed of several bits of logic level "1" and logic level "0"; here, the logic levels "1" and "0" may be represented by different signal waveforms, each of which is composed of a high-level signal and a low-level signal. Optionally, as shown in fig. 3a, the duration time corresponding to the logic level "1" and the logic level "0" are both T, where for the logic level "1", the duration time of the high level in the corresponding signal waveform is T3, the duration time of the low level is T4, and T3 is greater than T4; accordingly, for a logic level "0", the duration of the high level in the corresponding signal waveform is t5, the duration of the low level in the corresponding signal waveform is t6, and t5 is less than t 6.

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

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

Further optionally, in order to reduce the difficulty of decoding the backfill signal from the mobile device, according to the characteristics of the backfill signal, the signal transmitter may be controlled to transmit a backfill signal with 7 bits to the outside, so that the fourth backfill signal formed by overlapping the first backfill signal and the second backfill signal with one bit staggered is 8 bits, which may reduce the complexity of decoding the received backfill signal from the mobile device and improve the decoding efficiency.

Further optionally, the backfill signals emitted by the first, second and third signal emitters may contain a pilot code and a signal code following the pilot code. Optionally, the backfill signal externally transmitted by each signal transmitter may include a 1-bit pilot code + 7-bit signal code. The pilot code is used for representing the start of the recharging signal, and the signal code is used for distinguishing different recharging signals; generally, the signal codes corresponding to different recharge signals are different; the corresponding pilot codes for different recharge signals may be the same or different. The method comprises the steps of identifying according to bits when a wireless signal is received from the mobile equipment, determining that the received wireless signal is a recharging signal if a code value corresponding to the current wireless signal bit is identified to be a guide code, identifying the next 7-bit signal, determining the type and the decoding mode of the recharging signal according to the identification result, and decoding the recharging signal. Furthermore, under the condition that the code value corresponding to the current signal bit is identified as the guide code, the guide code can be marked as a decoding state, and the decoding state of the guide code can be cleared after the backfill signal is decoded, so that the probability of false identification of other sensors is reduced.

In the above-described embodiments, the signal waveform corresponding to the pilot code is not limited. Optionally, in the signal waveform corresponding to the pilot code, the duration of the high level is T1, and the duration of the low level is T2, further optionally, the duration of the high level and the low level in the pilot code may also have a certain ratio relationship, for example, 2 × T1 — T2, which needs to be distinguishable from the ratio relationship between the duration of the high level and the low level in the logic level "0" and the logic level "1" in the signal code. Further, the specific sizes of T1 and T2 are not limited, and are applicable to the present embodiment as long as the transmission period requirement of the back-charging signal is satisfied. For example, in the case where the recharge signal is an infrared signal, the T1 range may be set to 2.1ms to 2.5ms in order to reduce the possibility of interference by other signals in consideration of the characteristics of the infrared signal, and the size of T2 may be determined by the ratio relation with T1.

It is noted that, for the first, second and third recharging signals, the recharging signals can be loaded on a carrier signal and transmitted. Optionally, in the case that the first, second, and third recharging signals are infrared signals, 38K carrier signals may be adopted, and for the first and second infrared signals, the first and second infrared signals may be loaded onto the 38K carrier signal with the duty ratio of 1/6 to be transmitted, and for the third infrared signal, the third infrared signal may be loaded onto the 38K carrier signal with the duty ratio of 1/3 to be transmitted, so that the anti-interference performance may be improved, and the infrared transceiving characteristics may be better.

In the embodiment of the present application, the number of signal transmitters on the charging dock is not limited, and 2 are taken as an example for the above description. Alternatively, the number of signal emitters on the charging dock may be multiple, and the number of signal emitters may be an odd number, such as 5, or an even number, such as 4. In the case that the number of the signal emitters is odd, for example, 5, one of the signal emitters may be disposed as the third signal emitter on the top of the corresponding lamp housing of the remaining 4 signal emitters, the remaining 4 signal emitters may be symmetrically disposed between the two charging springs, the middle two of the signal emitters may be the first and second signal emitters, and the outer two of the signal emitters may be the fourth and fifth signal emitters. Wherein the fourth and fifth signal emitters emit the recharge signal in a manner similar to the third signal emitter, primarily to create an overlap region with the first, second and third infrared signals, to more conveniently and quickly guide the mobile device to gradually move toward the overlap region S4 of the first and second infrared signals. Alternatively, in the case where the plurality of signal emitters is an even number, for example, 4 signal emitters may be symmetrically disposed between two charging reeds, the central two being the first and second signal emitters, and the outer two being the fourth and fifth signal emitters. Wherein the fourth and fifth signal emitters emit the recharge signal in a manner similar to the third signal emitter described above, primarily to create an overlap region with the first and second infrared signals for more convenient and faster guidance of the mobile device to gradually move toward the overlap region S4 of the first and second infrared signals. Furthermore, a black partition plate can be arranged between the two groups of symmetrically arranged signal receivers, the black partition plate has the main function of preventing opposite-end recharging signals, the overlapping coverage area formed by the two groups of recharging signals is not too large, and the accuracy of recharging guide is improved.

Further alternatively, in the case that the signal transmitter is plural, the recharging signals may be sequentially transmitted among the plural signal transmitters, and assuming that the plural signal transmitters are 5, respectively, the first, second, third, fourth and fifth signal transmitters, for convenience of description, the third signal transmitter is denoted as E1, the first and second signal transmitters are denoted as E2 and E4, respectively, and the fourth and fifth signal transmitters are denoted as E3 and E5, respectively, and then the E2, E3, E4 and E5 signal transmitters may transmit the recharging signals with different time delays with respect to the signal transmitter E1. As shown in fig. 3c, the above-mentioned 5 recharging signals are taken as an example for sequentially transmitting the recharging signals, wherein the coding method of the pilot code and the signal code transmitted by E1 is different from the coding method of the pilot code and the signal code transmitted by E2, E3, E4 and E5, and the coding method of the pilot code and the signal code transmitted by E2, E3, E4 and E5 is the same. After the recharging signal is transmitted by E1 at s1 time E2, the recharging signal is transmitted by E4 after s2 time, the recharging signal is transmitted by E3 after s3 time, and the recharging signal is transmitted by E5 after s4 time, so that the transmission period corresponding to the signal group transmitted by E1, E2, E3, E4 and E5 is s1+ s2+ s3+ s 4. The specific sizes of s1, s2, s3 and s4 are not limited in this embodiment, and any method that ensures the sum of s1, s2, s3 and s4 meets the requirement of a signal emission period is suitable for this embodiment. For example, in the case that the recharge signal is an infrared signal, the preset signal transmission period threshold may be 150ms to 250ms in consideration of the characteristics of the infrared signal, and then the signal transmission period is: 150ms < s1+ s2+ s3+ s4<250 ms.

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

in the embodiment, when the self-mobile device receives the recharging signal, if the received recharging signal is determined to be the superimposed signal of the first recharging signal and the second recharging signal according to the encoding method of the recharging signal, and the fourth recharging signal of the target recharging signal is determined, the self-mobile device can directly continue to move to the charging stand 10 under the guidance of the fourth recharging signal until the self-mobile device is docked with the charging reed 11 for recharging. Taking the third signal emitter L3 as an example, which is disposed on the top of the lamp shade of the first and second signal emitters L1 and L2, fig. 4 is a schematic diagram of the recharging process of the mobile device under the guidance of the fourth recharging signal in this embodiment, as shown in fig. 4, the mobile device 100 moves to the third position during the recharging process, receives the recharging signal after continuing to move forward for a certain distance, and determines that the received recharging signal is the superimposed signal of the first and second recharging signals according to the encoding manner of the recharging signal, that is, the fourth recharging signal, and then the mobile device 100 can continue to move forward under the guidance of the fourth recharging signal until it is close to the charging dock with the charging reed 11 for recharging.

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

In an alternative embodiment, in order to ensure that the self-moving device can still be accurately docked near the charging reed 11, when the positions of the first and second signal transmitters L1 and L2 are set, the position where the recharging signals transmitted by the two transmitters are first superimposed on each other in space should be ensured, and the distance relative to the charging reed 11 is not greater than the preset distance of recharging docking, so as to ensure that the self-moving device can still be accurately docked with the charging reed 11 when the fourth recharging signal cannot be received when the self-moving device is near the charging reed 11.

Further optionally, in order to ensure that the charging reeds 11 can be accurately butted, the first and second signal transmitters L1 and L2 may be symmetrically disposed on two sides of the central axis between the two charging reeds 11, so that an area S4 formed by superimposing the first and second recharging signals is directly in front of the central axis of the two charging reeds 11; of course, it is not limited to this, in the case that the diameters of the coverage areas of the recharging signals emitted by the first and second signal emitters L1 and L2 are different, the coverage areas may be asymmetrically arranged between or outside the two charging reeds 11, but it should be ensured that the area S4 formed by overlapping the first and second recharging signals is right in front of the central axis of the two charging reeds 11.

In the above embodiments of the present application, the signal type of each of the back-fill signals is not limited, and may be, for example, Ultra Wide Band (UWB). Preferably, first, second and third signal transmitters are used, and accordingly, the first, second, third and fourth refill signals may be. Wherein, the third and the fourth coding modes are different from the first and the second coding modes. In an alternative embodiment, the first and second encoding manners may be the same or different, and are not limited thereto.

In the embodiment of the application, the charging stand can control the first signal emitter, the second signal emitter and the third signal emitter to emit a plurality of groups of recharging signals outwards according to a set emission time sequence so as to guide the mobile device to recharge; and the first and second backfill signals are partially overlapped in space and time sequence, and a fourth backfill signal with a new coding mode can be formed after the overlapping. The coverage area of the fourth recharging signal is in front of the charging reed, and when the fourth recharging signal is received from the mobile equipment, the coverage area can move to the charging seat under the guidance of the fourth recharging signal so as to be in butt joint with the charging reed for recharging. The fourth recharging signal generated by superposition has higher stability, and is beneficial to promoting the accurate butt joint of the self-moving equipment and the charging reed.

Based on the above, an embodiment of the present application further provides a recharging method, which is applicable to a self-moving device. Fig. 5 is a flowchart of the refilling method, and as shown in fig. 5, the method includes:

p1, in the process of recharging, receiving the target recharging signal transmitted by the charging seat, wherein the charging seat is provided with a charging part, a first signal transmitter and a second signal transmitter;

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

p3, after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until butting with the charging part;

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

In an alternative embodiment, if the received target recharge signal is the fourth recharge signal, the target recharge signal is guided by the fourth recharge signal to move towards the charging part until the target recharge signal is docked with the charging part.

In an optional embodiment, when the target recharging signal is guided to move to the coverage area of the fourth recharging signal corresponding to the charging part, the target recharging signal can be determined to be the first or second recharging signal according to the encoding mode of the target recharging signal; determining a first moving direction of the mobile equipment moving from the current position to the coverage area of the fourth recharging signal by combining the setting position of the first or second signal transmitter relative to the charging part; and moving to the coverage area of the fourth recharging signal along the first moving direction until the fourth recharging signal is received.

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

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

In an optional embodiment, if the third recharging signal is not received at the previous moment when the target recharging signal is received, the movement is continued under the guidance of the target recharging signal until the movement reaches the overlapping area of the third recharging signal and the target recharging signal; and determining the target recharging signal as the first recharging signal or the second recharging signal according to the time interval of receiving the third recharging signal and the target recharging signal in the overlapping area in sequence and by combining the transmission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

In an alternative embodiment, the first, second and third signal emitters may employ infrared emitters, and accordingly, the first, second and third recharge signals may be infrared signals; the first infrared signal and the second infrared signal adopt a first coding mode, the third infrared signal adopts a second coding mode, and the second coding mode is different from the first coding mode. Each infrared signal comprises a guide code and a signal code, and the signal code is positioned behind the guide code; the infrared signal may be composed of

several bits

0 and 1, where the

bits

0 and 1 are represented by high and low levels with different ratios, as shown in fig. 3a and fig. 3 b. The difference between the first coding mode and the second coding mode mainly means that the signal waveforms corresponding to the signal codes coded by the two coding modes are different, and the signal waveforms corresponding to the pilot codes may be the same or different, and are not limited herein.

It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of steps P1 to P3 may be device a; for another example, the execution subjects of steps P1 and P2 may be device a, and the execution subject of step P3 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations occurring in a specific order are included, but it should be clearly understood that the operations may be executed out of the order they appear herein or in parallel, and the order of the operations, such as P1, P2, etc., is merely used to distinguish various operations, and the order of the operations does not represent any execution order per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

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

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

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

In the embodiment of the present application, the implementation form of the processor 31 is not limited, and may be, for example, but not limited to, a CPU, a GPU, an MCU, or the like. The processor 31 may be regarded as a control system of the self-moving device and may be configured to execute a computer program stored in the memory 32 to control the self-moving device to implement corresponding functions and perform corresponding actions or tasks. It should be noted that, according to the implementation form and the scene of the mobile device, the functions, actions or tasks to be implemented may be different; accordingly, the computer programs stored in the memory 32 may vary, and execution of different computer programs by the processor 31 may control the mobile device to perform different functions, perform different actions or tasks.

In an alternative embodiment of the present application, the self-moving device may include a device body, and optionally, the processor 31 and the memory 32 may be provided on the device body, which is an execution mechanism of the self-moving device, and may execute an operation designated by the processor 31 in a certain environment. The device body embodies the appearance of the autonomous mobile device to a certain extent. In the present embodiment, the appearance of the autonomous mobile apparatus is not limited. Of course, the shape of the autonomous mobile device may vary depending on the implementation of the autonomous mobile device. Taking the outer contour shape of the autonomous mobile device as an example, the outer contour shape of the autonomous mobile device may be an irregular shape or some regular shapes. For example, the outer contour shape of the autonomous mobile apparatus may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop, or a D-shape. The irregular shape other than the regular shape is called, and for example, an outer contour of a humanoid robot, an outer contour of an unmanned vehicle, or the like belongs to the irregular shape.

In some alternative embodiments, the mobile device may also include other components such as a display 33, a power component 34, and a communications component 35. Only some of the components are schematically shown in fig. 6a, which does not mean that the self-moving device only includes the components shown in fig. 6a, and the self-moving device may further include other components for different application requirements, for example, in the case that there is a requirement for voice interaction, as shown in fig. 6a, the self-moving device may further include an audio component 6; further, in order to receive the recharging signal transmitted by the signal transmitter on the charging stand during recharging, as shown in fig. 6a, the self-moving device may further include a signal receiver 37 for receiving the recharging signal transmitted by the charging stand to guide recharging. For example, as shown in fig. 6b, if the self-moving device is a sweeping robot, the self-moving device may further include components such as a driving wheel, a dust box, a ground brush, and a dtof (Direct Time Of flight) or lds (laser Direct structuring) that uses laser radar for detection or navigation, which are not limited herein.

In the embodiment of the present application, when the processor 31 executes the computer program in the memory 32, it is configured to: if the received target recharging signal is not the fourth recharging signal, the mobile terminal moves to the coverage area of the fourth recharging signal corresponding to the charging part under the guidance of the received target recharging signal; after moving to the coverage area of the fourth recharging signal, moving towards the charging part under the guidance of the fourth recharging signal until the charging part is butted; the first signal emitter and the second signal emitter respectively adopt a first coding mode to emit a first recharging signal and a second recharging signal which are partially overlapped in space and time sequence towards the front of the charging part, the overlapped part of the first recharging signal and the second recharging signal forms a fourth recharging signal of which the coding mode is different from the first coding mode, and the coverage area of the fourth recharging signal corresponds to the charging part.

In an alternative embodiment, if the target recharge signal received from the mobile device is the fourth recharge signal, the processor 31 is configured to: and controlling the self-moving equipment to move towards the charging part under the guidance of the fourth recharging signal until the self-moving equipment is butted with the charging part.

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

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

In an alternative embodiment, the first and second backfill signals are transmitted between two adjacent third backfill signals, and the transmission time delays of the first and second backfill signals relative to the third backfill signals are different, then the processor 31 is configured to, when determining that the target backfill signal is the first or second backfill signal according to the coding mode of the target backfill signal: determining the target recharging signal to be one of the first recharging signal and the second recharging signal according to the coding mode of the target recharging signal; and if a third recharging signal is received at the moment before the target recharging signal is received, determining the target recharging signal to be the first recharging signal or the second recharging signal according to the time interval of receiving the third recharging signal and the target recharging signal and by combining the transmission time delay of the first recharging signal and the transmission time delay of the second recharging signal relative to the third recharging signal.

In an optional embodiment, if the mobile device does not receive the third recharging signal at the previous time when the target recharging signal is received, the processor 31 controls the mobile device to continue moving under the guidance of the target recharging signal until the mobile device moves to the overlapping area of the third recharging signal and the target recharging signal; and determining the target recharging signal as the first or second recharging signal according to the time interval of receiving the third recharging signal and the target recharging signal in the overlapping area in sequence and by combining the transmission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

Accordingly, the present application further provides a computer readable storage medium storing a computer program, which when executed, can implement the steps that can be executed by the self-moving device in the above method embodiments.

In another optional embodiment, for example, to improve the accuracy of the recharging and docking of the self-moving device, the self-moving device may be provided with a plurality of signal receivers, wherein the plurality of signal receivers are even number and symmetrically arranged between two charging contacts corresponding to two charging reeds on the charging stand on the self-moving device; or, the parts are symmetrically arranged between the two charging contacts corresponding to the two charging reeds on the charging seat, and the parts are respectively symmetrically arranged at the outer sides of the two charging contacts corresponding to the two charging reeds on the charging seat, which is not limited herein. In another alternative embodiment, a black partition board is arranged between two groups of symmetrically arranged signal receivers, and optionally, the arrangement position of the black partition board is located on the same horizontal plane of the plurality of signal receivers. The black partition board is used for changing the coverage range of the recharging signals received by the two sides of the partition board, so that the overlapping coverage area formed by the two groups of recharging signals is not too large, and the accuracy of recharging guide is improved.

Fig. 6b is a top view of the self-moving device of this embodiment, and fig. 6b illustrates an example of 2 signal receivers, and as shown in fig. 6b, the self-moving device includes first and second signal receivers J1 and J2 symmetrically disposed between two charging contacts k1 and k2 of the self-moving device corresponding to two charging reeds on the charging dock, for receiving the recharging signals transmitted by the charging dock from different directions. In this embodiment, a plurality of signal receivers may be disposed at different positions on the mobile device, and the direction of the mobile device relative to the charging dock may be determined according to the time difference between the different signal receivers receiving the recharging signal. For example, as shown in fig. 6b, when receiving the recharging signal from the mobile device in the traveling direction, if the first signal receiver J1 receives the recharging signal first and the second signal receiver J2 receives the recharging signal later, it can be determined that the left side of the traveling direction of the mobile device is closer to the charging dock, and the movement of the mobile device to the left side of the traveling direction can be adjusted; further, based on the information of the time difference between the first and second signal receivers J1 and J1 receiving the back-charging signal, the propagation speed of the back-charging signal, and the position relationship between the first and second signal receivers J1 and J1, the angle adjusted by the mobile device is determined so that the first and second signal receivers J1 and J1 receive the back-charging signal at the same time. At this moment, the traveling direction of the mobile equipment can be determined to be opposite to the emission direction of the recharging signal, and then the mobile equipment can be controlled to continue moving towards the traveling direction until the mobile equipment is in butt joint with the charging reed of the charging seat.

In addition, as shown in fig. 6b, a black partition F2 is disposed between the first and second signal receivers J1 and J2, in this embodiment, on one hand, the partition F2 can change the coverage of the recharging signals received by the first and second signal receivers J1 and J2, so as to ensure that the overlapping coverage area formed by the two sets of recharging signals is not too large, and improve the accuracy of recharging guidance; on the other hand, when the recharging signal is transmitted from one side of the mobile device to the mobile device, only the signal receiver close to one side of the charging seat can receive the recharging signal, the moving direction of the mobile device is adjusted according to the received recharging signal, and when the relative angle between the moving direction of the mobile device and the transmitting direction of the recharging signal reaches a preset threshold value, the signal receiver far away from the charging seat from the other side of the mobile device can also receive the recharging signal. In this case, the charging cradle may be substantially determined to be in front of the mobile device, i.e., left front, right front, or front of the mobile device in the traveling direction, and based on this, the mobile device may further adjust the traveling direction according to the time slot in which the signal receivers on both sides receive the recharging signal.

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

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

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

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

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

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

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

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

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

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

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

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

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A charging stand, comprising: the charging base comprises a charging base body, wherein a charging part, a first signal emitter and a second signal emitter are arranged on the charging base body;

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

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

2. The charging dock of claim 1, wherein the charging dock body further comprises a third signal transmitter configured to transmit a third recharging signal towards the front of the charging unit in a second encoding manner, and a coverage area of the third recharging signal is at least partially overlapped with a coverage area of the fourth recharging signal in space; wherein the third recharge signal is used to assist in directing the self-mobile device to move towards the coverage area of the fourth recharge signal if the self-mobile device enters its coverage area; the second encoding scheme is different from the first encoding scheme.

3. The charging dock of claim 2, wherein the charging portion is disposed on an outer sidewall of the charging dock body, a lamp shade is disposed outside the first and second signal emitters, the third signal emitter is disposed on a top of the lamp shade, and a reflector is disposed above the third signal emitter; wherein the third signal emitter emits the third recharging signal upwards, and the third recharging signal is reflected to the front of the charging part through the reflector.

4. The charging dock of claim 2, wherein the charging dock body comprises a receiving cavity for receiving the mobile device, the charging portion is disposed in the receiving cavity, the third signal transmitter is disposed in the receiving cavity and above the charging portion, and the third signal transmitter transmits the third recharging signal towards the charging portion.

5. The charging dock of any one of claims 2 to 4, wherein the charging dock body is further provided with a processor, configured to control the first, second, and third signal transmitters to transmit multiple sets of recharging signals to the outside according to a set transmission timing sequence when the self-mobile device needs recharging, so as to guide the self-mobile device to recharge; each group of recharging signals comprises a third recharging signal which is transmitted firstly, and a first recharging signal and a second recharging signal which are transmitted in sequence according to different transmission time delays after the third recharging signal is transmitted.

6. A charging stand according to any of claims 1 to 4, wherein a black partition is provided between the first and second signal emitters.

7. The charging cradle of any of claims 1-4, wherein the first, second or third recharge signal comprises a pilot code and a signal code following the pilot code; wherein, the signal codes of different recharging signals are different.

8. The charging dock of any one of claims 1 to 4, wherein the charging section comprises two charging reeds, and the first signal emitter and the second signal emitter are symmetrically disposed between the two charging reeds.

9. A method of recharging, adapted for use with an autonomous mobile device, the method comprising:

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

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

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

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

10. The method of claim 9, further comprising:

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

11. The method of claim 9, wherein moving towards a coverage area corresponding to a fourth recharge signal of the charging portion under guidance of the received target recharge signal comprises:

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

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

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

12. The method of claim 11, further comprising:

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

determining a second moving direction in which the self-mobile device moves from the current position to the coverage area of the first or second recharge signal;

moving to the coverage area of the first or second recharging signal along the second moving direction until the first or second recharging signal is received;

the third recharge signal adopts a second coding mode different from the first coding mode, and the coverage area of the third recharge signal at least partially overlaps with the coverage areas of the first, second and fourth recharge signals.

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

determining the target recharging signal to be one of the first recharging signal and the second recharging signal according to the coding mode of the target recharging signal;

and if a third recharging signal is received at the moment before the target recharging signal is received, determining the target recharging signal to be the first or second recharging signal according to the time interval between the third recharging signal and the target recharging signal and the transmission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

14. The method of claim 13, further comprising:

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

and determining the target recharging signal as the first recharging signal or the second recharging signal according to the time interval of receiving the third recharging signal and the target recharging signal in the overlapping area in sequence and by combining the transmission time delay of the first recharging signal and the second recharging signal relative to the third recharging signal.

15. An autonomous mobile device, comprising: the device comprises a device body, a signal receiver, a processor and a memory, wherein the memory is used for storing a computer program;

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

the processor to execute the computer program to:

16. The self-moving device as claimed in claim 15, wherein the charging part comprises two charging springs, two charging contacts corresponding to the two charging springs are provided on the self-moving device, the number of the signal receivers is even, the even number of the signal receivers are symmetrically provided between the two charging contacts, and a black partition is provided between the two sets of the symmetrically provided signal receivers.