WO2020192407A1 - 可移动装置的回充方法及可移动装置 - Google Patents

可移动装置的回充方法及可移动装置 Download PDF

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Publication number
WO2020192407A1
WO2020192407A1 PCT/CN2020/078539 CN2020078539W WO2020192407A1 WO 2020192407 A1 WO2020192407 A1 WO 2020192407A1 CN 2020078539 W CN2020078539 W CN 2020078539W WO 2020192407 A1 WO2020192407 A1 WO 2020192407A1
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Prior art keywords
target
charging base
search
mobile device
signal
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PCT/CN2020/078539
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English (en)
French (fr)
Inventor
赵磊
许思晨
张一茗
陈震
Original Assignee
速感科技（北京）有限公司
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Filing date
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Application filed by 速感科技（北京）有限公司 filed Critical 速感科技（北京）有限公司
Priority to EP20780024.4A priority Critical patent/EP3951543A4/en
Publication of WO2020192407A1 publication Critical patent/WO2020192407A1/zh
Priority to US17/465,229 priority patent/US20210393099A1/en

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    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
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Definitions

  • the invention relates to the field of movable devices, in particular to a method for recharging a movable device and a movable device.
  • Automatic recharging technology has been widely used in various movable devices.
  • the charging base continuously sends out the recharging guide signal, and then the receiver of the mobile device receives the recharging guide signal and moves to the charging base under the guidance of the recharging guide signal. Charge it on the base.
  • the recharging failure occurs from time to time.
  • the plug of the charging base is not unplugged, that is, the charging base is still charged, but due to positioning errors, coordinate position correction or kicking by external objects, the position of the charging base stored in the mobile device is different from the actual position. deviation.
  • the plug of the charging base is unplugged, and the charging base is artificially changed to another power supply position before being powered.
  • the plug of the charging base is unplugged, and the charging base is randomly placed in other positions without power supply.
  • the present invention provides a mobile device recharging method and a mobile device, so as to improve the recharging success rate of the mobile device.
  • a method for recharging a removable device including:
  • a local search is performed to search for the target
  • the target includes: the charging base, and/or the recharging guide signal emitted by the charging base;
  • the target position includes: candidate positions, and/or signal sensing positions;
  • the candidate position is the stored position of the charging base
  • the signal sensing position is a position where the recharging guide signal can be detected.
  • the method further includes:
  • the position when the movable device is activated is stored as a candidate position.
  • the moving to the charging base for charging includes:
  • said performing a local search includes:
  • the first end condition includes: reaching a preset time, or all the boundaries of the basic search area have been searched.
  • said performing a local search further includes:
  • the second boundary threshold is used to determine the second search area; the perimeter of the second search area is greater than the perimeter of the basic search area; The boundary of the second search area searches for the target.
  • the method further includes: if the target is not found after the local search, then go around the edge in the actual working area of the movable device and search for the target.
  • the method further includes:
  • the navigating the mobile device to be charged to the target location includes:
  • the movable device to be charged is sequentially navigated to each target location in the order of distance from near to far;
  • the mobile device to be charged is sequentially navigated to each target location in descending order of the confidence.
  • a movable device including:
  • the movement mechanism used to move the movable device on the ground
  • a memory for storing processor executable instructions
  • the processor is configured as:
  • a local search is performed to search for the target
  • the target includes: the charging base, and/or the recharging guide signal emitted by the charging base;
  • the target position includes: candidate positions, and/or signal sensing positions;
  • the candidate position is the stored position of the charging base
  • the signal sensing position is a position where the recharging guide signal can be detected.
  • the movable device is a cleaning robot.
  • a partial search process for the charging base is added, so that even if the position of the charging base is deviated or moved, the mobile device can automatically search for the charging base with a high probability , which improves the success rate of recharging mobile devices.
  • Fig. 1a is a flowchart of a method for recharging a removable device according to an embodiment of the present invention
  • FIG. 1b is a flowchart of a method for recharging a removable device according to an embodiment of the present invention
  • Fig. 1c is a flowchart of a method for recharging a removable device according to an embodiment of the present invention
  • Figure 1d is a flowchart of a partial search of a refill method according to an embodiment of the present invention
  • FIG. 2a is a schematic diagram of a charging base and its recharging guide signal according to an embodiment of the present invention
  • 2b is a schematic diagram of a charging base and its recharging guide signal according to an embodiment of the present invention
  • Figure 3a is a schematic diagram of a partial search of an embodiment of the present invention.
  • Figure 3b is a schematic diagram of a partial search of an embodiment of the present invention.
  • FIG. 3c is a schematic diagram of the operation of a movable device according to an embodiment of the present invention.
  • FIG. 3d is a schematic diagram of the operation of a movable device according to an embodiment of the present invention.
  • FIG. 3e is a schematic diagram of the operation of a movable device according to an embodiment of the present invention.
  • Figure 3f is a schematic diagram of a local search according to an embodiment of the present invention.
  • Figure 3g is a schematic diagram of a local search according to an embodiment of the present invention.
  • Figure 3h is a schematic diagram of a local search according to an embodiment of the present invention.
  • Figure 4a is a schematic diagram of a search area according to an embodiment of the present invention.
  • Figure 4b is a schematic diagram of a search area according to an embodiment of the present invention.
  • the "recharging” in the present invention refers to returning the movable device to the charging base for charging.
  • the mobile device recharging method provided by the present invention is suitable for the mobile device.
  • the movable device refers to a smart mobile device that performs a predetermined task in a set area, including but not limited to: Robot Vacuum Cleaner (RVC), such as: smart sweeper, smart floor cleaner, window cleaner, etc. ; Logistics robots, handling robots, etc.; weeding robots, ice shoveling robots, etc.; companion mobile robots, such as: intelligent electronic pets, nanny robots; service-oriented mobile robots, such as: hospitality robots in hotels, hotels, and meeting places; industrial inspections Intelligent equipment, such as electric power inspection robots, smart forklifts, etc.; security robots, such as household or commercial smart guard robots, etc.
  • RVC Robot Vacuum Cleaner
  • a method for recharging a removable device including:
  • the target includes: the charging base, and/or the recharging guide signal emitted by the charging base;
  • the candidate position is the stored position of the charging base
  • the signal sensing position is a position where the recharging guide signal can be detected.
  • the above-mentioned target position refers to an accurate position, for example, taking two-dimensional coordinates as an example, it is expressed as (x0, y0).
  • the above-mentioned target position is a position in a broad sense, that is, a position within a certain error range, such as (x0 ⁇ x, y0 ⁇ y), where ⁇ x and ⁇ y represent errors, and this target position is near.
  • the position of is also classified as the target position in the present invention.
  • the candidate position also includes a position within a reasonable area near the stored charging base position, such as a circular area with a radius of 20 cm near the candidate position (in this nearby area, for those carrying cameras and/or proximity sensors)
  • the mobile device can use the camera and/or proximity sensor to assist in determining the position of the charging base. Therefore, the position in the nearby area is also classified as a candidate position);
  • the signal sensing position also includes the detection of the recharge guide signal Location within a reasonable area near the location, such as the area with a radius of 5cm near the signal sensing location (because the sensitivity of the recharge guide signal receiver depends on the model, some are sensitive, and the detectable range is larger, and some are not It is sensitive and the detectable range is relatively small.
  • the protection scope of the present invention should not be limited by the characteristics of the receiver itself).
  • the candidate position may be the initial position of the charging base when the mobile device is started on the charging base, or it may be the position of the charging base encountered and stored by the mobile device during the execution of a predetermined task. position.
  • the signal sensing position is a position where the recharge guide signal can be detected.
  • the signal sensing position can be the position when the mobile device detects the recharge guide signal during operation, or it can be stored by other equipment. It detects the position when the recharge guide signal is detected, and transfers the signal-induced position information to the mobile device through mobile storage devices, wireless networks, cloud servers, etc.
  • the mobile device may encounter the charging base or detect the recharge guide signal at multiple locations during its operation, so even when there is only one charging base In the case of, it is still possible to store multiple target locations.
  • the target location may also be multiple stored candidate locations and/or multiple signal sensing locations. Since the mobile device does not know the current actual position of the charging base, it can only try to find the charging base from its "memory", that is, its stored previous target positions.
  • Figures 1a to 1d show a method for recharging a removable device according to exemplary embodiments.
  • Figures 1a to 1d show a method for recharging a removable device according to exemplary embodiments.
  • Figures 3c to 3e several embodiments of the present invention will be described as follows.
  • Embodiment 1 is a flowchart of an embodiment in which the movable device is activated from the charging base as shown in Fig. 3c.
  • the mobile device recharging method of this embodiment includes:
  • Step S110 the movable device 80 is activated from the charging base 10.
  • Step S120 The movable device stores the position at startup (for example, the initial position A of the charging base in FIG. 3c) as a candidate position; then, the movable device 80 leaves the charging base 10 to perform a predetermined task.
  • the scheduled tasks refer to the main functions and auxiliary functions that the movable device is set to perform.
  • the scheduled tasks include cleaning the room, playing voice, etc.
  • the scheduled tasks include moving according to plan or scheduling Goods
  • service-oriented mobile robots its scheduled tasks include performing corresponding services. Same below.
  • Step S130 The movable device judges whether the power meets the recharging condition.
  • the recharging conditions can take many forms, for example, the power is lower than a certain power value or the lower limit of the threshold of power ratio, or the running time or the running mileage reaches a certain threshold or a certain ratio, or other measures can measure the remaining power and / Or the parameter of the relationship between the remaining amount of power and the remaining running mileage or time. Same below.
  • a movable device that meets the recharging condition can be regarded as a movable device to be charged.
  • the mobile device to be charged may also be recharged as its current task.
  • Step S130 can be to determine the power level at a certain time interval, or to determine the power level in real time, or to determine the power level when a certain set condition is met (for example, when it is detected that the candidate location has been stored and/or the signal is stored Only after the position is sensed can the power level be determined).
  • a certain set condition for example, when it is detected that the candidate location has been stored and/or the signal is stored Only after the position is sensed can the power level be determined.
  • the execution sequence of the above steps S120 and S130 can be performed in a variety of ways, either by performing S120 first, then S130, or performing S130 first, then S120, or simultaneously performing S120 and S120. S130.
  • the step of "determining power" of S130 is independent of the mobile device performing its main functions and auxiliary functions, and also independent of the mobile device storing candidate position information, detecting recharge guide signals, and storing signals Position sensing and other functions.
  • the present invention does not limit the sequence of performing the steps of "determining the power amount”. Therefore, the sequence of the step of "determining the power amount" of S130 and other steps should not be used as a limitation to the present invention. Same below.
  • step S110 can be performed while the scheduled task is normally performed, and therefore can be classified as a "cruise phase", as shown in the dashed box of the "cruise phase” in Figure 1a.
  • Step S210 If the power of the mobile device meets the recharging condition, the mobile device to be charged moves (also referred to as navigation) to the stored candidate location or a location nearby.
  • Step S220 When the movable device moves to the candidate position or a position near it and/or during its movement distance, search for the recharge guide signal emitted by the charging base and/or search for the charging base. If the charging base is found (for example, the charging base is directly detected by the proximity sensor or camera, or the short-distance recharging signal is received through the signal receiver), it is directly moved to the charging base for charging; or if the recharge is detected If charging guide signal, find the charging base under the guidance of recharging guide signal to charge. Otherwise, the following step S230 is executed.
  • Step S230 If the charging base is not found and/or the recharging guide signal emitted by the charging base is not detected in the candidate position or its vicinity, the mobile device performs a local search for the recharging guide signal And/or charging dock.
  • Step S240 if the charging base is found during the partial search process, move directly to the charging base; or if a recharging guide signal is detected, move under the guidance of the recharging guide signal To the charging base.
  • Step S300 The movable device is charged on the charging base.
  • Embodiment 2 If the initial position of the movable device is not on the charging base when it is started, the flow chart of this embodiment is shown in Fig. 1b.
  • the movable device can be started from any position other than the charging base, and the method of recharging the movable device at this time includes:
  • Step S110 The movable device is activated from any position other than the charging base.
  • Step S140 The movable device 80 executes a predetermined task, and searches for the recharging guide signal transmitted by the charging base 10.
  • the mobile device searches for the recharge guide signal, which can be executed during the entire execution of the scheduled task or during a certain period of time; it can also be executed in sequence with the execution of the scheduled task, such as executing the scheduled task at the first time t1, and executing the second
  • the search and refill guide signals at time t2 are executed sequentially in a certain order.
  • the step of searching for the recharge guide signal performed by the mobile device is independent of the mobile device performing its main functions and auxiliary functions, and also independent of the steps of storing candidate position information, storing signal sensing positions, and determining power levels.
  • the present invention does not limit the order, timing, trigger conditions and times of performing the steps of searching and recharging guide signals. Therefore, the steps of searching for recharging guide signals should not be performed by a mobile device and the mobile device should perform various functions and/or other steps or its
  • the arbitrary combination sequence, timing, trigger condition and number of times, etc. are used as limitations to the present invention. All the steps of the present invention including the execution of "searching for refilling guide signal", unless there is a logical contradiction, are all adapted to the description here.
  • Step S150 If the movable device 80 detects the recharging guide signal emitted by the charging base, the position where the recharging guide signal is detected is stored as the signal sensing position. As shown in Fig. 3d and Fig. 3e, when the movable device moves along the direction 101, the recharge guide signal 62 and/or 64 in Fig. 3d is detected at point B, or the recharge guide signal 60 in Fig. 3e is detected, then The movable device stores the position of point B in FIG. 3d or FIG. 3e as the signal sensing position.
  • Step S130 The movable device judges whether the power meets the recharging condition.
  • a movable device that meets the recharging condition can be regarded as a movable device to be charged. It is also possible to consider a mobile device that performs recharging as its main task currently to be performed as the mobile device to be charged. The description of the steps of determining the power amount and satisfying the recharging condition is as described above, and will not be repeated.
  • step S110 can be performed while the scheduled task is normally performed, and therefore can be classified as the "cruising phase", as shown in the dashed box of the "cruising phase” in Figure 2a.
  • Step S210 If the power of the mobile device meets the recharging condition, the mobile device to be charged moves (also referred to as navigation) to the stored signal sensing position or its nearby position.
  • Step S220 When the movable device moves to the signal sensing position or a position near it and/or during its movement distance, search for the recharging guide signal emitted by the charging base and/or search for the charging base. If the charging base is found (for example, the charging base is directly detected by the proximity sensor or camera, or the short-distance recharging signal is received through the signal receiver), it is directly moved to the charging base for charging; or if the recharge is detected If charging guide signal, find the charging base under the guidance of recharging guide signal to charge. Otherwise, the following S230 is executed.
  • Step S230 If the charging base is not found and/or the recharging guide signal emitted by the charging base is not detected at the signal sensing position or its vicinity, the mobile device performs a local search for recharging guide Signal and/or charging base.
  • Step S240 if the charging base is found during the partial search process, move directly to the charging base; or if a recharging guide signal is detected, move under the guidance of the recharging guide signal To the charging base,
  • Step S300 The movable device is charged on the charging base.
  • the candidate position of the charging base is the position where the charging base may be located;
  • the signal coverage of the charging base refers to the range where the recharging guide signal of the charging base can be detected by the mobile device . Since the recharging guide signal of the charging base usually covers the position of the charging base, the signal coverage of the charging base usually covers the candidate position.
  • the shape of the signal coverage area may be a circle, an ellipse, or any other shape that may be formed by the coverage area of the recharge guide signal.
  • the recharge guide signals 62 and 64 sent by the signal transmitter 20 of the charging base 10 are directional signals, and the signal coverage is an ellipse as shown in FIG.
  • the movable device 80 If the battery is sufficient when performing a scheduled task, and there is no rush to charge at this time, this stage can be called the "cruise stage", so as long as the mobile device is at any point within its signal coverage, the recharge can be found
  • the guide signal 62 or 64 it is enough to know that the charging base is in a small area near this position, without knowing the actual exact position of the charging base; therefore, at this time, the mobile device is searched for when the recharging guide signal is
  • the current position of the movable device is stored as the signal sensing position; according to the above definition of "signal coverage”, the "signal sensing position" must be within the "signal coverage”, and the recharge guide signal cannot be found
  • the location must not be within the signal coverage area, so it is not the “signal sensing location” mentioned. Therefore, it can be considered that the "signal coverage” is a collection of "signal sensing locations”.
  • the mobile device usually monitors its power in real time. When its power is low, for example, the power has fallen below the set low power threshold of 10%, the mobile device needs to be charged immediately. This stage can be called the “recharge stage” , The mobile device needs to immediately move to the signal sensing position stored in the "cruising phase", that is, move to the stored signal coverage; if the signal sensing position is again searched for the recharge guide signal 62 or 64. Find the charging base along the recharging guide signal to charge.
  • the recharge guide signal is the omnidirectional signal 60 shown in Fig. 2a
  • the signal coverage of the recharge guide signal at this time is the circular shaded area shown in Fig. 3e. Since the omnidirectional signal has no directivity, the mobile device Move to a certain position within the signal coverage area, even if the recharge guide signal is detected, the specific direction of the charging base may not be determined. Therefore, the mobile device needs to be used during the movement process (also called the movement process or the navigation process). ), compare the strength of the recharge guide signal searched at two moments before and after to determine whether the movable device is moving to the charging base or away from the charging base, so as to determine whether it is approaching the charging base to ensure that it can be charged smoothly .
  • the movement process also called the movement process or the navigation process
  • the mobile device searches for the recharge guide signal at the first time t1 (for example, at point D), it records the strength of the recharge guide signal at the first time t1. It is SI1; in the process of continuing operation, for example, at the second time t2, the recharge guide signal strength recorded here is SI2 when it runs to point F.
  • the recharge guide The signal strength SI2 is stronger than SI1, so the movable device 80 uses the F point position as the new signal sensing position instead of the signal sensing position D stored at t1; if it continues to run, for example, the movable device 80 is at the third time When t3 runs to point G, record the recharge guide signal strength here as SI3. Since point G is farther from the charging base 10 than point F, the recharge guide signal strength SI3 is weaker than SI2, so the mobile device is not Store the G point at time t3 and still use the F point position as the signal sensing position; it can be seen that not every signal sensing position is stored, for example, the G point is not stored. In the above manner, the movable device gradually approaches the charging base 10, thereby achieving successful recharging.
  • Embodiment 3 In fact, the above-mentioned Embodiment 1 and Embodiment 2 can be combined as a preferred embodiment.
  • the flowchart is shown in Fig. 1c, and the recharging method of the movable device of this embodiment includes:
  • Step S110 The movable device 80 is started from the charging base 10, as shown in FIG. 3c.
  • Step S120 The movable device 80 stores the position (point A in FIG. 3c) at the time of activation as a candidate position.
  • Step S140 The movable device executes a predetermined task, and searches for a recharge guide signal transmitted by the charging base.
  • Step S150 If the movable device detects the recharging guide signal emitted by the charging base, the position where the recharging guide signal is detected is stored as the signal sensing position. Figure 3d or point B in Figure 3e.
  • the movable device Since the movable device is activated from the charging base position, it should be able to detect the recharge guide signal under normal circumstances.
  • multiple signal sensing positions can be stored, or the position where the refill guide signal is received the last time or the position where the refill guide signal with the highest intensity is detected is the only signal sensing position.
  • Step S130 The movable device judges whether the power meets the recharging condition.
  • the movable device that meets the recharging condition can be regarded as the movable device to be charged. It is also possible to consider a mobile device that performs recharging as its main task currently to be performed as the mobile device to be charged. The description of the steps of determining the power amount and satisfying the recharging condition is as described above, and will not be repeated.
  • step S110 can be performed while the scheduled task is normally performed, and therefore can be classified as the "cruising phase", as shown in the dashed box of the "cruising phase” in Figure 3a.
  • Step S210 If the power of the mobile device meets the recharging condition, the mobile device to be charged moves (also referred to as navigation) to the candidate location and/or signal sensing location and/or its nearby location ( Collectively referred to as target positions.
  • the target positions include candidate positions, and/or signal sensing positions, and of course also include candidate positions and/or nearby positions corresponding to signal sensing positions).
  • Step S220 When the movable device moves to its target position and/or during its moving distance, search for the recharge guide signal transmitted by the charging base and/or search for the charging base (collectively referred to as the target.
  • the target includes: The charging base, and/or the recharging guide signal emitted by the charging base). If the charging base is found (for example, the charging base is directly detected by the proximity sensor or camera, or the short-distance recharging signal is received through the signal receiver), it is directly moved to the charging base for charging; or if the recharge is detected If charging guide signal, find the charging base under the guidance of recharging guide signal to charge. Otherwise, the following S230 is executed.
  • Step S230 If the target is not found at the target location, the mobile device performs a local search to search for the target.
  • Step S240 if the charging base is found during the partial search process, move directly to the charging base; or if a recharging guide signal is detected, move under the guidance of the recharging guide signal To the charging base,
  • Step S300 The movable device is charged on the charging base.
  • the coordinates of the charging base can also be actively input by a person or other equipment and stored as a candidate location, such as through the IO device that comes with the movable device, such as a function button Or the touch screen, the user or other equipment manually inputs the current position information of the charging base into the mobile device, and the mobile device stores the position information as a candidate position of the charging base after receiving the position information.
  • the user inputs the coordinate position of the charging base in the coordinate system of the mobile device into the mobile device, or the user selects the charging base in the map displayed on the IO device of the mobile device or the IO device of the charging base.
  • the location of the charging base or the location of the charging base selected by the user on a map displayed on a smart terminal (such as a PC, tablet or mobile phone) connected to a mobile device can be stored as a candidate for the charging base position.
  • the recharging guide signal is an omnidirectional signal 60 sent by the signal transmitter 18 of the charging base 10, as shown in FIG. 2a and FIG. 3e; or by the signal transmitter of the charging base 10
  • the directional signals 62 and 64 sent by 20 are shown in Fig. 2b and Fig. 3d; the recharge guide signal can be at least one, of course there can be more, as shown in Fig. 2b are two recharge guide signals 62 and 64 And the two overlap 66; in some embodiments, the overlap area 66 can also be used as the third refill guide signal.
  • the mobile device recharging technical solution of the present invention can be used in conjunction with other conditions to make the charging of the mobile device more reasonable.
  • the omnidirectional signal 60 and the directional signals 62 and 64 can be set, and the high The power threshold and the low power threshold are at least two power thresholds.
  • the power of the mobile device is higher than the high power threshold, set the mobile device to find the recharge guide signal 60, 62 or 64 during the execution of the predetermined task, and store it The position of the mobile device at this time is used as the signal sensing position of the charging base (the "cruising phase"); when the power of the mobile device is lower than the high battery threshold but higher than the low battery threshold, set the mobile device Search for the recharge guide signal while performing the scheduled task.
  • the recharge guide signal If the recharge guide signal is found, enter the charging base for charging under the guidance of the recharge guide signal (both perform the scheduled task, and perform the recharge when the recharge guide signal is found , It belongs to the overlapping phase of the “cruise phase” and the “recharge phase” described in the above-mentioned embodiment of the present invention); when the power of the mobile device is lower than the low power threshold, the mobile device is set to stop performing the predetermined task, and Directly look for the recharge guide signal 60, 62, or 64, and charge as soon as possible (that is, the "recharge stage”). This embodiment still includes the "cruise phase” and the "recharge phase”.
  • the charging base emits a single omnidirectional signal or directional signal to guide the mobile device to return to charging The base is charged.
  • the photos taken by the camera can be found through the SLAM method or the laser rangefinder to find the rough or precise position of the charging base, thereby locating the charging base Candidate locations or signal coverage.
  • the actual position of the charging base may change, and is different from the candidate position, or even not within the signal coverage range, for example, manual handling or accidental touch, resulting in a major change in the position of the charging base;
  • other devices of the user need to be charged, after unplugging the plug of the universal charging base of the mobile device, changing to another location and then turning on the power, etc.
  • the actual position of the charging base is different from the candidate position and is not within the signal coverage, since the candidate position stored in the mobile machine device in the prior art will not change, it will often cause the mobile device to fail to charge, and the charging failure rate is high .
  • the movable device due to the positioning error of the movable device itself, such as the cumulative error of the code disc and/or IMU (inertial measurement unit) of the movable device, even if the position of the charging base itself does not change, the movable device is accumulating Under the influence of the error, it is thought that it has moved to the position of the charging base, but the actual position of the charging base is not actually reached, which will also cause the mobile device’s self-righteous charging base's "actual position" (including cumulative error) to be different from the stored The candidate location may not be in the signal coverage area, causing the mobile device to fail to recharge.
  • the positioning error of the movable device itself such as the cumulative error of the code disc and/or IMU (inertial measurement unit) of the movable device
  • the embodiment of the present invention performs a local search on the candidate position of the charging base or the signal sensing position within the signal coverage.
  • the effective receiving range of the recharging guide signal of the charging base is set to d (as shown by the radius d in FIG. 3f; the signal coverage is in the embodiment shown in FIG.
  • the base 10 is the center of the circle, and the effective receiving range d of the refill guide signal is within the circle area).
  • the effective receiving range of the recharge guide signal refers to the maximum distance that the recharge guide signal can be received by the movable device, for example, the distance between the charging base 10 and point B in FIG. 3d or 3e.
  • step S210 to S240 in Figure 1a to Figure 1c If the mobile device needs to be charged, that is, the mobile device is in the "recharging phase" (steps S210 to S240 in Figure 1a to Figure 1c), and the mobile device to be charged is moved (also referred to as navigation) to its storage
  • the candidate position (point A in FIG. 3c) and/or the signal sensing position (point B in FIG. 3e) and/or its corresponding nearby positions (collectively referred to as target positions).
  • the target positions include : Candidate position, and/or signal sensing position, of course also including candidate position, and/or signal sensing position corresponding nearby position), that is to navigate to the signal coverage (as shown in Figure 3f with the charging base 10 as the center of the circle, with The effective receiving range d is within the radius of the circle passing through point B).
  • the local search in the "refill stage” is after step S220, that is, when the movable device moves to the candidate position (embodiment one or three) and/or the signal sensing position On (Embodiment 2 or Embodiment 3) and/or at a nearby location or in its moving distance, no charging base is found, and/or no recharging guide signal is detected, then enter the local search step of step S230 (In step S230, it is inevitable that there is overlap with other steps in the above-described embodiments or multiple executions of the same steps as other steps.
  • the partial search step is a part of the entire recharge method. Limited to the other steps in the above embodiments), as shown in Figure 1d, including:
  • Step S231 Using the stored candidate position or signal sensing position (ie, target position) as a center point, a boundary threshold is set to determine the search area.
  • the "search area" in the present invention refers to the search area of the local search.
  • the search area can be any closed figure, such as a circle, a square, a rectangle, a diamond, an oval, a triangle, etc., or a combination of various figures or an irregular figure.
  • the square area determines the search area, where the radius d and the side length 2d are the boundary thresholds of the circular search area and the square search area, respectively.
  • the boundary threshold may be preset in the movable device or set by the user.
  • the boundary threshold can be represented by the diameter or radius of a circle; for a square search area, the boundary threshold can be represented by the side length or diagonal of a square; for an elliptical search
  • the boundary threshold can be represented by the long axis and the short axis of an ellipse; for a rectangular search region, the boundary threshold can be represented by length, width, or length or width and diagonal lines.
  • the search area of the same shape can be expressed by multiple forms of boundary thresholds, as long as this form of expression can express the search area deterministically and accurately.
  • a square search area is taken as an example, and the side length of the square is used as a boundary threshold to express the square search area, see the square area in FIG. 3f.
  • the aforementioned search area in this embodiment is also referred to as a basic search area or a first search area.
  • the boundary threshold may be smaller or larger than the effective receiving range d of the recharge guide signal of the charging base, d>0.
  • the boundary threshold is a preset multiple of the effective receiving range d of the recharge guide signal of the charging base, for example, 1.5d, 2d, 4d.
  • the search area established at this time may be a circular search area with a diameter of 1.5d, 2d, 4d or a square search area with a side length or a diagonal of 1.5d, 2d, 4d, etc.
  • the effective receiving range of the corresponding charging base may be different. If there are multiple compatible charging bases in the actual work area that can charge the same mobile device, the boundary threshold can select the shortest effective receiving range of the multiple charging bases as the base d, such as three mobile devices
  • other settings are also possible.
  • the setting of the boundary threshold is only to adjust the parameter details, and the setting of the d value and the boundary threshold of the effective reception range of the refill guide signal in the above embodiment cannot be used as a limitation of the present invention.
  • Step S232 the movable device runs along the boundary of the search area while searching for the recharging guide signal and/or the charging base;
  • the mobile device moves on the boundary of the basic search area, if the charging base is found, it will directly move to the charging base for charging; if a recharge guide signal is detected, it will be Find the charging base for charging under the guidance.
  • the movable device moves to the target position but neither the charging base nor the recharge guide signal is detected. This may be caused by the positioning error of the movable device itself, such as the code disc and/or IMU (inertial measurement) of the movable device.
  • the cumulative error of the unit) makes the movable device 80 think that it has moved to the signal sensing position B, as shown in Fig. 3f, but in fact, the error causes the movable device 80 to move to the point C outside the signal coverage area, so it is at C No recharge guide signal was found.
  • the movable device 80 travels around the boundary of a square search area centered at point C and a predetermined length 2d as a side length and searches for a refill guide signal.
  • the movable device 80 When the movable device 80 has not completed running the first search area for a week, it searches for the recharge guide signal, such as moving to point D in FIG. 3f (the movable device 80 runs in the operating direction 101 as shown in FIG. 3f, so as to reverse When the hour hand moves along the boundary of the search area) or at point E (opposite to the running direction in Fig. 3f), the recharging guide signal starts to be searched. At this time, the charging base 10 is found under the guidance of the recharging guide signal, and the charging is successful.
  • the recharge guide signal such as moving to point D in FIG. 3f (the movable device 80 runs in the operating direction 101 as shown in FIG. 3f, so as to reverse When the hour hand moves along the boundary of the search area) or at point E (opposite to the running direction in Fig. 3f).
  • the movable device is running along the boundary of any search area to search for the refill guide signal, and the movable device encounters an obstacle in the actual working area, it runs along the edge of the object in the search area, as shown in the figure Shown in 3h.
  • the mobile device runs to point H in Figure 3h, it encounters an obstacle in the actual working area, and then runs along the edge of the obstacle in the search area to point J, and then runs along the J point to the junction of the obstacle and the search area
  • point K at point K, continue to move in the direction of point D along the boundary of the search area.
  • step S232 In the process of searching the target along the boundary of the basic search area in step S232, if the target is not found until the preset first end condition is reached (the first end condition corresponds to the current basic search area).
  • the conditions for the failure of the retrieval target include: reaching the preset time or all the boundaries of the basic search area have been searched), then the partial search of the basic search area is ended.
  • the movable device can directly execute step S250, stop running or run to a designated location, and/or alarm or report an error.
  • the movable device can still be in the actual working area Go around the edge and search for the target, namely the recharge guide signal and/or the charging base. If the target is still not found, the operation can be stopped or run to a designated location and/or alarm or report an error.
  • the number n of search areas can be set.
  • the above step S232 is executed: the movable device 80 runs along the boundary of the first search area, and at the same time searches for the recharge guide signal and/or the charging base.
  • the charging base The signal coverage area of the seat 10 does not overlap with the first search area, as shown in FIG. 3g.
  • the recharge guide signal is detected, and the charging base 10 is found under the guidance of the recharge guide signal, and the charging is successful.
  • the mobile robot runs along the boundary of the second search area and still does not detect the recharging guide signal and/or the charging base, it can continue to increase the value of n until the value of n is equal to the set N.
  • the number N of searching for the refill guide signal can be preset, that is, the number of establishing the search area.
  • the search area established for the first time is the first search area or the basic search area; the search area established for the second time is the second search area, ... then the search area established for the Nth time is the Nth search area.
  • the perimeter of the last search area should be greater than the perimeter of the previous search area.
  • the shape of the subsequent search area is the same as the shape of the first search area, the shape of the subsequent search area can also be different from the shape of the first search area, as shown in Figures 4a and 4b. Show; the next search area and the center of the first search area may not overlap, as shown in Figure 4b. If the mobile device is within the preset time or the number of times in the preset search area, if the charging base is found, the mobile device moves to the charging base, and if the recharging guide signal is found, it is recharging Move to the charging base under the guidance of the guiding signal.
  • step S234 may also be performed: if within a preset time or traversing a preset circle If the charging base is not found or the recharging guide signal is not found after the number of times (such as the set N search area), the mobile device can also go around the edge in the actual working area and search back Charging guide signal and/or charging base.
  • the movable device Since the movable device usually moves in a limited space (such as indoors), and the charging base is usually placed on the wall with a limited space (because the plug of the charging base is usually connected to the socket on the wall to obtain electricity), so Run around the inside of the wall along the edge of the room, and you can usually find the charging base.
  • the movable device 80 is located at position 102 after completing N searches, and then moves in a certain direction until the edge position 103 of the obstacle is found, and then moves along the edge of the obstacle until the actual
  • the charging base 10 at the position 104 or its recharging guide signal (the signal coverage of the recharging guide signal is represented by a dashed circle around the charging base 10 in FIGS. 3a and 3b) to realize charging.
  • the search time can also be set. If the charging base is not found within the search time, the mobile device will alarm and/or run to a specified location.
  • the mobile device can navigate to each candidate location or signal sensing location or nearby locations to search for the recharge guide signal.
  • the mobile device 80 detects that the power is lower than its low power threshold at position 112, which triggers the "recharge phase”; the three candidate positions or signal sensing positions stored in it are imported, respectively located in Figure 3b ⁇ location 113, location 114, location 115.
  • the mobile device can navigate to locations 113, 114, and 115 to find the recharge guide signal according to each candidate location or each signal sensing location or the distance between their respective nearby locations and the current location 112 of the mobile device. As shown in Fig. 3b, the recharge guide signal is finally detected at position 115, and the charging base is successfully found to realize charging. In other embodiments, it can also be based on the distribution of obstacles in the actual working area or other conditions (such as comparing the confidence of each candidate position or signal sensing position, comparing the density of candidate positions or signal sensing positions in a certain area, Or comprehensively judge the above factors) choose the order of navigation destination.
  • the sequence of selecting navigation destinations is based on the confidence of each candidate position or signal sensing position
  • the strength of the received refill guide signal stored in the mobile device can be paired according to each candidate position or signal sensing position.
  • Each candidate position or signal sensing position is sorted, and the mobile device performs a navigation search according to the sort.
  • the navigation route of the mobile device can be: position 112->position 113- >Location 114->Location 115, the mobile device can perform navigation search according to the navigation route.
  • the mobile device will only search location 113 after searching location 112, even if no charging is found at location 112 and location 113.
  • the base does not search for other positions 114 and 115 either.
  • the technical solution provided in this embodiment includes multiple candidate positions or signal sensing positions.
  • the charging base or recharging guide signal is not found in a candidate position or signal sensing position.
  • the local search is performed at the candidate position or the signal sensing position; if the charging base or the recharging guide signal is still not found, the local search range is expanded; if the charging base or the recharging guide signal is still not found , And when multiple target positions are stored, the mobile device is navigated to another candidate position or signal sensing position, and the charging base or return is not found in the other candidate position or signal sensing position.
  • an embodiment of the present invention also provides a movable device, the movable device is used to run the above recharging method, the movable device includes:
  • the movement mechanism used to move the movable device on the ground
  • a memory for storing processor executable instructions
  • the processor is configured as:
  • a local search is performed to search for the target
  • the target includes: the charging base, and/or the recharging guide signal emitted by the charging base;
  • the target position includes: candidate positions, and/or signal sensing positions;
  • the candidate position is the stored position of the charging base
  • the signal sensing position is a position where the recharging guide signal can be detected.
  • the movable device is a cleaning robot.
  • the cleaning robot may be an intelligent floor sweeper, an intelligent floor cleaning machine, a window cleaning robot, etc.
  • the technical solution provided in this embodiment adds a local search process to the charging base during the recharging of the mobile device, so that even if the position of the charging base is deviated or moved, the mobile The device can also automatically search for the charging base with a high probability, which improves the success rate of recharging the mobile device.

Abstract

一种可移动装置（80）的回充方法及可移动装置（80），回充方法包括：调取被存储的充电基座（10）的目标位置；将待充电的可移动装置（80）导航至目标位置；若在导航过程中和/或在目标位置未发现目标，则进行局部搜索，搜索目标。由于在可移动装置（80）回充的过程中增加了对充电基座（10）进行局部搜索的过程，即使充电基座（10）位置出现偏差或者被移动，可移动装置（80）也能大概率地自动搜索到充电基座（10），提高了可移动装置（80）的回充成功率。

Description

可移动装置的回充方法及可移动装置 技术领域
本发明涉及可移动装置领域，具体涉及一种可移动装置的回充方法及可移动装置。
背景技术
自动回充技术已经广泛应用于各种可移动装置。可移动装置自动回充的过程，首先由充电基座不断发出回充引导信号，然后由可移动装置的接收器接收到所述回充引导信号并在回充引导信号的指引下移动到充电基座上进行充电。但在实际使用中，由于可移动装置经常找不到充电基座，导致回充失败的情况时有发生。
目前来看，可移动装置回充失败的原因主要有以下三种：
1、充电基座的插头未被拔下，即充电基座仍带电，但由于定位误差、坐标位置修正或遭外界物体踢碰等原因导致可移动装置存储的充电基座的位置与实际位置有偏差。
2、充电基座的插头被拔下，且充电基座被人为换到了其他供电位置后再被供电。
3、充电基座的插头被拔下，且充电基座被随意放到其他位置，没有供电。
发明内容
为至少在一定程度上克服相关技术中存在的问题，本发明提供一种可移动装置的回充方法及可移动装置，以提高可移动装置的回充成功率。
根据本发明实施例的第一方面，提供一种可移动装置的回充方法，包括：
调取被存储的充电基座的目标位置；
将待充电的可移动装置导航至所述目标位置；
若在导航过程中，和/或在所述目标位置，未发现目标，则进行局部搜索，搜索所述目标；
若在所述导航过程中，或者，在所述目标位置上，或者，在所述局部搜索过程中，发现所述目标，则移动至所述充电基座上充电；
所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号；
所述目标位置包括：候选位置，和/或信号感应位置；
所述候选位置是被存储的所述充电基座的位置；
所述信号感应位置为能检测到所述回充引导信号的位置。
优选地，所述方法还包括：
将检测到充电基座发射的回充引导信号的位置存储为信号感应位置；和/或
若可移动装置自充电基座启动，存储可移动装置启动时的位置为候选位置。
优选地，所述移动至所述充电基座上充电，包括：
若发现的目标为所述充电基座，则直接移动至所述充电基座上充电；
或者，
若发现的目标为所述回充引导信号，则在所述回充引导信号的引导下移动至所述充电基座上充电。
优选地，所述进行局部搜索，包括：
以所述目标位置为中心，设定边界阈值，确定基本搜索区域；
沿所述基本搜索区域的边界搜索所述目标，若直至达到预设的第一结束条件仍没有发现所述目标，则结束对所述基本搜索区域的局部搜索；
其中，所述第一结束条件包括：达到预设时间，或所述基本搜索区域的边界已全部被搜索。
优选地，所述进行局部搜索，还包括：
若在达到预设的第一结束条件时仍没有发现所述目标，则以第二边界阈值确定第二搜索区域；所述第二搜索区域的周长大于所述基本搜索区域的周长；沿所述第二搜索区域的边界搜索所述目标。
优选地，所述方法，还包括：若在局部搜索后未发现所述目标，则在所述可移动装置的实际工作区域内沿边缘绕行一周，并搜索所述目标。
优选地，所述方法，还包括：
若在所述实际工作区域内沿边缘搜索所述目标时，在预设的搜索时间内未找到所述目标，则进行报警和/或运行到指定地点。
优选地，若所述目标位置为多个，所述将待充电的可移动装置导航至所述目标位置，包括：
根据各目标位置与可移动装置当前位置的距离，按距离从近到远的顺序，将待充电的可移动装置依次导航至每个目标位置；和/或
根据实际工作区域内障碍物的分布情况，将待充电的可移动装置依次导航至每个目标位置；和/或
根据各目标位置的置信度，按置信度从大到小的顺序，将待充电的可移动装置依次导航每个目标位置。
根据本发明实施例的第二方面，提供一种可移动装置，包括：
用于使可移动装置在地面上运动的运动机构；
用于检测回充引导信号的接收器；
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器配置为：
调取被存储的充电基座的目标位置；
将待充电的可移动装置导航至所述目标位置；
若在导航过程中，和/或在所述目标位置，未发现目标，则进行局部搜索，搜索所述目标；
若在所述导航过程中，或者，在所述目标位置上，或者，在所述局部搜索过程中，发现所述目标，则移动至所述充电基座上充电；
所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号；
所述目标位置包括：候选位置，和/或信号感应位置；
所述候选位置是被存储的所述充电基座的位置；
所述信号感应位置为能检测到所述回充引导信号的位置。
优选地，所述可移动装置为清洁机器人。
本发明的实施例提供的技术方案可以包括以下有益效果：
由于在可移动装置回充的过程中，增加了对充电基座进行局部搜索的过程，从而使得即使充电基座位置出现偏差或者被移动，可移动装置也能大概率地自动搜索到充电基座，提高了可移动装置的回充成功率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本发明。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并与说明书一起用于解释本发明的原理。
图1a是本发明一个实施例的可移动装置的回充方法的流程图；
图1b是本发明一个实施例的可移动装置的回充方法的流程图；
图1c是本发明一个实施例的可移动装置的回充方法的流程图；
图1d是本发明一个实施例的回充方法的局部搜索的流程图；
图2a是本发明一个实施例的充电基座及其回充引导信号示意图；
图2b是本发明一个实施例的充电基座及其回充引导信号示意图；
图3a是本发明一个实施例的局部搜索示意图；
图3b是本发明一个实施例的局部搜索示意图；
图3c是本发明一个实施例的可移动装置运行示意图；
图3d是本发明一个实施例的可移动装置运行示意图；
图3e是本发明一个实施例的可移动装置运行示意图；
图3f是本发明一个实施例的局部搜索的示意图；
图3g是本发明一个实施例的局部搜索的示意图；
图3h是本发明一个实施例的局部搜索的示意图；
图4a是本发明一个实施例的搜索区域示意图；
图4b是本发明一个实施例的搜索区域示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
需要说明的是，本发明中的“回充”是指可移动装置返回充电基座进行充电。本发明提供的可移动装置的回充方法，适用于可移动装置。
所述可移动装置是指在设定区域内执行预定任务的智能移动设备，包括但不限于：清洁机器人(Robot Vacuum Cleaner，RVC)，例如：智能扫地机、智能擦地机、擦窗机器人等；物流机器人、搬运机器人等；除草机器人、铲冰机器人等；陪伴型移动机器人，例如：智能电子宠物、保姆机器人；服务型移动机器人，例如：酒店、旅馆、会晤场所的接待机器人；工业巡检智能设备，例如电力巡检机器人、智能叉车等；安防机器人，例如：家用或商用智能警卫机器人等。
本发明一个实施例中，给出了可移动装置的回充方法，包括：
调取被存储的充电基座的目标位置；
将待充电的可移动装置导航至所述目标位置；
若在所述导航过程中，和/或在所述目标位置，未发现目标，则进行局部搜索；
若在所述导航过程中，或者，在所述目标位置上，或者，在所述局部搜索过程中，发现所述目标，则移动至所述充电基座上充电；
其中，所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号；
所述候选位置是被存储的所述充电基座的位置；
所述信号感应位置为能检测到所述回充引导信号的位置。
需要说明的是，一些实施例中，上述的目标位置是指精确位置，比如，以二维坐标为例，则表示为(x0,y0)。或者，一些实施例中，上述的目标位置是广泛意义上的位置，即在一定误差范围的位置，比如用(x0±δx,y0±δy)表示，其中δx、δy表示误差，这个目标位置附近的位置在本发明中也归为目标位置。具体而言，候选位置也包括被存储的充电基座位置附近合理区域内的位置，比如在候选位置附近半径为20cm的圆形区域(在该附近区域内，对于携带摄像头和/或接近传感器的可移动装置，可以通过摄像头和/或接近传感器辅助确定充电基座的位置，因此，该附近区域内的位置也归为候选位置)；信 号感应位置也包括能检测到所述回充引导信号的位置附近合理区域内的位置，比如信号感应位置附近半径为5cm的区域(由于回充引导信号的接收器的灵敏度依型号而不同，有的灵敏，可检测的范围要大些，有的不太灵敏，可检测的范围相对小些。本领域技术人员应当理解，不应以接收器本身特性对本发明的保护范围进行限定)。
需要说明的是，所述候选位置可以是可移动装置在充电基座上启动时、充电基座的初始位置，也可以是可移动装置在执行预定任务过程中遇到并存储的充电基座的位置。
所述信号感应位置为能检测到所述回充引导信号的位置，详细的说，信号感应位置可以是可移动装置在运行过程中检测到回充引导信号时的位置，也可以是其它设备存储了检测到回充引导信号时的位置，并将该信号感应位置信息通过移动存储设备、无线网络、云服务器等方式转存到可移动装置中。
由于充电基座在可移动装置工作过程中可能发生移动，因此可移动装置在其工作过程中可能在多个位置遇到充电基座或检测到回充引导信号，因此即使在只有一个充电基座的情况下，仍可能存储多个目标位置。在有多个充电基座的情况下，目标位置也可以是被存储的多个候选位置和/或多个信号感应位置。由于可移动装置不知道充电基座当前的实际位置，因此只能从其“记忆中的”，即其存储的曾经的目标位置中先尝试去找充电基座。
图1a至图1d是根据示例性实施例示出的可移动装置的回充方法，结合图1a至图1d、图3c至图3e，对本发明多个实施例进行说明如下。
实施例一：图1a是如图3c所示的可移动装置自充电基座启动的一个实施例的流程图。该实施例的可移动装置的回充方法包括：
步骤S110：可移动装置80自充电基座10上启动。
步骤S120：可移动装置存储启动时的位置(例如图3c中的充电基座的初始位置A点)为候选位置；然后，可移动装置80离开充电基座10执行预定任务。
所述预定任务是指可移动装置被设定应执行的主要功能及辅助功能，比如对于清洁机器人，其预定任务包括清洁房间、播放语音等；对于物流机器人，其预定任务包括按计划或调度搬运货物；对于服务型移动机器人，其预定任务包括进行相应的服务等。下同。
步骤S130：可移动装置判断电量是否满足回充条件。
所述回充条件可以有多种形式，比如电量低于某个电量数值或电量比例的阈值下限，或者运行时间、运行里程数达到某个阈值或某个比例，或者其它能衡量电量剩余量和/或电量剩余量与剩余运行里程数或时间之间关系的参数。下同。本实施例中，满足回充条件的可移动装置即可认为是待充电的可移动装置。在其它实施例中，所述待充电的可移动装置还可以是其当前要执行的任务是进行回充。
步骤S130既可以是按某个时间间隔判断电量，也可以是实时判断电量，还可以是在满足某个设定的条件下判断电量(比如在检测到已存储了候选位置和/或存储了信号感应位置之后，才判断电量)，本领域技术人员应理解，不应以判断电量的时机、方式以及执行该步骤与可移动装置的各功能和/或其它步骤或其任意组合的顺序、时机、触发条件和次数等作为对本发明保护范围的限制。下同。
本领域技术人员应理解，上述步骤S120与S130的执行顺序可以有多种方式，既可以是先执行S120，再执行S130，也可以是先执行S130，再执行S120，还可以是同时执行S120和S130。实际上，本领域技术人员很容易理解，S130的“判断电量”步骤独立于可移动装置执行其主要功能及辅助功能，也独立于可移动装置存储候选位置信息、检测回充引导信号、存储信号感应位置等功能。本发明不限制执行“判断电量”步骤的顺序。因此，不应以S130的“判断电量”步骤与其它步骤的顺序作为对本发明的限制。下同。
自步骤S110以后的各步骤都可以是在正常执行预定任务的同时进行的，因此都可归为“巡航阶段”，如图1a“巡航阶段”虚线框所示。
步骤S210：若可移动装置的电量满足回充条件，则待充电的可移动装置移动(也可称为导航)至 其存储的所述候选位置或其附近位置。
步骤S220：在可移动装置移动至所述候选位置上或其附近位置上和/或在其移动路程中，搜索充电基座发射的回充引导信号和/或寻找充电基座。若发现充电基座(比如通过接近传感器或摄像头直接检测到充电基座，或通过信号接收器接收到近距回充信号等方式)，则直接移动到充电基座上充电；或若检测到回充引导信号，则在回充引导信号的指引下找到充电基座，进行充电。否则执行下述步骤S230。
步骤S230：若在所述候选位置或其附近位置，未发现所述充电基座和/或未检测到充电基座发射的回充引导信号，则可移动装置进行局部搜索，搜索回充引导信号和/或充电基座。
步骤S240：若在所述局部搜索过程中发现所述充电基座，则直接移动至所述充电基座上；或若检测到回充引导信号，则在所述回充引导信号的指引下移动至充电基座。
步骤S300：可移动装置在充电基座上进行充电。
实施例二：若可移动装置启动时的初始位置不在充电基座上，则该实施例的流程图如图1b所示。在此实施例中，可移动装置可以是从任何非充电基座的位置启动，此时的可移动装置的回充方法包括：
步骤S110：可移动装置自非充电基座的任何位置上启动。
步骤S140：可移动装置80执行预定任务，并搜索充电基座10发射的回充引导信号。
可移动装置搜索回充引导信号，可以是在执行预定任务的全程或某个时间段的同时执行；也可以是与执行预定任务依次执行，比如执行第一时间t1的预定任务，与执行第二时间t2的搜索回充引导信号，依一定的顺序依次执行。
本领域技术人员很容易理解，可移动装置执行搜索回充引导信号的步骤独立于可移动装置执行其主要功能及辅助功能，也独立于存储候选位置信息、存储信号感应位置、判断电量等步骤。本发明不限制执行搜索回充引导信号步骤的顺序、时机、触发条件和次数，因此不应以可移动装置执行搜索回充引导信号的步骤与可移动装置执行各功能和/或其它步骤或其任意组合的顺序、时机、触发条件和次数等作为对本发明的限制。本发明所有包括执行“搜索回充引导信号”的步骤，除非逻辑上有矛盾之处，否则均适应于此处的说明。
步骤S150：若可移动装置80检测到充电基座发射的回充引导信号，则将检测到回充引导信号的位置存储为信号感应位置。如图3d及图3e所示，可移动装置沿101方向运动时在B点检测到图3d中的回充引导信号62和/或64，或检测到图3e中的回充引导信号60，则可移动装置将图3d或图3e中的B点位置存储为信号感应位置。
步骤S130：可移动装置判断电量是否满足回充条件。本实施例中，满足回充条件的可移动装置即可认为是待充电的可移动装置。还可以将进行回充作为其当前要执行的主要任务的可移动装置认为是所述待充电的可移动装置。关于判断电量、满足回充条件等步骤的描述如上所述，不再赘述。
自步骤S110以后的各步骤都可以是在正常执行预定任务的同时进行的，因此都可以归为“巡航阶段”，如图2a“巡航阶段”虚线框所示。
步骤S210：若可移动装置的电量满足回充条件，则待充电的可移动装置移动(也可称为导航)至其存储的所述信号感应位置或其附近位置。
步骤S220：在可移动装置移动至所述信号感应位置上或其附近位置上和/或在其移动路程中，搜索充电基座发射的回充引导信号和/或寻找充电基座。若发现充电基座(比如通过接近传感器或摄像头直接检测到充电基座，或通过信号接收器接收到近距回充信号等方式)，则直接移动到充电基座上充电；或若检测到回充引导信号，则在回充引导信号的指引下找到充电基座，进行充电。否则执行下述S230。
步骤S230：若在所述信号感应位置或其附近位置，未发现所述充电基座和/或未检测到充电基座发射的回充引导信号，则可移动装置进行局部搜索，搜索回充引导信号和/或充电基座。
步骤S240：若在所述局部搜索过程中发现所述充电基座，则直接移动至所述充电基座上；或若检测到回充引导信号，则在所述回充引导信号的指引下移动至充电基座，
步骤S300：可移动装置在充电基座上进行充电。
需要说明的是，所述充电基座的候选位置为充电基座可能在的位置；所述充电基座的信号覆盖范围是指充电基座的回充引导信号能被可移动装置检测到的范围。由于充电基座的回充引导信号通常会覆盖充电基座的位置，因此充电基座的信号覆盖范围通常会覆盖所述候选位置。所述信号覆盖范围的形状可以是圆形、椭圆形或其它任何由回充引导信号的覆盖范围可能形成的形状。比如，在图2b的实施例中，充电基座10的信号发射器20发出的回充引导信号62和64为定向信号，其信号覆盖范围为如图3d所示的椭圆形；可移动装置80在执行预定任务时若电量充足，此时并不急于充电，该阶段可称为“巡航阶段”，因此只要可移动装置在其信号覆盖范围内的任何一点，即可搜索到所述的回充引导信号62或64，知道充电基座在这个位置附近的较小区域内即可，而不需要明确知道充电基座的实际确切位置；因此此时将可移动装置搜索到回充引导信号时的可移动装置的当前位置存储为信号感应位置；根据上述对“信号覆盖范围”的定义，则该“信号感应位置”一定在“信号覆盖范围”内，且搜索不到所述回充引导信号的位置一定不在信号覆盖范围内，也就不是所述的“信号感应位置”。因此，可以认为所述“信号覆盖范围”是“信号感应位置”的集合。
可移动装置通常会实时监测其电量，当其电量较低时，比如电量已低于设定的10％的低电量阈值，则可移动装置需要立即充电，该阶段可称为“回充阶段”，则可移动装置需要立即移动到其在“巡航阶段”存储的信号感应位置，即移动到存储的信号覆盖范围内；若在此信号感应位置又一次搜索到所述的回充引导信号62或64，则沿该回充引导信号找到充电基座，进行充电。
若回充引导信号是如图2a的全向信号60，此时的回充引导信号的信号覆盖范围为图3e所示的圆形阴影区域，由于该全向信号没有方向性，则可移动装置移动到信号覆盖范围内的某个位置，即使检测到回充引导信号，可能仍不能确定充电基座的具体方向，因此需要通过可移动装置在运动过程中(也可称为移动过程或导航过程)，对比前后两个时刻搜索到的回充引导信号的强弱对比来确定可移动装置是移向充电基座还是背离充电基座，从而确定是在向充电基座靠近，保证其能够顺利充电。
以一个实施例进行解释说明，如图3f所示，可移动装置在第一时刻t1搜索到回充引导信号(比如在D点)后，将该第一时刻t1的回充引导信号的强度记为SI1；在继续运行过程中，比如在第二时刻t2运行到F点记录此处的回充引导信号强度为SI2，由于F点相较于D点离充电基座10更近，回充引导信号强度SI2较SI1更强，因此可移动装置80以F点位置作为新的信号感应位置代替t1时刻存储的信号感应位置D点；若在继续运行过程中，比如可移动装置80在第三时刻t3运行到G点，记录此处的回充引导信号强度为SI3，由于G点相较于F点，离充电基座10更远，回充引导信号强度SI3较SI2弱，因此可移动装置不存储t3时刻的G点而仍以F点位置作为信号感应位置；由此可见，并不是每一个信号感应位置都被存储，比如G点未被存储。按上述方式，可移动装置逐步逼近充电基座10，从而实现成功回充。
实施例三：实际上，可以将上述实施例一与实施例二结合，作为一个优选实施例。其流程图如图1c所示，该实施例的可移动装置的回充方法包括：
步骤S110：可移动装置80自充电基座10上启动，如图3c所示。
步骤S120：可移动装置80存储启动时的位置(图3c的A点)为候选位置。
步骤S140：可移动装置执行预定任务，并搜索充电基座发射的回充引导信号。
步骤S150：若可移动装置检测到充电基座发射的回充引导信号，则将检测到回充引导信号的位置存储为信号感应位置。如图3d或图3e中的B点。
由于可移动装置自充电基座位置启动，一般情况下应该能检测到回充引导信号。可选的，可以存储多个信号感应位置，也可以以最后一次接收到回充引导信号的位置或检测到最大强度的回充引导信号的位置作为唯一的信号感应位置。
步骤S130：可移动装置判断电量是否满足回充条件。本实施例中，满足回充条件的可移动装置即 可认为是待充电的可移动装置。还可以将进行回充作为其当前要执行的主要任务的可移动装置认为是所述待充电的可移动装置。关于判断电量、满足回充条件等步骤的描述如上所述，不再赘述。
自步骤S110以后的各步骤都可以是在正常执行预定任务的同时进行的，因此都可归为“巡航阶段”，如图3a“巡航阶段”虚线框所示。
步骤S210：若可移动装置的电量满足回充条件，则待充电的可移动装置移动(也可称为导航)至其存储的所述候选位置和/或信号感应位置和/或其附近位置(统称为目标位置。所述目标位置包括：候选位置，和/或信号感应位置，当然也包括候选位置、和/或信号感应位置相应的附近位置)。
步骤S220：在可移动装置移动至其目标位置上和/或在其移动路程中，搜索充电基座发射的回充引导信号和/或寻找充电基座(统称为目标。所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号)。若发现充电基座(比如通过接近传感器或摄像头直接检测到充电基座，或通过信号接收器接收到近距回充信号等方式)，则直接移动到充电基座上充电；或若检测到回充引导信号，则在回充引导信号的指引下找到充电基座，进行充电。否则执行下述S230。
步骤S230：若在所述目标位置，未发现所述目标，则可移动装置进行局部搜索，搜索所述目标。
步骤S240：若在所述局部搜索过程中发现所述充电基座，则直接移动至所述充电基座上；或若检测到回充引导信号，则在所述回充引导信号的指引下移动至充电基座，
步骤S300：可移动装置在充电基座上进行充电。
对比上述实施例一、实施例二和实施例三，可以发现其中编号相同的步骤，其内容基本相同，区别仅在于存储的位置是候选位置还是信号感应位置。可以将其统一定义为“目标位置”，即在可移动装置自充电基座启动时存储的候选位置或在工作过程中遇到并存储的充电基座的候选位置为“目标位置”，而可移动装置在运行中检测到回充引导信号时的信号感应位置也是“目标位置”，因此上述三个实施例各相应步骤的编号可以统一，因此在本发明中未对这三个实施例的步骤编号加以区别，因为其本质是相同的。
当然，除了上述通过可移动装置自主感应回充引导信号之外，还可以通过人或其它设备主动输入充电基座坐标并存储为候选位置，比如通过可移动装置自带的IO设备，比如功能按钮或者触控屏，由用户或其它设备将充电基座当前的位置信息人工输入到可移动装置中，可移动装置接收到该位置信息后，将该位置信息存储为充电基座的候选位置。比如用户将充电基座在可移动装置坐标系下的坐标位置输入可移动装置，或用户在可移动装置的IO设备或其充电基座的IO设备上显示的地图中进行划区选定充电基座的位置，或用户在与可移动装置连接的智能终端(比如PC机、平板电脑或手机等)显示的地图中进行划区选定充电基座的位置，均可存储为充电基座的候选位置。
在一些实施例中，所述回充引导信号是由充电基座10的信号发射器18发出的全向信号60，如图2a、图3e所示；或者是由充电基座10的信号发射器20发出的定向信号62、64，如图2b、图3d所示；所述回充引导信号可以为至少一个，当然也可以更多，如图2b所示为两个回充引导信号62和64且二者有重叠66的情况；在有些实施例中，其重叠区66也可被当作第三个回充引导信号。进一步地，本发明的可移动装置的回充技术方案可以与其它条件配合使用，使得可移动装置的充电更合理，比如，可以设置全向信号60以及定向信号62和64，同时可以设置包括高电量阈值和低电量阈值的至少二级电量阈值，当可移动装置的电量高于高电量阈值时，设定可移动装置在执行预定任务过程中若发现回充引导信号60、62或64，存储可移动装置此时的位置作为充电基座的信号感应位置(即所述的“巡航阶段”)；当可移动装置的电量低于高电量阈值但高于低电量阈值时，设定可移动装置进行预定任务的同时寻找回充引导信号，若找到回充引导信号，则在回充引导信号的引导下进入充电基座进行充电(既进行预定任务，又在找到回充引导信号时执行回充，属于本发明上述实施例中所述的“巡航阶段”与“回充阶段”重合的阶段)；当可移动装置的电量低于低电量阈值时，设定可移动装置停止执行预定任务，全力直接寻找回充引导信号60、62或64，尽快充电(即所述的“回充阶段”)。该实施例中仍然包括“巡航阶 段”和“回充阶段”。当然上述实施例仅用于解释说明本发明的技术方案，实际上还可以是其它任意形式，比如较简单的，充电基座发射单一的全向信号或定向信号，用以引导可移动装置返回充电基座进行充电。实际上，在带有摄像头或激光测距仪的可移动装置上，可以通过摄像头拍摄的照片通过SLAM方法、或通过激光测距仪发现充电基座的粗略或精确位置，从而定位出充电基座的候选位置或信号覆盖范围。
可移动装置中存储的充电基座的候选位置可以只有一个。但在具体实践中，充电基座的实际位置有可能会变动，而不同于候选位置，甚至不在信号覆盖范围内，例如，人为搬运或意外触碰，导致充电基座的位置发生较大改变；再例如，用户的其他设备需要充电，将可移动装置的可通用的充电基座的插头拔下后，换到了其他位置再通电等。当充电基座的实际位置不同于候选位置且不在信号覆盖范围内时，由于现有技术中可移动机器装置存储的候选位置不会发生改变，经常会导致可移动装置充电失败，充电失败率高。
再者，由于可移动装置自身存在的定位误差，例如由于可移动装置的码盘和/或IMU(惯性测量单元)的累计误差，即使充电基座本身未发生位置变动，但可移动装置在累计误差的影响下以为移动到了充电基座的位置，但实际上未到达充电基座的实际位置，也会造成可移动装置自以为是的充电基座的“实际位置”(含有累计误差)不同于存储的候选位置或不在信号覆盖范围内，导致可移动装置回充失败。
为了解决现有技术中的这一技术问题，本发明实施例对充电基座的候选位置或信号覆盖范围内的信号感应位置进行局部搜索。
本发明一个实施例，设充电基座的回充引导信号的有效接收范围为d(如图3f的半径d所示；所述的信号覆盖范围在图3f所示的实施例中，是以充电基座10为圆心、以回充引导信号的有效接收范围d为半径的圆面积内)。所述回充引导信号的有效接收范围是指回充引导信号能被可移动装置接收到的最大距离，例如图3d或图3e中充电基座10到B点之间的距离。若可移动装置需要充电，即可移动装置处于“回充阶段”(如图1a至图1c中的步骤S210至S240)，则待充电的可移动装置移动(也可称为导航)到其存储的所述候选位置(如图3c中的A点)和/或所述信号感应位置(如图3e中的B点)和/或其相应的附近位置(统称为目标位置。所述目标位置包括：候选位置，和/或信号感应位置，当然也包括候选位置、和/或信号感应位置相应的附近位置)，即导航至信号覆盖范围内(如图3f中以充电基座10为圆心，以有效接收范围d为半径且过B点的圆的圆面积之内)。
本发明一个实施例中，在“回充阶段”的局部搜索，是在步骤S220之后，即在可移动装置移动至所述候选位置上(实施例一或实施例三)和/或信号感应位置上(实施例二或实施例三)和/或其附近位置上或在其移动路程中，未发现充电基座，和/或未检测到回充引导信号，此时进入步骤S230的局部搜索步骤(在步骤S230中，难免与上述介绍的各实施例中的其它步骤有重叠或与其它步骤相同的多次执行，本领域技术人员应当理解，局部搜索步骤是整个回充方法的一个环节，不局限于上述各实施例中的其它步骤)，如图1d所示，包括：
步骤S231：以存储的所述候选位置或信号感应位置(即目标位置)为中心点，设定边界阈值确定搜索区域。
本发明中的“搜索区域”如非特别说明，均指局部搜索的搜索区域。搜索区域可以是任何封闭图形，比如圆形、正方形、矩形、菱形、椭圆形、三角形等，也可以是各种图形的组合或不规则图形。比如以图3c中的A点的候选位置或图3d、图3e中的B点的信号感应位置为中心，以回充引导信号的有效接收范围d为半径的圆形区域或边长为2d的方形区域确定搜索区域，其中的半径d和边长2d分别为圆形搜索区域和方形搜索区域的边界阈值。所述边界阈值可以是由可移动装置内预设，或由用户设定。对于圆形的搜索区域而言，边界阈值可以用圆形的直径或半径来表示；对于方形的搜索区域而言，边界阈值可以用方形的边长或对角线来表示；对于椭圆形的搜索区域而言，边界阈值可以用椭圆形的长轴和短轴表示；对于矩形的搜索区域而言，边界阈值可以用长、宽表示，或长或宽与对角线表示。同一形状的搜 索区域，可以由多种形式的边界阈值表达，只要这种表达形式能够确定而准确地表达搜索区域即可。本实施例以方形的搜索区域为例，以方形的边长为边界阈值，表达该方形搜索区域，参见图3f中的方形区域。
本实施例中的上述搜索区域也称为基本搜索区域或第一搜索区域。
所述边界阈值可以小于或者大于充电基座的回充引导信号的有效接收范围d，d＞0。优选地，所述边界阈值为充电基座的回充引导信号的有效接收范围d的预设倍数，例如，1.5d、2d、4d。此时建立的搜索区域可以是直径为1.5d、2d、4d的圆形搜索区域或边长或对角线为1.5d、2d、4d的方形搜索区域等。
根据不同种类、型号的可移动装置，其对应的充电基座的有效接收范围可能不同。若在实际工作区域有多个可兼容的充电基座可对同一个可移动装置充电，则边界阈值可以选择多个充电基座的有效接收范围的最短者作为基数d，比如三台可移动装置的充电基座的有效接收范围分别为d1＝1米、d2＝2米、d3＝4米，则优选地可以以最短的有效接收范围d1＝1米作为边界阈值。当然也可以有其它设置。本领域技术人员可以理解，对于边界阈值的设定只是调整参数细节，不能以上述实施例中关于回充引导信号的有效接收范围的d值及边界阈值的设定作为对本发明的限制。
步骤S232：可移动装置沿所述搜索区域的边界运行，同时搜索回充引导信号和/或充电基座；
可移动装置在所述基本搜索区域的边界上移动时，若发现所述充电基座，则直接移动至所述充电基座上充电；若检测到回充引导信号，则在回充引导信号的指引下找到充电基座进行充电。
可移动装置移动到目标位置却未发现充电基座也未检测到回充引导信号，可能是可移动装置自身存在的定位误差导致的，例如由于可移动装置的码盘和/或IMU(惯性测量单元)的累计误差使可移动装置80以为移动到所述信号感应位置B点，如图3f所示，但实际上由于误差导致可移动装置80移动到信号覆盖范围外的C点，因此在C点未发现回充引导信号。此时可移动装置80绕以C点为中心、以预设长度2d为边长的方形搜索区域的边界运行一周并搜索回充引导信号。当可移动装置80尚未完成对第一搜索区域运行一周即搜索到了回充引导信号，比如移动到如图3f的D点(可移动装置80按如图3f所示的运行方向101运行，从而逆时针沿搜索区域的边界移动)或E点(与图3f中的运行方向相反)时开始搜索到回充引导信号，此时在回充引导信号的指引下找到充电基座10，成功充电。
优选地，若可移动装置在沿任一搜索区域的边界运行搜索回充引导信号时，可移动装置遇到实际工作区域内的障碍物，则在搜索区域内沿该物体的边缘运行，如图3h所示。当可移动装置运行至图3h中的H点时，碰到实际工作区域的障碍物，然后在搜索区域内沿障碍物边缘运行至J点，再沿J点运行到障碍物与搜索区域的交界处K点，在K点继续沿搜索区域的边界向D点方向运行。
在步骤S232的沿所述基本搜索区域的边界搜索所述目标的过程中，若直至达到预设的第一结束条件仍没有发现所述目标(所述第一结束条件对应于当前的基本搜索区域检索目标失败的条件，包括：达到预设时间，或所述基本搜索区域的边界已全部被搜索)，则结束对所述基本搜索区域的局部搜索。作为一个简单的实施例，此时可移动装置可以直接执行步骤S250，停止运行或运行到指定地点和/或报警或报错。或者，若在预设时间内或第一搜索区域的边界已全部被搜索后，仍未发现所述充电基座或未发现所述回充引导信号，则可移动装置还可以在实际工作区域内沿边缘绕行一周，并搜索目标，即回充引导信号和/或充电基座。如果仍未发现所述目标，可以停止运行或运行到指定地点和/或报警或报错。
作为一个更优选的实施例，可以设置搜索区域的次数n。在上述步骤S231中确定的搜索区域为第一搜索区域或基本搜索区域，即n＝1。此时执行上述步骤S232：可移动装置80沿所述第一搜索区域的边界运行，同时搜索回充引导信号和/或充电基座。
若可移动装置80在沿第一搜索区域的边界绕行一周后(即遍历第一搜索区域的边界)或达到预设时间后，仍未发现回充引导信号或充电基座，则说明充电基座10的信号覆盖范围与第一搜索区域未重合，如图3g所示。此时，可移动装置80基于所述第一搜索区域设置范围更大、周长更长的第二搜索区 域(n＝2)，比如可以如图3g所示，以C点为中心、以4d为边界阈值建立第二搜索区域，再次执行步骤S232即可移动装置沿第二搜索区域的边界运行，同时搜索回充引导信号和/或充电基座，当可移动装置移动到D'点或E'点时，检测到回充引导信号，此时在回充引导信号的指引下找到充电基座10，成功充电。当然，若可移动机器人沿第二搜索区域的边界运行，仍未检测到回充引导信号和/或充电基座，则可以继续增加n值，直至n值等于设定的N。可以预设搜索回充引导信号的次数N，即建立搜索区域的次数。如上所述，第一次建立的搜索区域为第一搜索区域或基本搜索区域；第二次建立的搜索区域为第二搜索区域，……则第N次建立的搜索区域为第N搜索区域。
后一次的搜索区域的周长应大于前一次的搜索区域的周长。但是应当注意，虽然本发明上述实施例中，后次的搜索区域形状与第一搜索区域形状相同，但后次的搜索区域形状也可以与第一搜索区域形状不同，如图4a、图4b所示；后次的搜索区域与第一搜索区域的中心也未必重合，如图4b所示。可移动装置在预设时间或预设搜索区域的次数范围内，若发现所述充电基座，则可移动装置移动至所述充电基座，若发现所述回充引导信号，则在回充引导信号的指引下移动至所述充电基座。
作为一个优选实施例，在可移动装置完成了上述N次(N也可以等于1)搜索后，仍未发现所述目标，则还可以执行步骤S234：若在预设时间内或遍历预设圈数(比如设定的N次搜索区域)后仍未发现所述充电基座或未发现所述回充引导信号，则可移动装置还可以在实际工作区域内沿边缘绕行一周，并搜索回充引导信号和/或充电基座。
由于可移动装置通常是在一个有限空间内运动(比如室内)，而充电基座通常放置在有限空间的墙壁处(因为充电基座的插头通常要与墙壁上的插座连接以获得电能)，因此在沿室内边缘的墙壁内侧运行一周，通常能够找到充电基座。如图3a所示，可移动装置80在完成N次搜索后，位于位置102，然后向某个方向运动，直至找到障碍物的边缘位置103，然后沿着障碍物的边缘运动，直至找到实际上位于位置104处的充电基座10或其回充引导信号(回充引导信号的信号覆盖范围在图3a、图3b中以围绕充电基座10的虚线圆圈表示)，实现充电。
当然也可以设置搜索时间，若在搜索时间内未找到充电基座，则可移动装置报警和/或运行到某一指定地点。
在可移动装置存储了多个候选位置或信号感应位置的情况下，若这几个候选位置或信号感应位置之间的距离L比有效接收范围d大得多(比如L>2d)，则可移动装置在“回充阶段”可以依次导航至每个候选位置或信号感应位置或其附近位置以搜索回充引导信号。如图3b所示，可移动装置80在位置112处检测到电量低于其低电量阈值，从而触发进入“回充阶段”；导入其存储的3个候选位置或信号感应位置，分别位于图3b的位置113、位置114、位置115。一个实施例中，可移动装置可以根据各候选位置或各信号感应位置或其各自的附近位置与可移动装置当前位置112的距离，依次导航至位置113、114、115附近寻找回充引导信号，如图3b所示，最终在位置115检测到回充引导信号，进而成功找到充电基座实现充电。在其它的实施例中，也可以根据实际工作区域内障碍物的分布情况或其它条件(比如比较各个候选位置或信号感应位置的置信度、比较某个区域内候选位置或信号感应位置的密度，或者将上述因素综合判断)选择导航目的地的顺序。
在具体实践中，经过多次实验发现，当存在多个候选位置或信号感应位置时，可移动装置在该位置接收到的信号强度越大，则认为该位置作为候选位置或信号感应位置的置信度越高。因此，在根据各个候选位置或信号感应位置的置信度选择导航目的地的顺序的实施例中，可以根据各个候选位置或信号感应位置，可移动装置存储的接收到的回充引导信号强弱对各个候选位置或信号感应位置进行排序，可移动装置根据该排序进行导航搜索。例如，在图3b中，若位置112、位置113、位置114、位置115存储的回充引导信号的强度依次由强到弱，则可移动装置的导航路线可以为：位置112->位置113->位置114->位置115，可移动装置按该导航路线进行导航搜索。
当然，为了提高可移动装置的回充搜索效率，在一些实施例中，可以先去比较这几个候选位置或信 号感应位置上存储的回充引导信号的强度，按存储的回充引导信号的强弱选择导航目的地的顺序。进一步地，为了缩短搜寻时长，提高可移动装置系统响应速度，也可以只保留存储的最强的两个回充引导信号所对应的两个候选位置或信号感应位置，若在存储的最强的两个回充引导信号所对应的两个候选位置或信号感应位置未搜索到充电基座，则结束局部搜索。例如，假设在图3b中，位置112和位置113存储的回充引导信号的强度最大，则可移动装置在位置112搜索后，只去位置113进行搜索，即使在位置112和位置113未找到充电基座，也不再对其他的位置114、位置115进行搜索。
可以理解的是，本实施例提供的技术方案，相比现有技术，候选位置或信号感应位置包括多个，当在一个候选位置或信号感应位置未发现所述充电基座或回充引导信号时，则在该候选位置或信号感应位置进行局部搜索；若仍未发现所述充电基座或回充引导信号，则扩大局部搜索范围；若仍未发现所述充电基座或回充引导信号，且在存储了多个目标位置的情况下，则将所述可移动装置导航至另一个候选位置或信号感应位置，并在另一个候选位置或信号感应位置未发现所述充电基座或回充引导信号时再次进行局部搜索，直至发现所述充电基座或信号感应位置，或者，直至所有存储的候选位置和/或信号感应位置均进行了局部搜索或局部搜索达到预设时间，从而实现了对充电基座有重点、有目的、有秩序的局部搜索，使得即使充电基座的实际位置与候选位置或信号感应位置发生偏差，可移动装置也能够根据预设流程以最短的时间搜索到充电基座，提高充电成功率。
另外，本发明一实施例还给出了一种可移动装置，所述可移动装置用于运行上述的回充方法，该可移动装置包括：
用于使可移动装置在地面上运动的运动机构；
用于检测回充引导信号的接收器；
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器配置为：
调取被存储的充电基座的目标位置；
将待充电的可移动装置导航至所述目标位置；
若在导航过程中，和/或在所述目标位置，未发现目标，则进行局部搜索，搜索所述目标；
若在所述导航过程中，或者，在所述目标位置上，或者，在所述局部搜索过程中，发现所述目标，则移动至所述充电基座上充电；
所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号；
所述目标位置包括：候选位置，和/或信号感应位置；
所述候选位置是被存储的所述充电基座的位置；
所述信号感应位置为能检测到所述回充引导信号的位置。
优选地，所述可移动装置为清洁机器人。所述清洁机器人可以是智能扫地机、智能擦地机、擦窗机器人等。
可以理解的是，本实施例提供的技术方案，由于在可移动装置回充的过程中增加了对充电基座进行局部搜索的过程，从而使得即使充电基座位置出现偏差或者被移动，可移动装置也能大概率地自动搜索到充电基座，提高了可移动装置的回充成功率。
可以理解的是，上述各实施例中相同或相似部分可以相互参考，在一些实施例中未详细说明的内容可以参见其他实施例中相同或相似的内容。
需要说明的是，在本发明的描述中，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。此外，在本发明的描述中，除非另有说明，“多个”的含义是指至少两个。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种可移动装置的回充方法，其特征在于，包括：
    调取被存储的充电基座的目标位置；
    将待充电的可移动装置导航至所述目标位置；
    若在导航过程中，和/或在所述目标位置，未发现目标，则进行局部搜索，搜索所述目标；
    若在所述导航过程中，或者，在所述目标位置上，或者，在所述局部搜索过程中，发现所述目标，则移动至所述充电基座上充电；
    所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号；
    所述目标位置包括：候选位置，和/或信号感应位置；
    所述候选位置是被存储的所述充电基座的位置；
    所述信号感应位置为能检测到所述回充引导信号的位置。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    将检测到充电基座发射的回充引导信号的位置存储为信号感应位置；和/或
    若可移动装置自充电基座启动，存储可移动装置启动时的位置为候选位置。
  3. 根据权利要求1所述的方法，其特征在于，所述移动至所述充电基座上充电，包括：
    若发现的目标为所述充电基座，则直接移动至所述充电基座上充电；
    或者，
    若发现的目标为所述回充引导信号，则在所述回充引导信号的引导下移动至所述充电基座上充电。
  4. 根据权利要求1至3之一所述的方法，其特征在于，所述进行局部搜索，包括：
    以所述目标位置为中心，设定边界阈值，确定基本搜索区域；
    沿所述基本搜索区域的边界搜索所述目标，若直至达到预设的第一结束条件仍没有发现所述目标，则结束对所述基本搜索区域的局部搜索；
    其中，所述第一结束条件包括：达到预设时间，或所述基本搜索区域的边界已全部被搜索。
  5. 根据权利要求4所述的方法，所述进行局部搜索，还包括：
    若在达到预设的第一结束条件时仍没有发现所述目标，则以第二边界阈值确定第二搜索区域；所述第二搜索区域的周长大于所述基本搜索区域的周长；沿所述第二搜索区域的边界搜索所述目标。
  6. 根据权利要求1至3之一所述的方法，其特征在于，
    还包括：若在局部搜索后未发现所述目标，则在所述可移动装置的实际工作区域内沿边缘绕行一周，并搜索所述目标。
  7. 根据权利要求6所述的方法，其特征在于，还包括：
    若在所述实际工作区域内沿边缘搜索所述目标时，在预设的搜索时间内未找到所述目标，则进行报警和/或运行到指定地点。
  8. 根据权利要求1至3之一所述的方法，其特征在于，若所述目标位置为多个，所述将待充电的可移动装置导航至所述目标位置，包括：
    根据各目标位置与可移动装置当前位置的距离，按距离从近到远的顺序，将待充电的可移动装置依次导航至每个目标位置；和/或
    根据实际工作区域内障碍物的分布情况，将待充电的可移动装置依次导航至每个目标位置；和/或
    根据各目标位置的置信度，按置信度从大到小的顺序，将待充电的可移动装置依次导航每个目标位置。
  9. 一种可移动装置，其特征在于，包括：
    用于使可移动装置在地面上运动的运动机构；
    用于检测回充引导信号的接收器；
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器配置为：
    调取被存储的充电基座的目标位置；
    将待充电的可移动装置导航至所述目标位置；
    若在导航过程中，和/或在所述目标位置，未发现目标，则进行局部搜索，搜索所述目标；
    若在所述导航过程中，或者，在所述目标位置上，或者，在所述局部搜索过程中，发现所述目标，则移动至所述充电基座上充电；
    所述目标包括：所述充电基座，和/或所述充电基座发射的回充引导信号；
    所述目标位置包括：候选位置，和/或信号感应位置；
    所述候选位置是被存储的所述充电基座的位置；
    所述信号感应位置为能检测到所述回充引导信号的位置。
  10. 根据权利要求9所述的可移动装置，其特征在于，
    所述可移动装置为清洁机器人。
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