WO2021003988A1

WO2021003988A1 - Autonomous device return method and apparatus, autonomous device, and storage medium

Info

Publication number: WO2021003988A1
Application number: PCT/CN2019/123260
Authority: WO
Inventors: 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2019-07-05
Filing date: 2019-12-05
Publication date: 2021-01-14
Also published as: CN112256012B; CN112256012A

Abstract

An autonomous device return method and apparatus, an autonomous device, and a storage medium. The method comprises: determining whether an autonomous device equipped with a wireless energy receiver is currently located within a wireless energy transmission range centered on a wireless energy transmitter in a target position (S11); if the autonomous device is currently located within the wireless energy transmission range, determining whether the autonomous device is currently located in the target position (S12); if the autonomous device is not currently located in the target position, causing the autonomous device to perform linear movement so as to acquire a wireless energy signal strength value in each of several movement positions (S13); adjusting the linear movement according to the wireless energy signal strength value so as to acquire a target straight line connecting the target position and the position of the autonomous device (S14); and causing the autonomous device to move along the target straight line to return to the target position (S15). The application range of the autonomous device is widened, and return costs of the autonomous device are reduced.

Description

Return method, device, self-mobile device, storage medium of autonomous mobile equipment

This application claims the priority of the Chinese patent application whose application date is July 05, 2019 and the application number is 201910603662.0, the entire content of which is incorporated into this application by reference.

Technical field

This specification relates to the field of robotics, and in particular to a return method, device, self-moving device, and storage medium of an autonomous mobile device.

Background technique

With the rapid development of robotics technology, some robots can move autonomously in the active area to perform tasks. Correspondingly, such robots can be called autonomous mobile devices. At present, the more common autonomous mobile devices include sweeping robots and intelligent lawn mowers.

Autonomous mobile devices are generally powered by rechargeable batteries. Correspondingly, a charging station can be configured at the edge (or other designated location) of the active area of the autonomous mobile device, so that the autonomous mobile device can autonomously return to the charging station for docking charging when it detects that its own power is insufficient. At present, autonomous mobile devices generally guide autonomous mobile devices to return to charging stations for docking charging by laying guide lines. However, this way of laying guide lines limits the scope of application of autonomous mobile devices to a certain extent, and increases the return cost of autonomous mobile devices.

Summary of the invention

The purpose of the embodiments of this specification is to provide a return method, device, self-mobile device, and storage medium of an autonomous mobile device, so as to improve the scope of application of the autonomous mobile device and reduce the return cost of the autonomous mobile device.

In order to achieve the foregoing objectives, on the one hand, embodiments of this specification provide a regression method for autonomous mobile devices, including:

Confirm whether the autonomous mobile device equipped with a wireless energy receiver is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location;

When the autonomous mobile device is currently located within the wireless energy transmission range, confirm whether the autonomous mobile device is currently located at the target location;

When the autonomous mobile device is not currently located at the target location, causing the autonomous mobile device to move linearly to obtain the wireless energy signal strength value at each moving location;

Adjusting the linear movement according to the wireless energy signal strength value to obtain a target straight line that has passed the target position and the position of the autonomous mobile device;

The autonomous mobile device is moved along the target straight line to return to the target position.

On the other hand, this specification also provides an example of a return device for autonomous mobile equipment, including:

The first confirmation module is used to confirm whether the autonomous mobile device equipped with the wireless energy receiver is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location;

The second confirmation module is configured to confirm whether the autonomous mobile device is currently located at the target location when the autonomous mobile device is currently located within the wireless energy transmission range;

The first control module is configured to make the autonomous mobile device move linearly when the autonomous mobile device is not currently located at the target location to obtain the wireless energy signal strength value at each moving position;

The second control module is configured to adjust the linear movement according to the wireless energy signal strength value to obtain the target straight line that has passed the target position and the position of the autonomous mobile device;

The third control module is used to make the autonomous mobile device move along the target straight line to return to the target position.

On the other hand, the embodiments of this specification also provide an autonomous mobile device, which is configured with the above-mentioned regression device.

On the other hand, the embodiment of this specification also provides a computer storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the above regression method.

As can be seen from the technical solutions provided by the above embodiments of this specification, the embodiments of this specification use the wireless energy signal emitted by the wireless energy transmitter of the wireless charging station of the autonomous mobile device to guide the autonomous mobile device to return to the target position, so there is no need to deploy guidance Therefore, it is avoided that the application scope of autonomous mobile equipment is restricted due to the layout of the guide line, and the increased cost required for the layout of the guide line is also saved.

Description of the drawings

In order to more clearly explain the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only It is an embodiment described in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor. In the attached picture:

Fig. 1 is a flowchart of a regression method of an autonomous mobile device in an embodiment of this specification;

2 is a schematic diagram of the distribution of the charging magnetic field generated by the wireless charging transmitter coil in an embodiment of the specification;

3 is a schematic diagram of the corresponding relationship between the magnetic induction intensity and the center distance in an embodiment of the specification;

Figure 4a is a schematic diagram of an autonomous mobile device moving in a spiral in an embodiment of the specification;

FIG. 4b is a schematic diagram of an autonomous mobile device moving in a spiral-like manner in an embodiment of this specification;

Fig. 5a is a schematic diagram of an autonomous mobile device moving in multiple reciprocating linear motions in an embodiment of this specification;

Figure 5b is a schematic diagram of an autonomous mobile device similar to multiple reciprocating linear movements in an embodiment of this specification;

FIG. 6 is a schematic diagram of regression of an autonomous mobile device in an embodiment of this specification;

FIG. 7 is a schematic diagram of regression of an autonomous mobile device in another embodiment of this specification;

Fig. 8 is a structural block diagram of a regression device of an autonomous mobile device in an embodiment of this specification.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described The embodiments are only a part of the embodiments in this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this specification.

The autonomous mobile devices in the embodiments of this specification may include, but are not limited to, smart lawn mowers, sweeping robots, sorting robots, unmanned delivery vehicles, drones, and the like. In an embodiment, the charging station of the autonomous mobile device may be a wireless charging station, and the wireless charging station is equipped with a wireless charging transmitter, through which wireless energy signals can be transmitted to the surroundings. Correspondingly, the autonomous mobile device may be equipped with a wireless charging receiver to receive the wireless energy signal and charge the rechargeable battery of the autonomous mobile device. Since the signal strength of the wireless energy signal is gradually attenuated from the transmitting center to the surroundings, that is, the signal strength of the wireless energy signal is inversely proportional to the distance to the transmitting center. Therefore, the transmission range (or coverage range) of the wireless energy signal is usually limited. Generally, the wireless energy transmission range of most wireless charging stations generally does not exceed 1 meter. For example, in the exemplary embodiment shown in FIG. 2, the wireless charging transmitter of the wireless charging station may be a wireless charging transmitting coil, which can generate a charging magnetic field, when the distance from the transmitting center is different (for example, in FIG. 2 The attenuation degree of the magnetic field signal is also different at the positions d1 to d5), as shown in Figure 3.

In order to improve the efficiency of energy reception, autonomous mobile devices can move to the transmitting center of the wireless charging station when the battery is insufficient and need to be returned to charging. Correspondingly, the transmission center point may be used as the target position, or the location area near the transmission center point with strong signal strength may be used as the target position. However, due to the limited positioning accuracy of the positioning module configured by the autonomous mobile device, the positioning module can generally only guide the autonomous mobile device to a location near the wireless charging station (that is, the autonomous mobile device can be guided to, and the autonomous mobile device can interact with the wireless charging station. Within the range that can be wirelessly communicated), it cannot be directly guided to the transmitting center of the wireless charging station. For this reason, it is also necessary to lay a guide line in the prior art to guide the autonomous mobile device to the transmitting center of the wireless charging station. However, this method of laying guide lines limits the scope of application of autonomous mobile devices and increases the return cost of autonomous mobile devices.

In view of this, in order to solve the above-mentioned problem, an embodiment of this specification provides a regression method for an autonomous mobile device as shown in FIG. 1, and the regression method may include the following steps:

S101: Confirm whether an autonomous mobile device equipped with a wireless energy receiver is currently located within a wireless energy transmission range centered on the wireless energy transmitter at the target location;

S102: When the autonomous mobile device is currently located within the wireless energy transmission range, confirm whether the autonomous mobile device is currently located at the target location;

S103: When the autonomous mobile device is not currently located at the target location, make the autonomous mobile device move linearly to obtain the wireless energy signal strength value at each moving location;

S104. Adjust the linear movement according to the wireless energy signal strength value to obtain a target straight line that has passed the target position and the position where the autonomous mobile device is located;

S105. Make the autonomous mobile device move along the target straight line to return to the target position.

It can be seen that the return method of the embodiment of the present specification uses the wireless energy signal emitted by the wireless energy transmitter of the wireless charging station of the autonomous mobile device to guide the autonomous mobile device to return to the target position, so there is no need to lay a guide line, thereby avoiding The application range of autonomous mobile devices is limited due to the laying of guide lines, and the additional cost required for laying guide lines is also saved. Of course, in other embodiments, the wireless energy transmitter may not use the wireless energy transmitter of the wireless charging station of the autonomous mobile device. According to requirements, the wireless energy transmitter may also be separately configured at the target location for return guidance. .

In an embodiment of this specification, before confirming whether the autonomous mobile device equipped with a wireless energy receiver is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location, it can also be confirmed first. Whether the power of the rechargeable battery of the autonomous mobile device is lower than the preset power threshold; when the power of the rechargeable battery of the autonomous mobile device is lower than the preset power threshold, the wireless communication module of the autonomous mobile device can be caused to send charging The start instruction, so that when the wireless charging station receives the charging start instruction through the corresponding wireless communication module, it can trigger the wireless energy transmitter to transmit a wireless energy signal, so as to facilitate subsequent return guidance based on the wireless energy signal.

In an embodiment of this specification, in order to be able to return to the target location based on the wireless energy signal transmitted by the wireless energy transmitter, it is necessary to confirm whether there is a wireless energy signal at the current location of the autonomous mobile device. By confirming whether the autonomous mobile device is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location, it can be beneficial to improve the return efficiency of the autonomous mobile device. Of course, it is theoretically possible to directly perform regression without considering whether the autonomous mobile device is within the wireless energy transmission range, but in this case it is an unlimited range regression, and its regression efficiency is low. Moreover, considering that the autonomous mobile device itself is already in a state of insufficient power, this method that does not consider whether the autonomous mobile device has a wireless energy transmission range can easily cause the autonomous mobile device to stop midway due to insufficient power before returning to the target location. .

In an embodiment of the present specification, any suitable method can be used to confirm whether the autonomous mobile device is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location. For example, in an exemplary embodiment, the wireless energy signal strength value at the current location of the autonomous mobile device may be acquired, and then it is detected whether the wireless energy signal strength value at the current location of the autonomous mobile device reaches the first intensity threshold. Because the wireless energy transmission range and initial signal strength of the wireless energy signal transmitted by the wireless energy transmitter are determined; at the boundary of the wireless energy transmission range, the wireless energy signal strength will attenuate to a certain value; therefore, based on this value, it can be used as the first The intensity threshold is used to distinguish whether the current location of the autonomous mobile device is within the wireless energy transmission range. When the wireless energy signal strength value at the current location of the autonomous mobile device reaches the first strength threshold, it may be determined that the autonomous mobile device is currently located within the wireless energy transmission range. This can provide favorable conditions for subsequent return.

In an embodiment of this specification, the acquired wireless energy signal strength value may be acquired by the wireless energy receiver of the autonomous mobile device (before the improvement, the wireless energy receiver was mainly used to charge the rechargeable battery). In this way, the existing configuration of the autonomous mobile device can be fully utilized to obtain the wireless energy signal, which can help reduce the return cost. Of course, in other embodiments, as required, the wireless energy receiver of the autonomous mobile device may not be used, but another wireless energy receiver may be separately configured for return guidance.

In an embodiment of this specification, when the wireless energy signal intensity value at the current location of the autonomous mobile device does not reach the first intensity threshold, the autonomous mobile device can also be controlled to move in a preset movement mode, and real-time It is detected whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches the first strength threshold. At this time, the autonomous mobile device is equivalent to starting the signal detection mode of the wireless energy signal. In the signal detection mode, the preset movement mode may be, for example, a curve movement, a straight line movement, or a combination of a straight line and a curve, which is not limited in this specification. However, when the preset movement mode adopts a specific movement mode, it can be beneficial to quickly detect the wireless energy signal, thereby improving the return efficiency of the autonomous mobile device.

For example, in an embodiment of this specification, when the preset movement mode is a spiral movement with the current position of the autonomous mobile device as the starting point (for example, as shown in FIG. 4a), this progressively expands the circumferential direction of the detection radius The detection method can help to quickly detect wireless energy signals. In some exemplary embodiments, the trajectory of the spiral movement may be, for example, an equiangular spiral, a constant velocity spiral (ie, an Archimedes spiral), a Fibonacci spiral, or the like. In another embodiment of the present specification, the preset movement mode may also be a curved movement mode similar to spiral movement (for example, as shown in FIG. 4b), which can also achieve the purpose of quickly detecting wireless energy signals.

In another embodiment of the present specification, the aforementioned preset movement mode may also be at least one linear movement starting from the current position of the autonomous mobile device. When the wireless energy signal is still not detected after moving the preset distance in a straight line, it can return to the initial position of the straight line movement in the original way, and then rotate a certain angle according to the set rotation direction and move the preset distance in a straight line again. Such reciprocation can form multiple single reciprocating linear movements with a certain position as the starting point, and the trajectories of each single reciprocating linear movement are different. In this way, adopting this sector-by-sector circumferential detection method can also facilitate relatively fast detection of wireless energy signals. In order to improve the detection efficiency, the above-mentioned preset distance should be appropriate so that the wireless energy signal can be detected when the sector-by-sector circumferential detection is completed at most once. In an embodiment, the value range of the preset distance may be R ₂ -R ₁ <r<R ₂ +R ₁ . Among them, r is the preset distance, R ₂ is the communication radius of the wireless communication module, and R ₁ is the transmission radius of the wireless energy transmitter.

In order to further improve the detection efficiency, the rotation in the aforementioned single reciprocating linear movement may be a rotation with an equal rotation angle, and the rotation angle may be determined according to the detection width of a single detection of the autonomous mobile device. In this case, the trajectories of multiple single reciprocating linear movements are evenly distributed in the circumferential direction, as shown by the dotted line in Fig. 5a, for example. When the detection width of a single detection is large, a larger angle can be appropriately rotated for each rotation to minimize the detection repetitive area; when the detection width of a single detection is small, the smaller one can be rotated appropriately for each rotation Angle to avoid missing the detection area.

In another embodiment of this specification, the aforementioned reciprocating linear movement starting from the current position of the autonomous mobile device may also be a reciprocating linear movement with a non-zero displacement, that is, each time it returns, it may not strictly return to the initial position of the linear movement. , But when it returns to the vicinity of the initial position point, it starts to rotate and perform the next reciprocating linear movement, as shown in Figure 5b. In this way, the purpose of quickly detecting wireless energy signals can also be achieved.

In an embodiment of this specification, the foregoing confirming whether the autonomous mobile device is currently located at the target location may include:

Detect whether the wireless energy signal strength value at the current location of the autonomous mobile device reaches a second strength threshold; when the wireless energy signal strength value at the current location of the autonomous mobile device reaches the second strength threshold, it may be determined The autonomous mobile device is currently located at the target location. In this case, autonomous mobile devices can directly and efficiently perform wireless charging, so there is no need to guide them back.

However, when the autonomous mobile device is currently located within the wireless energy transmission range, there is a small probability that the autonomous mobile device-based positioning module will navigate the autonomous mobile device to the target location. Therefore, in more cases, after the autonomous mobile device is navigated to a location near the target location based on the positioning module of the autonomous mobile device, the autonomous mobile device needs to be controlled to move linearly to obtain the wireless energy signal at each mobile location Strength value; then adjust the linear movement according to the wireless energy signal strength value to obtain the target straight line that has passed the target position and the position of the autonomous mobile device; and control the autonomous mobile device to follow the target straight line Move to return to the target position.

In an embodiment of the present specification, the adjusting the linear movement according to the wireless energy signal strength value to obtain the target straight line of the target position and the position of the autonomous mobile device may include the following steps:

1) Adjust the linear movement according to the wireless energy signal strength value at each movement position, so that the movement trajectory of the autonomous mobile device and the boundary of the wireless energy transmission range form a chord. Because the wireless energy signal strength value at each moving distance can be obtained in real time during the linear movement, and the wireless energy signal strength value at the boundary of the wireless energy transmission range is determined. Therefore, by comparing the currently obtained wireless energy signal strength value with the wireless energy signal strength value at the boundary, it can be confirmed whether the autonomous mobile device is currently located within the wireless energy transmission range or outside the wireless energy transmission range. Therefore, it can be determined whether the movement track of the autonomous mobile device forms an intersection with the boundary of the wireless energy transmission range. Generally, when an autonomous mobile device moves linearly in a certain direction, its moving track will form an intersection with the boundary of the wireless energy transmission range. After forming an intersection, the autonomous mobile device can be controlled to deflect 180 degrees, and move linearly again after the deflection, so that its movement track will form another intersection with the boundary of the wireless energy transmission range. In this way, the movement trajectory of the autonomous mobile device will form a chord with the boundary of the wireless energy transmission range. For example, in the embodiment shown in FIG. 6, the autonomous mobile device moves linearly in a certain direction from the current position point, and its movement track intersects the boundary of the wireless energy transmission range at point N, and then the autonomous mobile device moves linearly in the reverse direction , So that its moving track and the boundary of the wireless energy transmission range intersect at point M, thereby forming a chord MN.

2) Determine the maximum value of the wireless energy signal strength value at each moving position on the string. Since the wireless energy signal strength value at each moving distance can be obtained in real time during the linear movement, the wireless energy signal strength value at each position on the string can be determined, and the string can be determined from it by sorting (or other methods). The maximum value of the wireless energy signal strength values at each moving position above. For example, in the embodiment shown in FIG. 6, the midpoint S of the string MN is the closest to the target position. Therefore, the position corresponding to the maximum value of the wireless energy signal intensity value on the string MN is the midpoint S of the string MN.

In other embodiments, in the case of being within the wireless energy transmission range, the autonomous mobile device can fit the wireless energy signal strength value and the moving distance (ie the moving position) according to the wireless energy signal strength value obtained at each moving distance in real time. ), so that the maximum value of the wireless energy signal strength on the string can be determined according to the functional relationship. In an exemplary embodiment, the above-mentioned data fitting algorithm for fitting may be, for example, a Bessel curve fitting algorithm, a Gaussian fitting algorithm, a Fourier fitting algorithm, a wavelet method, a nonlinear fitting, or a least squares method.

3). Move the autonomous mobile device linearly to a position corresponding to the maximum value. On the basis of determining the maximum value of the wireless energy signal strength value at each moving position on the string, control the autonomous mobile device to move along the string, and obtain the wireless energy signal strength value at each moving distance in real time . When the currently obtained wireless energy signal strength value is equal to the maximum value, it can be determined that the current location of the autonomous mobile device is the location corresponding to the maximum value. For example, in the embodiment shown in FIG. 6, the autonomous mobile device can be controlled to move to the midpoint S position of the chord MN.

4). The autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value, and the straight line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as the target position and the The target line where the autonomous mobile device is located. According to the geometric properties of the string, the midpoint of the string is the closest to the center of the circle (that is, the target position or the transmission center); the closer to the center of the circle, the stronger the wireless energy signal strength. Therefore, the position corresponding to the above maximum value can be determined as the midpoint position of the chord. Since the vertical line of the string inevitably passes through the center of the circle, after controlling the autonomous mobile device to deflect 90 degrees at the position corresponding to the maximum value, the heading of the autonomous mobile device will be on the vertical line of the string, namely After being deflected by 90 degrees, the heading of the autonomous mobile device is either directly facing the target position or facing away from the target position. Therefore, the straight line corresponding to the corresponding heading after the autonomous mobile device is deflected by 90 degrees can be used as the target straight line (that is, the vertical line of the chord) that passes the target position and the position of the autonomous mobile device, as shown in Fig. 6 shown.

In an embodiment of the present specification, before the autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value, it can also be confirmed whether the maximum value reaches the third intensity threshold. Correspondingly, the said autonomous mobile device is deflected by 90 degrees, and the line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as a target for passing the target position and the position of the autonomous mobile device The straight line may include: when the maximum value reaches the third intensity threshold, controlling the autonomous mobile device to deflect by 90 degrees, and using the straight line corresponding to the heading after the autonomous mobile device is deflected by 90 degrees as a pass The target line of the target location and the location of the autonomous mobile device. Wherein, the third intensity threshold may be a wireless energy signal intensity value in an area where the wireless energy signal intensity is relatively strong within the wireless energy transmission range.

Because when the autonomous mobile device moves in a straight line near the edge position within the wireless energy transmission range (for example, as shown in Figure 7), the wireless energy signal strength value obtained by the autonomous mobile device during the movement is generally small and does not change. Big. Correspondingly, on the chord formed by the boundary of the mobile trajectory of the autonomous mobile device and the wireless energy transmission range, the position corresponding to the maximum value of the wireless energy signal strength is likely to be caused by measurement errors or external interference. Not the midpoint of the string. At this time, if the position corresponding to the maximum value of the wireless energy signal strength is rotated by 90 degrees to determine the target straight line, it is likely to deviate from the target position. By confirming whether the maximum value reaches the third intensity threshold, this situation can be effectively prevented.

In an embodiment of this specification, when the maximum value does not reach the third intensity threshold, the autonomous mobile device may be moved linearly to one end of the chord, and then the autonomous mobile device may be moved in the One end of the string is deflected by a specified angle and then moves straight to obtain the target straight line that has passed the target position and the position of the autonomous mobile device. Of course, in order to prevent the linear movement from deflection to the edge position after the specified angle, when the autonomous mobile device is at one end of the chord and directly facing the chord, the value of the specified angle can be greater than zero and Less than 90 degrees (for example, 80 degrees in FIG. 7); and when the autonomous mobile device is at one end of the chord and facing away from the chord, the value of the specified angle may be greater than 90 and less than 180 degrees.

In an embodiment of the present specification, the moving the autonomous mobile device along the target straight line to return to the target position may include:

Make the autonomous mobile device move along any direction of the target straight line, and determine whether the heading of the autonomous mobile device is facing the target position according to the acquired wireless energy signal strength values at each moving position. Specifically, in the process of moving along any direction of the target straight line, when the strength of the obtained wireless energy signal becomes larger and larger, it can be determined that the current heading of the autonomous mobile device is facing the target position. When the current heading of the autonomous mobile device is facing the target position, the autonomous mobile device may continue to move in a straight line until the wireless energy signal strength value reaches the position of the second strength threshold and then stop, so that the autonomous mobile device can be completed. The return guidance of mobile devices.

Conversely, in the process of moving along any one direction of the target straight line, when the obtained wireless energy signal strength is getting smaller and smaller, it can be determined that the current heading of the autonomous mobile device is facing away from the target position. At this time, the autonomous mobile device can be moved in a reverse straight line until the wireless energy signal intensity value reaches the position of the second intensity threshold, so that the return guidance of the autonomous mobile device can also be completed.

In an embodiment of the specification, in order to improve the guidance efficiency, the transmission power of the wireless energy transmitter can also be increased, so that the radius of the wireless energy transmission range can be expanded to be larger than the positioning accuracy of the positioning module of the autonomous mobile device, thereby making Based on the positioning module, the autonomous mobile device can be directly guided to the wireless energy transmission range, thereby avoiding turning on the aforementioned signal detection mode. For example, in an exemplary embodiment, when the wireless energy transmitter is a wireless charging transmission coil, the transmission power of the wireless charging transmission coil can be increased by increasing the coil and/or increasing the diameter of the coil.

In an embodiment of the specification, since the wireless energy signal attenuation of the wireless energy transmitter is distributed in a gradient from the center to the periphery, this gradient distribution can also be used to realize the positioning function of the autonomous mobile device, that is, the wireless energy signal Strong or weak, judge how far the autonomous mobile device is from the target location.

In an embodiment of the specification, the wireless energy signal of the wireless energy transmitter may also be an encoded wireless energy signal; correspondingly, after the wireless energy receiver on the autonomous mobile device side receives the encoded wireless energy signal, Corresponding decoding processing can be performed. In this way, wireless communication between the autonomous mobile device and the wireless energy transmitter can be realized based on the wireless energy signal.

Although the process flow described above includes multiple operations appearing in a specific order, it should be clearly understood that these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel (for example, using parallel processors or Multi-threaded environment).

Referring to FIG. 8, corresponding to the above-mentioned regression method for autonomous mobile equipment, the regression apparatus for autonomous mobile equipment in the embodiment of this specification may include:

The first confirmation module 81 can be used to confirm whether an autonomous mobile device equipped with a wireless energy receiver is currently located within a wireless energy transmission range centered on the wireless energy transmitter at the target location;

The second confirmation module 82 may be used to confirm whether the autonomous mobile device is currently located at the target location when the autonomous mobile device is currently located within the wireless energy transmission range;

The first control module 83 may be used to make the autonomous mobile device move linearly when the autonomous mobile device is not currently located at the target location, so as to obtain the wireless energy signal strength value at each moving position;

The second control module 84 may be configured to adjust the linear movement according to the wireless energy signal strength value to obtain the target straight line that has passed the target position and the position of the autonomous mobile device;

The third control module 85 may be used to make the autonomous mobile device move along the target straight line to return to the target position.

In an embodiment of the present specification, the confirming whether an autonomous mobile device equipped with a wireless energy receiver is currently located within a wireless energy transmission range centered on the wireless energy transmitter at the target location includes:

Detecting whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches a first strength threshold;

When the wireless energy signal strength value at the current location of the autonomous mobile device reaches the first strength threshold, it is determined that the autonomous mobile device is currently located within the wireless energy transmission range.

In an embodiment of this specification, the regression device may further include:

The fourth control module is configured to cause the autonomous mobile device to move in a preset movement mode when the wireless energy signal strength value at the current location of the autonomous mobile device does not reach the first strength threshold, and to detect the Whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches the first strength threshold.

In an embodiment of this specification, the preset movement mode includes any one of the following:

Curve movement

Linear movement

A combination of straight and curved lines moves.

In an embodiment of this specification, the curve movement includes:

Spiral movement starting from the current position of the autonomous mobile device.

In an embodiment of this specification, the linear movement includes:

At least one linear movement starting from the current position of the autonomous mobile device.

In an embodiment of the present specification, the at least one linear movement starting from the current position of the autonomous mobile device includes:

Multiple reciprocating linear movements taking the current position of the autonomous mobile device as a starting point, and the trajectories of the multiple reciprocating linear movements are different.

In an embodiment of this specification, the trajectories of the multiple reciprocating linear movements are evenly distributed in the circumferential direction.

In an embodiment of this specification, the strokes of the multiple reciprocating linear movements are the same.

In an embodiment of the present specification, the confirming whether the autonomous mobile device is currently located at the target location includes:

Detecting whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches a second strength threshold;

When the wireless energy signal intensity value at the current location of the autonomous mobile device reaches the second intensity threshold, it is determined that the autonomous mobile device is currently located at the target location.

In an embodiment of the present specification, the adjusting the linear movement according to the wireless energy signal strength value to obtain the target straight line that has passed the target position and the position of the autonomous mobile device includes:

Adjusting the linear movement according to the wireless energy signal strength value at each movement position, so that the movement trajectory of the autonomous mobile device and the boundary of the wireless energy transmission range form a chord;

Determining the maximum value of the wireless energy signal strength value at each moving position on the string;

Moving the autonomous mobile device linearly to a position corresponding to the maximum value;

The autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value, and the straight line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as the target position and the autonomous mobile device The target straight line at the location.

A third confirmation module, configured to confirm whether the maximum value reaches a third intensity threshold before the autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value;

Correspondingly, the said autonomous mobile device is deflected by 90 degrees, and the line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as a target for passing the target position and the position of the autonomous mobile device Straight line, including:

When the maximum value reaches the third intensity threshold, the autonomous mobile device is deflected by 90 degrees, and the straight line corresponding to the heading after the autonomous mobile device is deflected by 90 degrees is used as the target position and The target straight line where the autonomous mobile device is located.

The fifth control module is configured to make the autonomous mobile device move linearly to one end of the chord when the maximum value does not reach the third intensity threshold; make the autonomous mobile device move to one end of the chord After deflecting for a specified angle, move in a straight line to obtain a target straight line that has passed the target position and the position of the autonomous mobile device.

In an embodiment of this specification, when the autonomous mobile device is at one end of the chord and is directly facing the chord, the value of the specified angle is greater than zero and less than 90 degrees; When one end of the string is facing away from the string, the value of the specified angle is greater than 90 and less than 180 degrees.

In an embodiment of the present specification, the moving the autonomous mobile device along the target straight line to return to the target position includes:

Making the autonomous mobile device move in a straight line along the target, and determining whether the heading of the autonomous mobile device is facing the target position according to the acquired wireless energy signal strength values at each moving position;

When the heading of the autonomous mobile device is facing the target position, the autonomous mobile device is moved linearly to a position where the intensity value of the wireless energy signal reaches the second intensity threshold.

The sixth control module is configured to make the autonomous mobile device move to a position where the wireless energy signal intensity value reaches the second intensity threshold when the autonomous mobile device's flight back faces the target position.

The seventh control module is used to confirm whether the power of the rechargeable battery of the autonomous mobile device is lower than a preset power threshold; when the power of the rechargeable battery of the autonomous mobile device is lower than the preset power threshold, make the autonomous mobile device The wireless communication module of the mobile device issues a charging start instruction to trigger the wireless energy transmitter to transmit a wireless energy signal.

In an embodiment of the present specification, the range radius of the wireless energy transmission range is greater than the positioning accuracy of the positioning module of the autonomous mobile device.

For the convenience of description, when describing the above device, the functions are divided into various units and described separately. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and/or hardware.

Those skilled in the art should understand that the above embodiments of this specification are described by taking a regressive charging scenario as an example, and this specification does not limit the regressive scenario of autonomous mobile devices. For example, in other embodiments of this specification, the returning scenario of the autonomous mobile device may also be returning to a parking position after performing a work task.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

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

The memory may include non-permanent memory in computer readable media, 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 computer readable media.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, 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, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic tape, disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "including", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, or device including a series of elements not only includes those elements, but also includes no Other elements clearly listed, or they also include elements inherent to the process, method, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, or device that includes the element.

Those skilled in the art should understand that the embodiments of this specification can be provided as a method, a system, or a computer program product. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The above descriptions are only examples of this specification and are not intended to limit this specification. For those skilled in the art, this specification can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included in the scope of the claims of this specification.

Claims

A regression method for autonomous mobile equipment, characterized in that it includes:

Confirm whether the autonomous mobile device equipped with a wireless energy receiver is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location;

When the autonomous mobile device is currently located within the wireless energy transmission range, confirm whether the autonomous mobile device is currently located at the target location;

When the autonomous mobile device is not currently located at the target location, causing the autonomous mobile device to move linearly to obtain the wireless energy signal strength value at each moving location;

Adjusting the linear movement according to the wireless energy signal strength value to obtain a target straight line that has passed the target position and the position of the autonomous mobile device;

The autonomous mobile device is moved along the target straight line to return to the target position.
The regression method of an autonomous mobile device according to claim 1, wherein said confirming whether the autonomous mobile device equipped with a wireless energy receiver is currently located, and the wireless energy transmission centered on the wireless energy transmitter at the target position The scope includes:

Detecting whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches a first strength threshold;

When the wireless energy signal strength value at the current location of the autonomous mobile device reaches the first strength threshold, it is determined that the autonomous mobile device is currently located within the wireless energy transmission range.
The regression method of an autonomous mobile device according to claim 2, further comprising:

When the strength value of the wireless energy signal at the current location of the autonomous mobile device does not reach the first strength threshold, the autonomous mobile device is caused to move in a preset movement mode, and the current location of the autonomous mobile device is detected in real time. Whether the wireless energy signal intensity value reaches the first intensity threshold.
The regression method of an autonomous mobile device according to claim 3, wherein the preset movement mode includes any one of the following:

Curve movement

Linear movement

A combination of straight and curved lines moves.
The regression method of an autonomous mobile device according to claim 4, wherein the curve movement comprises:

Spiral movement starting from the current position of the autonomous mobile device.
The regression method of an autonomous mobile device according to claim 4, wherein the linear movement comprises:

At least one linear movement starting from the current position of the autonomous mobile device.
The regression method of an autonomous mobile device according to claim 6, wherein the at least one linear movement starting from the current position of the autonomous mobile device comprises:

Multiple reciprocating linear movements taking the current position of the autonomous mobile device as a starting point, and the trajectories of the multiple reciprocating linear movements are different.
8. The regression method of an autonomous mobile device according to claim 7, wherein the trajectory of the multiple reciprocating linear movements is evenly distributed in the circumferential direction.
The regression method of the autonomous mobile device according to claim 7 or 8, wherein the strokes of the multiple reciprocating linear movements are the same.
The regression method of an autonomous mobile device according to claim 1, wherein the confirming whether the autonomous mobile device is currently located at the target location comprises:

Detecting whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches a second strength threshold;

When the wireless energy signal intensity value at the current location of the autonomous mobile device reaches the second intensity threshold, it is determined that the autonomous mobile device is currently located at the target location.
The regression method of the autonomous mobile device according to claim 1, wherein the linear movement is adjusted according to the strength value of the wireless energy signal to obtain the target position and the position of the autonomous mobile device The target line includes:

Adjusting the linear movement according to the wireless energy signal strength value at each movement position, so that the movement trajectory of the autonomous mobile device and the boundary of the wireless energy transmission range form a chord;

Determining the maximum value of the wireless energy signal strength value at each moving position on the string;

Moving the autonomous mobile device linearly to a position corresponding to the maximum value;

The autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value, and the straight line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as the target position and the autonomous mobile device The target straight line at the location.
The regression method of an autonomous mobile device according to claim 11, characterized in that, before the deflection of the autonomous mobile device by 90 degrees at the position corresponding to the maximum value, the method further comprises:

Confirm whether the maximum value reaches the third intensity threshold;

Correspondingly, the said autonomous mobile device is deflected by 90 degrees, and the line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as a target for passing the target position and the position of the autonomous mobile device Straight line, including:

When the maximum value reaches the third intensity threshold, the autonomous mobile device is deflected by 90 degrees, and the straight line corresponding to the heading after the autonomous mobile device is deflected by 90 degrees is used as the target position and The target straight line where the autonomous mobile device is located.
The regression method of an autonomous mobile device according to claim 12, characterized in that, before the deflection of the autonomous mobile device by 90 degrees at the position corresponding to the maximum value, the method further comprises:

When the maximum value does not reach the third intensity threshold, making the autonomous mobile device move linearly to one end of the chord;

The autonomous mobile device is deflected by a specified angle at one end of the chord and then moves linearly to obtain a target straight line that has passed the target position and the position of the autonomous mobile device.
The regression method of an autonomous mobile device according to claim 13, wherein when the autonomous mobile device is at one end of the chord and is directly facing the chord, the value of the specified angle is greater than zero and less than 90 Degrees; when the autonomous mobile device is at one end of the chord and facing away from the chord, the value of the specified angle is greater than 90 and less than 180 degrees.
The regression method of an autonomous mobile device according to claim 1, wherein the moving the autonomous mobile device along the target straight line to return to the target position comprises:

Making the autonomous mobile device move in a straight line along the target, and determining whether the heading of the autonomous mobile device is facing the target position according to the acquired wireless energy signal strength values at each moving position;

When the heading of the autonomous mobile device is facing the target position, the autonomous mobile device is moved linearly to a position where the intensity value of the wireless energy signal reaches the second intensity threshold.
The regression method of autonomous mobile equipment according to claim 15, characterized in that it further comprises:

When the heading of the autonomous mobile device is facing away from the target position, the autonomous mobile device is caused to move straight in the reverse direction to a position where the intensity value of the wireless energy signal reaches the second intensity threshold.
The regression method of an autonomous mobile device according to claim 1, characterized in that, after confirming whether the autonomous mobile device equipped with a wireless energy receiver is currently located, the wireless energy is centered on the wireless energy transmitter at the target location. Before transmission, it also includes:

Confirm whether the power of the rechargeable battery of the autonomous mobile device is lower than a preset power threshold;

When the power of the rechargeable battery of the autonomous mobile device is lower than the preset power threshold, the wireless communication module of the autonomous mobile device is caused to issue a charging start instruction to trigger the wireless energy transmitter to transmit a wireless energy signal.
The regression method of the autonomous mobile device according to claim 1, wherein the range radius of the wireless energy transmission range is larger than the positioning accuracy of the positioning module of the autonomous mobile device.
A computer storage medium having a computer program stored thereon, wherein the computer program implements the regression method of any one of claims 1-18 when the computer program is executed by a processor.
A return device for autonomous mobile equipment, characterized in that it comprises:

The first confirmation module is used to confirm whether the autonomous mobile device equipped with the wireless energy receiver is currently located within the wireless energy transmission range centered on the wireless energy transmitter at the target location;

The second confirmation module is configured to confirm whether the autonomous mobile device is currently located at the target location when the autonomous mobile device is currently located within the wireless energy transmission range;

The first control module is configured to make the autonomous mobile device move linearly when the autonomous mobile device is not currently located at the target location to obtain the wireless energy signal strength value at each moving position;

The second control module is configured to adjust the linear movement according to the wireless energy signal strength value to obtain the target straight line that has passed the target position and the position of the autonomous mobile device;

The third control module is used to make the autonomous mobile device move along the target straight line to return to the target position.
The regression apparatus of an autonomous mobile device according to claim 20, wherein said confirming whether the autonomous mobile device equipped with a wireless energy receiver is currently located, and the wireless energy transmission centered on the wireless energy transmitter at the target position The scope includes:

Detecting whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches a first strength threshold;

When the wireless energy signal strength value at the current location of the autonomous mobile device reaches the first strength threshold, it is determined that the autonomous mobile device is currently located within the wireless energy transmission range.
The regression device for autonomous mobile equipment according to claim 21, wherein the regression device further comprises:

The fourth control module is configured to cause the autonomous mobile device to move in a preset movement mode when the wireless energy signal strength value at the current location of the autonomous mobile device does not reach the first strength threshold, and to detect the Whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches the first strength threshold.
The regression apparatus for autonomous mobile equipment according to claim 22, wherein the preset movement mode includes any one of the following:

Curve movement

Linear movement

A combination of straight and curved lines moves.
The regression apparatus for autonomous mobile equipment according to claim 23, wherein the curve movement comprises:

Spiral movement starting from the current position of the autonomous mobile device.
The regression apparatus for autonomous mobile equipment according to claim 23, wherein the linear movement comprises:

At least one linear movement starting from the current position of the autonomous mobile device.
The regression apparatus of an autonomous mobile device according to claim 25, wherein the at least one linear movement starting from the current position of the autonomous mobile device comprises:

Multiple reciprocating linear movements taking the current position of the autonomous mobile device as a starting point, and the trajectories of the multiple reciprocating linear movements are different.
The regression device of an autonomous mobile device according to claim 26, wherein the trajectory of the multiple reciprocating linear movements is evenly distributed in the circumferential direction.
The regression device of the autonomous mobile device according to claim 26 or 27, wherein the strokes of the multiple reciprocating linear movements are the same.
The regression apparatus for autonomous mobile equipment according to claim 20, wherein said confirming whether said autonomous mobile equipment is currently located at said target location comprises:

Detecting whether the strength value of the wireless energy signal at the current location of the autonomous mobile device reaches a second strength threshold;

When the wireless energy signal intensity value at the current location of the autonomous mobile device reaches the second intensity threshold, it is determined that the autonomous mobile device is currently located at the target location.
The regression device of the autonomous mobile device according to claim 20, wherein the linear movement is adjusted according to the strength value of the wireless energy signal to obtain the target position and the location of the autonomous mobile device The target line includes:

Adjusting the linear movement according to the wireless energy signal strength value at each movement position, so that the movement trajectory of the autonomous mobile device and the boundary of the wireless energy transmission range form a chord;

Determining the maximum value of the wireless energy signal strength value at each moving position on the string;

Moving the autonomous mobile device linearly to a position corresponding to the maximum value;

The autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value, and the straight line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as the target position and the autonomous mobile device The target straight line at the location.
The regression device for autonomous mobile equipment according to claim 30, wherein the regression device further comprises:

A third confirmation module, configured to confirm whether the maximum value reaches a third intensity threshold before the autonomous mobile device is deflected by 90 degrees at the position corresponding to the maximum value;

Correspondingly, the said autonomous mobile device is deflected by 90 degrees, and the line corresponding to the heading after the autonomous mobile device has been deflected by 90 degrees is used as a target for passing the target position and the position of the autonomous mobile device Straight line, including:

When the maximum value reaches the third intensity threshold, the autonomous mobile device is deflected by 90 degrees, and the straight line corresponding to the heading after the autonomous mobile device is deflected by 90 degrees is used as the target position and The target straight line where the autonomous mobile device is located.
The regression device for autonomous mobile equipment according to claim 31, wherein the regression device further comprises:

The fifth control module is configured to make the autonomous mobile device move linearly to one end of the chord when the maximum value does not reach the third intensity threshold; make the autonomous mobile device move to one end of the chord After deflecting for a specified angle, move in a straight line to obtain a target straight line that has passed the target position and the position of the autonomous mobile device.
The regression device for an autonomous mobile device according to claim 32, wherein when the autonomous mobile device is at one end of the chord and is directly facing the chord, the value of the specified angle is greater than zero and less than 90 Degrees; when the autonomous mobile device is at one end of the chord and facing away from the chord, the value of the specified angle is greater than 90 and less than 180 degrees.
21. The regression apparatus of an autonomous mobile device according to claim 20, wherein the moving the autonomous mobile device along the target straight line to return to the target position comprises:

Making the autonomous mobile device move in a straight line along the target, and determining whether the heading of the autonomous mobile device is facing the target position according to the acquired wireless energy signal strength values at each moving position;

When the heading of the autonomous mobile device is facing the target position, the autonomous mobile device is moved linearly to a position where the intensity value of the wireless energy signal reaches the second intensity threshold.
The regression device for autonomous mobile equipment according to claim 34, wherein the regression device further comprises:

The sixth control module is configured to make the autonomous mobile device move to a position where the wireless energy signal intensity value reaches the second intensity threshold when the autonomous mobile device's flight back faces the target position.
The regression device for autonomous mobile equipment according to claim 20, wherein the regression device further comprises:

The seventh control module is used to confirm whether the power of the rechargeable battery of the autonomous mobile device is lower than a preset power threshold; when the power of the rechargeable battery of the autonomous mobile device is lower than the preset power threshold, make the autonomous mobile device The wireless communication module of the mobile device issues a charging start instruction to trigger the wireless energy transmitter to transmit a wireless energy signal.
The regression device of the autonomous mobile device according to claim 20, wherein the range radius of the wireless energy transmission range is greater than the positioning accuracy of the positioning module of the autonomous mobile device.
An autonomous mobile device, characterized in that the autonomous mobile device is equipped with the regression device according to any one of claims 20 to 37.