WO2023045792A1 - 充电设备、自移动设备、充电方法、系统及存储介质 - Google Patents

充电设备、自移动设备、充电方法、系统及存储介质 Download PDF

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Publication number
WO2023045792A1
WO2023045792A1 PCT/CN2022/118345 CN2022118345W WO2023045792A1 WO 2023045792 A1 WO2023045792 A1 WO 2023045792A1 CN 2022118345 W CN2022118345 W CN 2022118345W WO 2023045792 A1 WO2023045792 A1 WO 2023045792A1
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WIPO (PCT)
Prior art keywords
wireless signal
signal
charging device
self
charging
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PCT/CN2022/118345
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English (en)
French (fr)
Inventor
和孟达
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Dreame Innovation Technology Suzhou Co Ltd
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Dreame Innovation Technology Suzhou Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/20—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by the transmission technique; characterised by the transmission medium
    • H04B5/24—Inductive coupling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/40—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by components specially adapted for near-field transmission
    • H04B5/48—Transceivers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
    • H04B5/79—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for data transfer in combination with power transfer

Definitions

  • the application belongs to the technical field of automatic control, and in particular relates to a charging device, a self-moving device, a charging method, a system and a storage medium.
  • the automatic recharging function refers to the function that the mobile device automatically finds the charging device for charging.
  • the existing self-mobile device recharging method includes: an infrared transmitter is installed in the charging device, and an infrared signal is emitted through the infrared transmitter; Infrared signal; when the infrared signal is detected, the position of the charging stand is determined based on the position of the infrared signal for charging.
  • the application provides a charging device, a self-moving device, a charging method, a system, and a storage medium, which can solve the problem of identifying the location of the charging device from the mobile device due to the limited emission angle of the infrared transmitter.
  • a signal dead zone When there is a signal dead zone.
  • the self-mobile device In order to ensure that the self-mobile device can realize recharging, the self-mobile device is usually prohibited from entering the signal blind zone, which causes the self-mobile device to have the problem of working in the blind zone.
  • a charging device is provided, the charging device is used for charging a self-mobile device, and the charging device includes:
  • the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy of wireless positioning using the second wireless signal is greater than that of wireless positioning using the first wireless signal positioning accuracy.
  • the charging device further includes: a processor connected to the first signal transmitter and the second signal transmitter respectively; the processor is configured to:
  • controlling the first signal transmitter to transmit the first wireless signal, and controlling the second signal transmitter to suspend transmission of the second wireless signal;
  • the second signal transmitter In response to the second transmission instruction, the second signal transmitter is controlled to transmit the second wireless signal, and the first signal transmitter is controlled to suspend transmission of the first wireless signal.
  • both the first signal transmitter and the second signal transmitter transmit wireless signals within a preset time period.
  • the charging device further includes: a magnetic induction transmitting coil located in the casing;
  • the magnetic induction transmitting coil is used to convert electric energy into magnetic energy for output, so that the mobile device can convert magnetic energy into electric energy for wireless charging.
  • the first wireless signal is a Wi-Fi signal
  • the second wireless signal is an ultra wideband signal UWB signal.
  • a self-mobile device in a second aspect, includes:
  • a first signal receiver configured to receive a first wireless signal
  • the second signal receiver is configured to receive a second wireless signal, the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy of wireless positioning using the second wireless signal is greater than the specified Describe the positioning accuracy of wireless positioning using the first wireless signal;
  • a processor connected to the first signal receiver and the second signal receiver, configured to respond to an instruction to charge the self-mobile device based on the first wireless signal and/or the first wireless signal Two wireless signals, determining the location information of the charging device; controlling the mobile device to move to the charging device according to the location information for charging.
  • the processor is used for:
  • the self-mobile device establishes a communication connection with the charging device in advance;
  • the determining the location information of the charging device based on the first wireless signal includes: when the distance changes from less than or equal to a distance threshold to greater than the distance threshold, sending a message to the charging device based on the communication connection A first transmitting instruction, for the charging device to transmit the first wireless signal, and suspend transmitting the second wireless signal; receive the first wireless signal, and determine the location of the charging device based on the first wireless signal information;
  • the determining the location information of the charging device based on the second wireless signal includes: when the distance changes from being greater than a distance threshold to being less than or equal to the distance threshold, sending a message to the charging device based on the communication connection.
  • the processor is further configured to:
  • both the first signal receiver and the second signal receiver receive wireless signals within a preset time period
  • the determining the location information of the charging device based on the first wireless signal includes: determining the first wireless signal from the received wireless signal according to the signal identifier of the wireless signal; determining the location information of the charging device based on the first wireless signal. location information;
  • the determining the location information of the charging device based on the second wireless signal includes: determining the second wireless signal from the received wireless signal according to the signal identifier of the wireless signal; determining the location information based on the second wireless signal location information.
  • the obtaining the distance between the self-mobile device and the charging device includes:
  • the determining the location information of the charging device based on the first wireless signal includes:
  • the number of the second signal receivers is at least two;
  • the determining the location information of the charging device based on the second wireless signal includes:
  • the direction and distance of the charging device relative to the mobile device are determined.
  • the second wireless signal carries a transmission time of the second wireless signal
  • the determining the location information of the charging device based on the second wireless signal includes:
  • the direction of the charging device relative to the self-moving device is determined.
  • the self-mobile device further includes: a magnetic induction receiving coil connected to the processor; the magnetic induction receiving coil is configured to convert received magnetic energy into electrical energy for charging the self-mobile device .
  • a charging method which is used in a self-mobile device, and the method includes:
  • the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy of wireless positioning using the second wireless signal is greater than the Positioning accuracy of wireless positioning using the first wireless signal;
  • a computer-readable storage medium where a program is stored in the storage medium, and the program is used to implement the charging method provided in the third aspect when executed by a processor.
  • a charging system for self-moving equipment includes charging equipment and self-moving equipment;
  • the charging equipment includes the charging equipment provided in the first aspect
  • the self-moving device includes the self-moving device provided in the second aspect.
  • the charging device includes: a housing; a first signal transmitter and a second signal transmitter arranged in the housing; the first signal transmitter is used to transmit the first wireless signal; the second signal transmitter is used to For transmitting a second wireless signal; for determining the position of the charging device from the mobile device based on the first wireless signal and/or the second wireless signal; wherein, the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and using The positioning accuracy of wireless positioning performed by the second wireless signal is greater than the positioning accuracy of wireless positioning performed by using the first wireless signal; the self-mobile device includes: a first signal receiver, used to receive the first wireless signal; a second signal receiver, used for receiving a second wireless signal; a processor connected respectively to the first signal receiver and the second signal receiver, for responding to an instruction to charge the self-mobile device, based on the first wireless signal and/or the second wireless signal, Determine the location information of the charging device; control the mobile device to move to the charging device for charging according to the location information;
  • the self-mobile device can be based on the first wireless signal and/or the second The wireless signal determines the location of the charging device. Since the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the accuracy of positioning using the second wireless signal is greater than the accuracy of positioning using the first wireless signal, the first wireless signal can be Ensure that the self-mobile device can receive the first wireless signal transmitted by the charging device outside the transmission range of the second wireless signal to determine the location of the charging device. At the same time, the second wireless signal can ensure that the self-mobile device can Accurately determine the position of the charging device, and finally realize the recharging, so the recharging efficiency of the self-mobile device can be improved.
  • the infrared emitter is not used, the existing recharging method from the mobile device can be solved. Due to the limited emission angle of the infrared emitter, in order to ensure that the infrared emitter can emit infrared signals to a long distance, the infrared emitter is placed on the charging stand.
  • the installation position is usually high, which will cause the thickness of the device shell of the charging device to be thick and occupy a large space; since the charging device does not need to install an infrared transmitter, the positioning of the charging device from the mobile device can be realized, and the signal emission There is no requirement for the installation height of the charger, so the thickness of the charging device casing in this application is relatively thin, which facilitates the deployment of the charging device.
  • the location information of the charging device is determined based on the first wireless signal; when the distance between the self-mobile device and the charging device is less than or equal to the distance threshold In this case, the location information of the charging device is determined based on the second wireless signal; and the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy of wireless positioning using the second wireless signal is greater than that of using the first wireless signal.
  • the positioning accuracy of wireless positioning so the best positioning solution can be selected according to the distance between the mobile device and the charging device, which can improve the recharging efficiency.
  • the self-mobile device can choose to use the first wireless signal or the second wireless signal according to the current distance from the charging device. Determining the location of the charging device can solve the problem of signal switching when the charging device only transmits one signal at the same time, and can improve the efficiency of recharging.
  • the self-mobile device since the charging device only transmits one kind of wireless signal at the same time, the self-mobile device only receives one kind of wireless signal at the same time, which can solve the power consumption of the self-mobile device caused by the need for the charging device to receive the first wireless signal and the second wireless signal at the same time.
  • the big problem is that the mobile device does not need to receive the first wireless signal and the second wireless signal at the same time, so the power consumption of the mobile device and the charging device can be reduced.
  • the self-mobile device can obtain the distance between the self-mobile device and the charging device, and when the distance changes from being less than or equal to the distance threshold to greater than the distance threshold, the first transmission instruction is sent to the charging device based on the communication connection.
  • a second transmission instruction is sent to the charging device based on the communication connection; when the charging device only transmits a wireless signal, the wireless signal transmitted by the charging device and the self-moving
  • the wireless signal required for the current positioning of the device is consistent, avoiding the problem of poor positioning accuracy or inability to locate due to the inconsistency between the wireless signal emitted by the charging device and the wireless signal required for the current positioning of the self-mobile device, so it can improve the self-mobile device.
  • the recharging efficiency is high, and the power consumption of mobile devices and charging devices is also reduced.
  • the self-mobile device can determine the relative strength of the charging device based on the strengths of the second wireless signals respectively received by the at least two second signal receivers at the same time.
  • the direction and distance from the mobile device can be described, which can solve the problem that the data of multiple sampling points is required to locate the location of the charging device, and improve the recharging efficiency of the mobile device.
  • the second wireless signal carries the transmission time of the second wireless signal
  • the distance between the mobile device and the charging device can be calculated based on the reception time of the second wireless signal and the transmission time of the second wireless signal, which can solve the problem of using The problem of low accuracy when calculating the distance by wireless signal strength can improve the accuracy of distance calculation, thereby improving the accuracy of the determined location of the charging device.
  • the charging device also includes a magnetic induction transmitting coil located in the housing;
  • the self-moving device also includes a magnetic induction receiving coil connected to the processor, and the magnetic induction receiving coil is used to convert the received magnetic energy into electrical energy, so as to Charging the self-mobile device; it can solve the problem of large volume and inconvenient deployment of the charging device caused by charging the charging device and the self-mobile device through the charging shrapnel, and also solves the problem of low safety caused by the exposure of the charging shrapnel.
  • Wireless charging can be realized from mobile devices, so there is no need for charging shrapnel, and the size of the charging device can be reduced to facilitate the deployment of the charging device.
  • the magnetic induction transmitting coil is located inside the charging device, and it can also provide the safety of the charging system.
  • Fig. 1 is a schematic structural diagram of a charging system provided by an embodiment of the present application
  • Fig. 2 is a schematic structural diagram of a charging device provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a mobile device provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of a charging method provided by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a charging method provided by an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a charging method provided by an embodiment of the present application.
  • Fig. 7 is a schematic diagram of a charging method provided by an embodiment of the present application.
  • Fig. 8 is a block diagram of a charging device provided by an embodiment of the present application.
  • Fig. 9 is a block diagram of an autonomous mobile device provided by an embodiment of the present application.
  • Fig. 10 is a block diagram of an electronic device provided by an embodiment of the present application.
  • orientation words used such as “upper, lower, top, bottom” are generally used for the directions shown in the drawings, or for the parts themselves in the vertical, vertical Or in the direction of gravity; similarly, for the convenience of understanding and description, “inner and outer” refer to the inner and outer relative to the outline of each component itself, but the above-mentioned orientation words are not used to limit the utility model.
  • WiFi is a wireless local area network technology created in the IEEE 802.11 standard. When WiFi is used for positioning, the positioning accuracy is between 3 meters and 10 meters.
  • Ultra Wide Band (UWB) technology It is a wireless carrier communication technology. It does not use a sinusoidal carrier, but uses a nanosecond-level non-sinusoidal narrow pulse to transmit data, so it occupies a wide spectrum. When UWB is used for positioning, the positioning accuracy is between 1 cm and 10 cm.
  • Data frame The protocol data unit of the data link layer, which includes three parts: frame header, data part, and frame tail.
  • the frame header and frame tail contain some necessary control information, such as synchronization information, address information, error control information, etc.
  • the data part contains data transmitted from the network layer, such as IP data packets.
  • Different signals have different data frame formats.
  • This embodiment provides a charging system for self-mobile equipment, as shown in FIG. 1 .
  • the system includes at least a charging device 110 and a mobile device 120 .
  • the charging device 110 is used for charging the mobile device 120 .
  • the charging device 110 may be a device with a power supply function such as a charging pile or a charging stand, and this embodiment does not limit the type of the charging device 110 .
  • the self-moving device 120 may be a device with a self-moving function such as a sweeping robot or a mopping robot, and the type of the self-moving device 120 is not limited in this embodiment.
  • the charging device 110 includes: a housing 111 (not shown in the figure), a first signal transmitter 112 and a second signal transmitter 113 .
  • the casing 111 is the casing of the charging device 110 , and the shape of the casing 111 can be a regular geometric body, or can also be set in other shapes according to deployment requirements, and the shape of the casing 111 is not limited in this embodiment.
  • the first signal transmitter 112 and the second signal transmitter 113 are disposed in the casing 111 .
  • the first signal transmitter 112 is used to transmit the first wireless signal;
  • the second signal transmitter 113 is used to transmit the second wireless signal; for determining the charging device 110 from the mobile device 120 based on the first wireless signal and/or the second wireless signal s position.
  • the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy of wireless positioning using the second wireless signal is greater than the positioning accuracy of wireless positioning using the first wireless signal.
  • the first wireless signal may be a WiFi signal, or may also be a Bluetooth signal, and this embodiment does not limit the type of the first wireless signal.
  • the first signal is a WiFi signal
  • the second wireless signal is a UWB signal
  • the transmission power of the WiFi signal is greater than that of the UWB signal, the transmission distance of the WiFi signal is farther than that of the UWB signal; at the same time, since the frequency of the UWB signal is higher than that of the WiFi signal, the resolution of the UWB signal is higher than that of the WiFi signal .
  • the height of the casing 111 is lower than the height of the device casing of the preset charging device, and the preset charging device is a charging device provided with an infrared emitter or an ultrasonic emitter.
  • the charging device 110 in this embodiment is not equipped with an infrared emitter and an ultrasonic emitter.
  • the preset charging device is equipped with an infrared transmitter, because the infrared transmitter needs to be installed at a certain height to make the coverage of the infrared signal reach the preset minimum signal range, while the wireless signal transmitter requires less installation height than the infrared transmitter.
  • the requirement for the installation height of the transmitter so the requirement for the height of the casing 111 for the installation of the wireless signal transmitter is lower than the requirement for the height of the preset charging device casing for the installation of the infrared signal transmitter, so the height of the casing 111 is smaller than the preset charging device casing body height.
  • the charging device 110 can be installed in a concealed manner to save the available space in the working area where the charging device is located.
  • it can be installed inside the baseboard, or it can also be installed at the bottom of the cabinet, or it can also be embedded in other devices. This embodiment does not limit the installation position of the charging device 110 .
  • both the first signal transmitter 112 and the second signal transmitter 113 transmit wireless signals within a preset time period, or the first signal transmitter 112 and the second signal transmitter 113 Processor-based control transmits only one wireless signal at a time.
  • the charging device 110 also includes The signal transmitters 113 are respectively connected to the processor 114 .
  • the processor 114 is configured to: respond to the first transmission instruction, control the first signal transmitter 112 to transmit the first wireless signal, and control the second signal transmitter 113 to suspend transmission of the second wireless signal.
  • wireless signal in response to the second transmitting instruction, controlling the second signal transmitter 113 to transmit the second wireless signal, and controlling the first signal transmitter 112 to suspend transmitting the first wireless signal.
  • the first transmission instruction and the second transmission instruction may be generated by the charging device 110, or may also be sent from the mobile device 120 to the charging device 110.
  • the communication connection may also be sent to the charging device 110 by other devices (such as a user terminal). This embodiment does not limit the manner of obtaining the first launch instruction and the second launch instruction.
  • the charging device 110 is also connected to the mobile device 120 in communication.
  • the mobile device 120 includes: a first signal receiver 121 , a second signal receiver 122 and a processor 123 .
  • the first signal receiver 121 is used for receiving the first wireless signal; the second signal receiver 122 is used for receiving the second wireless signal.
  • the first wireless signal received by the first signal receiver 121 may be transmitted by the first signal transmitter 112, or may be transmitted from other devices that transmit the first wireless signal within the area where the mobile device is located;
  • the second wireless signal received by the signal receiver 122 may be transmitted by the second signal transmitter 113, or may be transmitted from other devices that transmit second wireless signals within the area where the mobile device is located.
  • the processor 123 is connected to the first signal receiver 121 and the second signal receiver 122 respectively.
  • the processor 123 is configured to: respond to an instruction to charge the self-mobile device 120, based on the first wireless signal and/or the second wireless signal, determine the location information of the charging device 110; control the self-mobile device 120 to move to the charging station according to the location information.
  • Device 110 is charging.
  • the instruction for charging the self-mobile device 120 may be generated by the self-mobile device 120, or may also be sent to the self-mobile device 120 by other devices (such as user terminals, such as mobile phones, tablet computers, or wearable devices, etc.) Sending, this embodiment does not limit the way of acquiring the charging instruction from the mobile device 120 .
  • the instruction may be automatically generated by the self-mobile device 120 at a specified time, or may be automatically generated when the power of the self-mobile device 120 is less than the preset power.
  • the threshold value is automatically generated, or may also be generated when a charging control installed on the mobile device 120 is triggered.
  • the preset power threshold may be 10%, 15% of the total power or other values adaptively set by the user, and this embodiment does not limit the value of the preset power threshold.
  • determining the location information of the charging device 110 based on the first wireless signal and/or the second wireless signal includes: obtaining the distance between the mobile device 120 and the charging device 110; if the distance is greater than a distance threshold , determine the location information of the charging device 110 based on the first wireless signal; if the distance is less than or equal to the distance threshold, determine the location information of the charging device 110 based on the second wireless signal.
  • the wireless signal transmission method of the charging device 110 includes but is not limited to one of the following two methods: the first method, the charging device 110 transmits the first wireless signal and the second wireless signal at the same time; the second method, The charging device 110 transmits one of the first wireless signal and the second wireless signal at the same time.
  • the first signal transmitter 112 and the second signal transmitter 113 of the charging device 110 both transmit wireless signals within a preset time period.
  • obtaining the distance between the mobile device 120 and the charging device 110 from the mobile device 120 includes: the mobile device 120 simultaneously receives signals transmitted by the first signal transmitter 112 and the second signal transmitter 113
  • the distance between the mobile device 120 and the charging device 110 may be determined based on the strength of the first wireless signal, or the distance between the mobile device 120 and the charging device 110 may be determined according to the strength of the second wireless signal.
  • the average value of the distances between the mobile device 120 and the charging device 110 determined based on the first wireless signal strength and the second signal strength can also be used as the distance between the mobile device 120 and the charging device 110 distance; in the case that the mobile device 120 receives a wireless signal transmitted by one of the first signal transmitter 112 and the second signal transmitter 113, based on the signal strength of the wireless signal currently received from the mobile device 120, determine the distance from the mobile device 120 The distance between the mobile device 120 and the charging device 110 .
  • the signal strength of the wireless signal is negatively correlated with the distance.
  • the negative correlation between signal strength and distance means: the stronger the signal strength, the closer the distance, and the weaker the signal strength, the farther the distance is.
  • determining the location information of the charging device 110 from the mobile device 120 based on the first wireless signal includes: determining the first wireless signal from the received wireless signal according to the signal identifier of the wireless signal; determining the first wireless signal based on the first wireless signal Determine location information.
  • the signal type is judged according to the signal identification, and the received wireless signal Among the signals, a signal whose category is the same as that of the first wireless signal is determined as the first wireless signal.
  • the transmitting device of the signal is judged according to the signal identification, and the received wireless signal is transmitted
  • the signal that the device is the charging device 110 is determined to be the first wireless signal.
  • Determining the location information of the charging device 110 based on the second wireless signal includes: determining the second wireless signal from the received wireless signal according to the signal identifier of the wireless signal; and determining the location information based on the second wireless signal.
  • the signal type is judged according to the signal identification, and the received wireless signal A signal of the same type as the second wireless signal among the signals is determined as the second wireless signal.
  • the transmitting device of the signal is judged according to the signal identification, and the received wireless signal is transmitted
  • the signal that the device is the charging device 110 is determined to be the second wireless signal.
  • the signal identification of the wireless signal includes but not limited to: equipment identification and signal type identification.
  • the device identifier is used to uniquely indicate the device that transmits the wireless signal, and the device identifier may be a device number or an IP address. This embodiment does not limit the implementation of the device identifier.
  • the signal type identifier is used to uniquely indicate the type of the wireless signal.
  • the signal type identifier can be the data frame format of the signal, or it can also be the bandwidth of the wireless signal. This embodiment does not limit the implementation of the signal type identifier.
  • the processor 114 in the charging device 110 controls the first signal transmitter 112 to transmit the first wireless signal in response to the first transmission instruction, and controls the second signal transmitter 113 to suspend the transmission of the second wireless signal;
  • the second transmitting instruction controls the second signal transmitter 113 to transmit the second wireless signal, and controls the first signal transmitter 112 to suspend transmitting the first wireless signal.
  • the first launching instruction and the second launching instruction are sent from the mobile device 120 .
  • a communication connection is established in advance between the mobile device 120 and the charging device 110 .
  • Determining the location information of the charging device 110 based on the first wireless signal from the mobile device 120 includes: when the distance changes from less than or equal to a distance threshold to greater than the distance threshold, sending a first transmission instruction to the charging device 110 based on the communication connection, to The charging device 110 transmits the first wireless signal, and suspends transmitting the second wireless signal; receives the first wireless signal, and determines the location information of the charging device 110 based on the first wireless signal.
  • Determining the location information of the charging device 110 from the mobile device 120 based on the second wireless signal includes: when the distance changes from greater than the distance threshold to less than or equal to the distance threshold, sending a second transmission instruction to the charging device 110 based on the communication connection, to The charging device 110 transmits the second wireless signal, and suspends transmitting the first wireless signal; receives the second wireless signal, and determines the location information of the charging device 110 based on the second wireless signal.
  • the distance threshold can be determined according to the optimal transmission distance of the second wireless signal, or can also be determined according to the positioning accuracy of the first wireless signal, or can also be determined according to the positioning accuracy of the first wireless signal and the optimal transmission distance of the second wireless signal.
  • the transmission distance is determined, and the method of setting the distance threshold is not limited in this embodiment.
  • the distance threshold is determined according to the positioning accuracy of the first wireless signal, and the distance threshold is the sum of the positioning accuracy of the first wireless signal and the buffer distance.
  • the buffer distance refers to: the maximum distance that the mobile device 120 may move during the signal switching process, and the buffer distance is determined according to the communication delay between the mobile device 120 and the charging device 110 and the moving speed of the mobile device 120 .
  • the distance threshold is set to 3.1 meters.
  • the processor 123 of the self-mobile device 120 is further configured to establish a wireless signal with the charging device 110 based on the wireless signal currently received by the signal receiver.
  • the communication connection is used for sending the first launch instruction or the second launch instruction from the mobile device 120 subsequently through the communication connection.
  • establishing a communication connection with the charging device 110 based on the wireless signal currently received by the signal receiver includes: when the first signal receiver 121 receives the first wireless signal, charging to the charging device 110 based on the first signal receiver 121
  • the device 110 sends the first connection request; correspondingly, after the first transmitter of the charging device 110 receives the first connection request, it sends the first confirmation information to the self-mobile device 120 based on the first transmitter, and the self-mobile device 120 receives the first connection request. Once the message is confirmed, the communication connection is established.
  • the communication connection is established.
  • determining the location information of the charging device 110 based on the first wireless signal includes: acquiring the signal strength of the first wireless signal collected from the mobile device 120 at at least three different collection locations; determining each signal strength indicator From the first reference distance between the mobile device 120 and the charging device 110, the signal strength has a negative correlation with the first reference distance; The intersection of the formed circles, the position of the intersection is the position of the charging device 110 relative to the mobile device 120 .
  • the self-mobile device 120 collects the first wireless signal at a predetermined time interval during the movement, and calculates the first distance between the self-mobile device 120 and the charging device 110 according to the intensity of the collected first wireless signal.
  • Reference distance after the first wireless signal is collected each time, the collection position is taken as the center of the circle, and the first reference distance is used as the radius as the reference circle; the intersection point or intersection area of the reference circle can be uniquely determined based on more than three reference circles, and the intersection point Or the intersection area is the location of the charging device 110 .
  • determining the location information of the charging device 110 based on the second wireless signal includes: determining a second reference distance between the mobile device 120 and the charging device 110 based on the second wireless signal; The orientation of device 110 relative to mobile device 120 .
  • the second reference distance between the mobile device 120 and the charging device 110 is determined based on the second wireless signal, including but not limited to the following two manners.
  • the second reference distance between the mobile device 120 and the charging device 110 is determined according to the strength of the second wireless signal; in the second way, the second wireless signal carries the transmission time of the second wireless signal, according to the second wireless signal
  • the transmission time of the second wireless signal and the reception time of the second wireless signal are calculated from the second reference distance between the mobile device 120 and the charging device 110 .
  • Two ways of determining the distance between the mobile device 120 and the charging device 110 will be introduced respectively below.
  • the second reference distance between the mobile device 120 and the charging device 110 is determined according to the strength of the second wireless signal.
  • determining the second distance between the mobile device 120 and the charging device 110 based on the second wireless signal includes: determining the distance between the mobile device 120 and the charging device 110 based on the signal strength of the second wireless signal currently received by the mobile device 120.
  • the second reference distance between the charging devices 110; the signal strength has a negative correlation with the distance.
  • the second wireless signal carries the transmission time of the second wireless signal
  • the second reference between the mobile device 120 and the charging device 110 is calculated according to the transmission time of the second wireless signal and the reception time of the second wireless signal. distance.
  • determining the second reference distance between the self-mobile device 120 and the charging device 110 based on the second wireless signal includes: calculating the self- A second reference distance between the mobile device 120 and the charging device 110 .
  • calculating the second reference distance between the mobile device 120 and the charging device 110 based on the difference between the transmission time of the second wireless signal and the receiving time of the second wireless signal includes: The difference between the transmission time and the receiving time of the second wireless signal is multiplied by the propagation speed of the second wireless signal to obtain the second reference distance.
  • the direction of the charging device 110 relative to the mobile device 120 is determined based on the second wireless signal, including but not limited to the following two ways.
  • the direction of the charging device 110 relative to the self-mobile device 120 is determined based on the second wireless signal information collected from at least two different locations;
  • the receiver 122 determines the direction of the charging device 110 relative to the mobile device 120 based on the second wireless signal information received by different second signal receivers 122 at the same time.
  • Two ways of determining the direction of the charging device 110 relative to the mobile device 120 are introduced respectively below.
  • the direction of the charging device 110 relative to the mobile device 120 is determined based on the second wireless signal information collected at at least two different locations.
  • determining the direction of the charging device 110 relative to the mobile device 120 based on the second wireless signal includes: acquiring the transmission time of the second wireless signal collected by the mobile device 120 at at least two different collection positions; for each The second wireless signal, based on the second wireless signal, determines the second reference distance between the self-mobile device 120 and the charging device 110; based on the second reference distance 120 corresponding to different collection positions, determines the distance of the charging device 110 relative to the self-mobile device 120 direction.
  • determining the direction of the charging device 110 relative to the mobile device 120 based on the second wireless signal includes the following two steps:
  • Step 1 At a certain position, take the current position of the mobile device 120 as the center of the circle, and make a first reference circle with a radius based on the reference distance determined based on the second wireless signal at the current collection position; take any previous collection position as the center of the circle, based on the The reference distance determined by the second wireless signal of the acquisition position is the radius as the second reference circle; determine the intersection point of the first reference circle and the second reference circle, if there is only one intersection point between the first reference circle and the second reference circle, then the first reference circle
  • the position of the intersection point of the circle and the second reference circle is the position of the charging device 110; otherwise, calculate the first intersection point and the second intersection point of the first reference circle and the second reference circle, and calculate the middle point of the connecting line between the first intersection point and the second intersection point point; the way to determine the location information of the charging device 110 includes but not limited to the following three situations:
  • step 2 is performed.
  • the first intersection point and the second intersection point are located at the front side of the mobile device 120, then the charging device 110 is located at the front side of the mobile device 120, and the mobile device 120 continues to move forward to the connecting line between the first intersection point and the second intersection point , go to step 2.
  • the charging device 110 is located at the rear side of the self-mobile device 120, and the self-mobile device 120 first rotates 180 degrees in situ, and then moves forward to the second The midpoint of the connecting line between the first intersection point and the second intersection point, go to step 2.
  • Step 2 moving from the mobile device 120 to the first intersection point, if the second reference distance corresponding to the collection position during the movement is smaller than the second reference distance corresponding to the midpoint of the connecting line between the first intersection point and the second intersection point, then the charging device 110 is located at the first intersection point.
  • An intersection position since the mobile device 120 continues to move forward, if the second reference distance corresponding to the collected position is greater than the second reference distance corresponding to the midpoint of the connecting line between the first intersection point and the second intersection point during the movement, the charging device 110 is located at the first intersection point. Two intersection locations.
  • At least two second signal receivers 122 are installed on the self-mobile device 120, which are respectively located on opposite sides of the self-mobile device 120, based on the second wireless signals received by different second signal receivers 122 at the same time
  • the information determines the orientation of the charging device 110 relative to the mobile device 120 .
  • At least two second signal receivers 122 are evenly distributed on the edge of the mobile device 120 .
  • the number of second signal receivers 122 installed on the self-mobile device 120 is at least two, and determining the direction of the charging device 110 relative to the self-mobile device 120 based on the second wireless signal includes: receiving The direction of the charging device 110 relative to the mobile device 120 is determined by the second wireless signal received by the device 122 at the same time.
  • two second signal receivers 122 are installed on the self-mobile device 120, one is located at the left edge of the self-mobile device 120, and the other is located at the right edge of the self-mobile device 120, and the magnetic induction receiving coil of the self-mobile device 120 Located at the front edge of the self-mobile device 120 ; determining the direction of the charging device 110 relative to the self-mobile device 120 based on the second wireless signals respectively received by the two second signal receivers 122 at the same time.
  • the mobile device 120 determines the left reference distance based on the second wireless signal received by the second signal receiver 122 on the left side; Right reference distance; if the left reference distance is equal to the right reference distance, then the charging device 110 is located directly in front of the self-mobile device 120; otherwise, based on the left reference distance, the right reference distance and the second signal receiver 122 on the left and the second The distance of the signal receiver 122 is used to calculate the direction of the charging device 110 relative to the self-mobile device 120 , and the self-mobile device 120 is rotated by a corresponding angle so that the charging device 110 is located directly in front of the self-mobile device 120 .
  • the charging device 110 is located right in front of the self-mobile device 120; otherwise, the self-mobile device 120 rotates clockwise or counterclockwise in situ, and During the rotation process, the strength of the second wireless signal on the left and the second wireless signal on the right are continuously detected until the strength of the second wireless signal on the left is equal to the strength of the second wireless signal on the right, and the rotation is stopped. At this time, the charging device 100 is located directly in front of mobile device 120 .
  • the above-mentioned method of determining the reference distance between the self-mobile device 120 and the charging device 110 based on the second wireless signal and the method of determining the direction of the charging device 110 relative to the self-mobile device 120 based on the second wireless signal may be composed of Different solutions for determining the location information of the charging device 110 based on the second wireless signal.
  • determining the location information of the charging device 110 based on the second wireless signal includes: based on the second wireless signals received by different second signal receivers 122 at the same time The strength of , determines the direction and distance of the charging device 110 relative to the mobile device 120 .
  • the charging device 110 further includes: a magnetic induction transmitting coil 115 located in the casing 111; a magnetic induction transmitting coil, which is used to convert electrical energy into magnetic energy output, so that the mobile device 120 converts magnetic energy into electrical energy for wireless charging .
  • the self-mobile device 120 further includes: a magnetic induction receiving coil 124 connected to the processor 123 ;
  • the charging device 110 senses that the self-mobile device 120 arrives at a predetermined charging position, and energizes the magnetic induction transmitting coil to generate magnetic energy; Turn on to convert the magnetic energy output by the charging device 110 into electrical energy to charge the battery; when it is detected that the battery power reaches the preset charging threshold, the controller of the self-mobile device 120 controls the magnetic induction receiving coil to disconnect, and at the same time controls the self-moving The device 120 leaves the charging area; when the charging device 110 senses that the mobile device 120 leaves the charging position, it automatically disconnects the magnetic induction transmitting coil, stops generating magnetic energy, and the charging ends.
  • the mobile device 120 after the mobile device 120 arrives at the preset charging position, it sends a charging start signal to the charging device 110; after the charging device 110 receives the charging start signal, it energizes the magnetic induction transmitting coil to generate magnetic energy; from the mobile device 120 In response to sensing the magnetic energy output by the charging device 110, the magnetic receiving coil is turned on to convert the magnetic energy output by the charging device 110 into electrical energy to charge the battery; when it is detected that the battery power reaches the preset charging threshold, the mobile device automatically The controller of 120 controls the magnetic induction receiving coil to be disconnected, and at the same time sends a charging end signal to the charging device 110; after the charging device 110 receives the charging end signal, the magnetic induction transmitting coil is disconnected to stop generating magnetic energy, and the charging ends.
  • the charging device includes: a housing; a first signal transmitter and a second signal transmitter disposed in the housing; the first signal transmitter is used to transmit a first wireless signal; The second signal transmitter is used to transmit a second wireless signal; for determining the position of the charging device from the mobile device based on the first wireless signal and/or the second wireless signal; wherein, the transmission distance of the second wireless signal is shorter than that of the first wireless signal The transmission distance, and the positioning accuracy of wireless positioning using the second wireless signal is greater than the positioning accuracy of wireless positioning using the first wireless signal; the self-mobile device includes: a first signal receiver for receiving the first wireless signal; the second signal The receiver is used to receive the second wireless signal; the processor connected to the first signal receiver and the second signal receiver is used to respond to the instruction of charging from the mobile device, based on the first wireless signal and/or The second wireless signal determines the location information of the charging device; controls the self-mobile device to move to the charging device for charging according to the location information; it can solve the existing self-
  • the self-mobile device is usually prohibited from entering the signal blind area, and the self-mobile device has the problem of working in the blind area; due to the first signal transmitter and the second
  • the two signal transmitters have no limitation on the emission angle, so there is no signal blind area when the self-mobile device identifies the location of the charging device, so the working range of the self-mobile device can be expanded.
  • the self-mobile device can be based on the first wireless signal and/or the second The wireless signal determines the location of the charging device. Since the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the accuracy of positioning using the second wireless signal is greater than the accuracy of positioning using the first wireless signal, the first wireless signal can be Ensure that the self-mobile device can receive the first wireless signal transmitted by the charging device outside the transmission range of the second wireless signal to determine the location of the charging device. At the same time, the second wireless signal can ensure that the self-mobile device can Accurately determine the position of the charging device, and finally realize the recharging, so the recharging efficiency of the self-mobile device can be improved.
  • the infrared emitter is not used, the existing recharging method from the mobile device can be solved. Due to the limited emission angle of the infrared emitter, in order to ensure that the infrared emitter can emit infrared signals to a long distance, the infrared emitter is placed on the charging stand.
  • the installation position is usually high, which will cause the thickness of the device shell of the charging device to be thick and occupy a large space; since the charging device does not need to install an infrared transmitter, the positioning of the charging device from the mobile device can be realized, and the signal emission There is no requirement for the installation height of the charger, so the thickness of the charging device casing in this application is relatively thin, which facilitates the deployment of the charging device.
  • the location information of the charging device is determined based on the first wireless signal; when the distance between the self-mobile device and the charging device is less than or equal to the distance threshold In this case, the location information of the charging device is determined based on the second wireless signal; and the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy of wireless positioning using the second wireless signal is greater than that of using the first wireless signal.
  • the positioning accuracy of wireless positioning so the best positioning solution can be selected according to the distance between the mobile device and the charging device, which can improve the recharging efficiency.
  • the self-mobile device can choose to use the first wireless signal or the second wireless signal according to the current distance from the charging device. Determining the location of the charging device can solve the problem of signal switching when the charging device only transmits one signal at the same time, and can improve the efficiency of recharging.
  • the self-mobile device since the charging device only transmits one kind of wireless signal at the same time, the self-mobile device only receives one kind of wireless signal at the same time, which can solve the power consumption of the self-mobile device caused by the need for the charging device to receive the first wireless signal and the second wireless signal at the same time.
  • the big problem is that the mobile device does not need to receive the first wireless signal and the second wireless signal at the same time, so the power consumption of the mobile device and the charging device can be reduced.
  • the self-mobile device can obtain the distance between the self-mobile device and the charging device, and when the distance changes from being less than or equal to the distance threshold to greater than the distance threshold, the first transmission instruction is sent to the charging device based on the communication connection.
  • a second transmission instruction is sent to the charging device based on the communication connection; when the charging device only transmits a wireless signal, the wireless signal transmitted by the charging device and the self-moving
  • the wireless signal required for the current positioning of the device is consistent, avoiding the problem of poor positioning accuracy or inability to locate due to the inconsistency between the wireless signal emitted by the charging device and the wireless signal required for the current positioning of the self-mobile device, so it can improve the self-mobile device.
  • the recharging efficiency is high, and the power consumption of mobile devices and charging devices is also reduced.
  • the self-mobile device can determine the relative strength of the charging device based on the strengths of the second wireless signals respectively received by the at least two second signal receivers at the same time.
  • the direction and distance from the mobile device can be described, which can solve the problem that the data of multiple sampling points is required to locate the location of the charging device, and improve the recharging efficiency of the mobile device.
  • the second wireless signal carries the transmission time of the second wireless signal
  • the distance between the mobile device and the charging device can be calculated based on the reception time of the second wireless signal and the transmission time of the second wireless signal, which can solve the problem of using The problem of low accuracy when calculating the distance by wireless signal strength can improve the accuracy of distance calculation, thereby improving the accuracy of the determined location of the charging device.
  • the charging device also includes a magnetic induction transmitting coil located in the housing;
  • the self-moving device also includes a magnetic induction receiving coil connected to the processor, and the magnetic induction receiving coil is used to convert the received magnetic energy into electrical energy, so as to Charging the self-mobile device; it can solve the problem of large volume and inconvenient deployment of the charging device caused by charging the charging device and the self-mobile device through the charging shrapnel, and also solves the problem of low safety caused by the exposure of the charging shrapnel.
  • Wireless charging can be realized from mobile devices, so there is no need for charging shrapnel, and the size of the charging device can be reduced to facilitate the deployment of the charging device.
  • the magnetic induction transmitting coil is located inside the charging device, and it can also provide the safety of the charging system.
  • This embodiment provides a charging method, as shown in FIG. 4 .
  • the method is used in the charging system shown in FIG. 1 as an example for illustration.
  • the method includes at least the following steps:
  • Step 401 the charging device transmits a first wireless signal and/or a second wireless signal.
  • Step 402 receiving a first wireless signal and/or a second wireless signal from a mobile device.
  • the self-mobile device determines the location information of the charging device based on the received wireless signal in response to the instruction to charge the self-mobile device.
  • Step 404 the mobile device controls the mobile device to move to the charging device for charging according to the location information.
  • step 401 may be implemented solely as a method embodiment on the charging device side; and steps 402, 403 and 404 may be implemented solely as a method embodiment on the mobile device side.
  • the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the accuracy of positioning using the second wireless signal is greater than the accuracy of positioning using the first wireless signal, therefore
  • the first wireless signal can ensure that the self-mobile device can receive the first wireless signal transmitted by the charging device outside the transmission range of the second wireless signal to determine the location of the charging device.
  • the second wireless signal can ensure that the self-mobile device can The second wireless signal accurately judges the location of the charging device, and finally realizes recharging, so the recharging efficiency of mobile devices can be improved.
  • This embodiment provides a charging method, as shown in FIG. 5 .
  • the method is used in the charging system shown in FIG. 1 as an example for illustration.
  • the method includes at least the following steps:
  • Step 501 the charging device simultaneously transmits a first wireless signal and a second wireless signal within a preset period of time.
  • Step 502 receiving the first wireless signal and the second wireless signal simultaneously from the mobile device within a preset period of time.
  • Step 503 Obtain the distance between the mobile device and the charging device from the mobile device in response to the instruction to charge the mobile device; if the distance is greater than the distance threshold, according to the signal identifier of the wireless signal, obtain the distance from the received wireless signal determine the first wireless signal; determine the position information based on the first wireless signal; in the case that the distance is less than or equal to the distance threshold, determine the second wireless signal from the received wireless signal according to the signal identification of the wireless signal; determine the second wireless signal based on the second wireless Signals determine location information.
  • Step 504 the mobile device controls the mobile device to move to the charging device for charging according to the location information.
  • step 501 may be implemented solely as a method embodiment on the charging device side; and steps 502, 503 and 504 may be implemented solely as a method embodiment on the mobile device side.
  • the self-mobile device since the first signal transmitter and the second signal transmitter of the charging device both transmit wireless signals within a preset time period, the self-mobile device can Choosing to determine the position of the charging device based on the first wireless signal or the second wireless signal can solve the problem of signal switching when the charging device only transmits one signal at the same time, and can improve the recharging efficiency.
  • This embodiment provides a charging method, as shown in FIG. 6 .
  • the method is used in the charging system shown in FIG. 1 as an example for illustration.
  • the method includes at least the following steps:
  • Step 601 the charging device transmits a first wireless signal in response to a first transmission instruction, and suspends transmission of a second wireless signal; responds to a second transmission instruction, transmits a second wireless signal, and suspends transmission of the first wireless signal.
  • Step 602 Obtain the distance between the mobile device and the charging device from the mobile device; if the distance is greater than a distance threshold, receive a first wireless signal; if the distance is less than or equal to the distance threshold, receive a second wireless signal.
  • Step 603 in response to the instruction to charge the self-mobile device, the self-mobile device determines the location information of the charging device based on the received wireless signal.
  • Step 604 the mobile device controls the mobile device to move to the charging device for charging according to the location information.
  • step 601 may be implemented solely as a method embodiment on the charging device side; and steps 602, 603 and 604 may be implemented solely as a method embodiment on the mobile device side.
  • the charging method provided by the present application can solve the problem that the charging device needs to simultaneously receive the first wireless signal and The second wireless signal leads to the problem of high power consumption of the self-mobile device, and the self-mobile device does not need to receive the first wireless signal and the second wireless signal at the same time, so the power consumption of the self-mobile device and the charging device can be reduced.
  • This embodiment provides a charging method, as shown in FIG. 7 .
  • This embodiment is a specific implementation of the charging method shown in FIG. 6 , that is, the case where the first transmitting instruction and the second transmitting instruction are transmitted from the mobile device.
  • the method includes at least the following steps:
  • Step 701 Obtain the distance between the mobile device and the charging device from the mobile device; when the distance changes from less than or equal to the distance threshold to greater than the distance threshold, send a first transmit instruction to the charging device based on the communication connection. When the distance threshold changes to be less than or equal to the distance threshold, a second transmission instruction is sent to the charging device based on the communication connection.
  • Step 702 the charging device transmits the first wireless signal in response to the first transmitting instruction, and suspends transmitting the second wireless signal; responds to the second transmitting instruction, transmits the second wireless signal, and suspends transmitting the first wireless signal.
  • Step 703 receiving a first wireless signal or a second wireless signal from the mobile device.
  • Step 704 in response to the instruction to charge the self-mobile device, the self-mobile device determines the location information of the charging device based on the received wireless signal.
  • Step 705 the mobile device controls the mobile device to move to the charging device for charging according to the location information.
  • step 702 may be implemented solely as a method embodiment on the charging device side; and steps 701, 703, 704, and 705 may be implemented solely as a method embodiment on the mobile device side.
  • the charging method provided by the present application can obtain the distance between the mobile device and the charging device from the mobile device, and when the distance changes from less than or equal to the distance threshold to greater than the distance threshold, based on communication
  • the connection sends the first transmission instruction to the charging device, and when the distance changes from greater than the distance threshold to less than or equal to the distance threshold, the second transmission instruction is sent to the charging device based on the communication connection; it can be realized that the charging device only transmits a wireless signal
  • the wireless signal transmitted by the charging device is consistent with the wireless signal required for the current positioning of the mobile device, it avoids poor positioning accuracy caused by the inconsistency between the wireless signal transmitted by the charging device and the wireless signal required for the current positioning of the mobile device Or the problem that cannot be located, so it can improve the recharging efficiency of the self-mobile device, and also reduce the power consumption of the self-mobile device.
  • This embodiment provides a charging device, as shown in FIG. 8 .
  • the device is applied to the charging device 110 in the charging system shown in FIG. 1 , and the device includes at least the following modules: a first transmitting module 810 and a second transmitting module 820 .
  • a first transmitting module 810 configured to transmit a first wireless signal
  • the second transmitting module 820 is configured to transmit a second wireless signal.
  • This embodiment provides a self-moving device, as shown in FIG. 9 .
  • the device is applied to the self-moving device 120 in the charging system shown in FIG. control module 940 .
  • a first receiving module 910 configured to receive a first wireless signal
  • a second receiving module 920 configured to receive a second wireless signal
  • a position calculation module 930 configured to determine the position information of the charging device based on the received wireless signal
  • the motion control module 940 is configured to control the mobile device to move to the charging device for charging according to the location information.
  • the division of the above-mentioned functional modules is used as an example for illustration.
  • the above-mentioned functions can be assigned to different functions according to needs
  • Module completion means dividing the internal structure of the charging device and self-moving device into different functional modules to complete all or part of the functions described above.
  • the charging device and self-moving device provided in the above embodiments belong to the same concept as the charging method embodiment, and the specific implementation process thereof is detailed in the method embodiment, and will not be repeated here.
  • the electronic device may be the charging device 110 in FIG. 1 or the mobile device 120 in FIG. 1 .
  • the electronic device includes at least a processor 1001 and a memory 1002 .
  • the processor 1001 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
  • Processor 1001 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish.
  • Processor 1001 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state.
  • CPU Central Processing Unit, central processing unit
  • the coprocessor is Low-power processor for processing data in standby state.
  • the processor 1001 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
  • the processor 1001 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is configured to process computing operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • Memory 1002 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 1002 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 1001 to implement the charging method provided by the method embodiment in this application .
  • the electronic device may optionally further include: a peripheral device interface and at least one peripheral device.
  • the processor 1001, the memory 1002, and the peripheral device interface may be connected through a bus or a signal line.
  • Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board.
  • peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.
  • the electronic device may also include fewer or more components, which is not limited in this embodiment.
  • the present application also provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the charging method of the foregoing method embodiment.
  • the present application also provides a computer product, the computer product includes a computer-readable storage medium, and a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the charging method of the above method embodiment.

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  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本申请涉及充电设备、自移动设备、充电方法、系统及存储介质，属于自动控制技术领域。该方法包括：通过充电设备发射第一无线信号和/或第二无线信号；自移动设备，接收第一无线信号和/或第二无线信号；自移动设备基于接收到的无线信号确定充电设备的位置信息；自移动设备根据位置信息移动至充电设备进行充电；可以解决现有的自移动设备回充方法由于红外发射器的发射角度受限，为了保证自移动设备能实现回充，自移动设备通常被禁止进入信号盲区，而导致的自移动设备存在工作盲区的问题；由于第一信号发射器和第二信号发射器对发射角度均无限制，所以自移动设备识别充电设备的位置时没有信号盲区，所以可以扩大自移动设备的工作范围。

Description

充电设备、自移动设备、充电方法、系统及存储介质
本申请要求如下专利申请的优先权：于2021年09月23日提交中国专利局、申请号为202111125349.4、发明名称为“充电设备、自移动设备、充电方法、系统及存储介质”的中国专利申请，上述专利申请的全部内容通过引用结合在本申请中。
技术领域
本申请属于自动控制技术领域，具体涉及一种充电设备、自移动设备、充电方法、系统及存储介质。
背景技术
随着电子科学技术的发展，扫地机器人、拖地机器人等自移动设备逐渐进入了人们的日常生活，同时为了提升用户体验，很多自移动设备都具有自动回充功能。自动回充功能是指自移动设备自动寻找充电设备进行充电的功能。
现有的自移动设备回充方法包括：充电设备中安装有红外发射器，通过红外发射器发射红外信号；相应地，自移动设备安装有红外线接收器，在回充过程中通过红外接收器检测红外信号；在检测到红外信号时，基于红外信号的位置确定充电座的位置进行充电。
然而，由于红外发射器的发射角度受限，因此，自移动设备识别充电设备的位置时具有信号盲区；为了保证自移动设备能实现回充，自移动设备通常被禁止进入信号盲区，而导致的自移动设备存在工作盲区的问题。
发明内容
本申请提供了充电设备、自移动设备、充电方法、系统及存储介质，可以解决现有的自移动设备回充方法由于红外发射器的发射角度受限，因此，自移动设备识别充电设备的位置时具有信号盲区。为了保证自移动设备能实现回充，自移动设备通常被禁止进入信号盲区，而导致的自移动设备存在工作盲区的问题。本申请提供如下技术方案：
第一方面，提供一种充电设备，所述充电设备用于为自移动设备充电，所述充电设备包括：
壳体；
设置在所述壳体中的第一信号发射器和第二信号发射器；所述第一信号发射器用于发射第一无线信号；所述第二信号发射器用于发射第二无线信号；以供所述自移动设备基于所述第一无线信号和/或所述第二无线信号确定所述充电设备的位置；
其中，所述第二无线信号的传输距离小于所述第一无线信号的传输距离，且使用所述第二无线信号进行无线定位的定位精度大于所述使用所述第一无线信号进行无线定位的定位精度。
可选地，所述充电设备还包括：与所述第一信号发射器和第二信号发射器分别相连的处理器；所述处理器，用于：
响应于第一发射指令，控制所述第一信号发射器发射所述第一无线信号，并控制所述第二信号发射器暂停发射所述第二无线信号；
响应于第二发射指令，控制所述第二信号发射器发射所述第二无线信号，并控制所述第一信号发射器暂停发射所述第一无线信号。
可选地，所述第一信号发射器和所述第二信号发射器在预设时间段内均发射无线信号。
可选地，所述充电设备还包括：位于所述壳体内的磁感发射线圈；
所述磁感发射线圈，用于将电能转换为磁能输出，以供所述自移动设备将磁能转换成电能进行无线充电。
可选地，所述第一无线信号为Wi-Fi信号；所述第二无线信号为超宽带信号UWB信号。
第二方面，提供一种自移动设备，所述自移动设备包括：
第一信号接收器，用于接收第一无线信号；
第二信号接收器，用于接收第二无线信号，所述第二无线信号的传输距离小于所述第一无线信号的传输距离，且使用所述第二无线信号进行无线定位的定位精度大于所述使用所述第一无线信号进行无线定位的 定位精度；
与所述第一信号接收器和所述第二信号接收器分别相连的处理器，用于响应于对所述自移动设备进行充电的指令，基于所述第一无线信号和/或所述第二无线信号，确定充电设备的位置信息；控制所述自移动设备根据所述位置信息移动至所述充电设备进行充电。
可选地，所述处理器用于：
获取所述自移动设备与所述充电设备之间的距离；
在所述距离大于所述距离阈值的情况下，基于所述第一无线信号确定充电设备的位置信息；
在所述距离小于或等于所述距离阈值的情况下，基于所述第二无线信号确定充电设备的位置信息。
可选地，所述自移动设备与所述充电设备预先建立通信连接；
所述基于所述第一无线信号确定充电设备的位置信息，包括：在所述距离由小于或等于距离阈值变化为大于所述距离阈值的情况下，基于所述通信连接向所述充电设备发送第一发射指令，以供所述充电设备发射所述第一无线信号，并暂停发射所述第二无线信号；接收所述第一无线信号，并基于所述第一无线信号确定充电设备的位置信息；
所述基于所述第二无线信号确定充电设备的位置信息，包括：在所述距离由大于距离阈值变化为小于或等于所述距离阈值的情况下，基于所述通信连接向所述充电设备发送第二发射指令，以供所述充电设备发射所述第二无线信号，并暂停发射所述第一无线信号；接收所述第二无线信号，并基于所述第二无线信号确定充电设备的位置信息。
可选地，基于所述通信连接向所述充电设备发送所述第一发射指令或者所述第二发射指令之后，所述处理器，还用于：
基于信号接收器当前接收到的无线信号与所述充电设备建立通信连接，以供所述自移动设备后续通过所述通信连接发送所述第一发射指令或所述第二发射指令。
可选地，所述第一信号接收器和所述第二信号接收器在预设时间段内均接收到无线信号；
所述基于所述第一无线信号确定充电设备的位置信息，包括：根据无线信号的信号标识，从接收到的无线信号中确定所述第一无线信号；基于所述第一无线信号确定所述位置信息；
所述基于所述第二无线信号确定充电设备的位置信息，包括：根据无线信号的信号标识，从接收到的无线信号中确定所述第二无线信号；基于所述第二无线信号确定所述位置信息。
可选地，所述获取所述自移动设备与所述充电设备之间的距离，包括：
基于所述自移动设备当前接收到的无线信号的信号强度，确定所述自移动设备与所述充电设备之间的距离；所述信号强度与所述距离呈负相关关系。
可选地，所述基于所述第一无线信号确定充电设备的位置信息，包括：
获取所述自移动设备在至少三个不同的采集位置采集的第一无线信号的信号强度；
确定每个信号强度指示的所述自移动设备与所述充电设备之间的第一参考距离，所述信号强度与所述第一参考距离呈负相关关系；
确定以每个采集位置为圆心、以所述采集位置对应的第一参考距离为半径所形成的圆形的交点，所述交点的位置为所述充电设备相对于所述自移动设备的位置。
可选地，所述第二信号接收器的数量为至少两个；
所述基于所述第二无线信号确定充电设备的位置信息，包括：
基于不同第二信号接收器在同一时刻接收到的所述第二无线信号的信号强度，确定所述充电设备相对于所述自移动设备的方向和距离。
可选地，所述第二无线信号携带所述第二无线信号的发射时间；
所述基于所述第二无线信号确定充电设备的位置信息，包括：
获取所述自移动设备在至少两个不同的采集位置采集的第二无线信号的发射时间；
对于每个第二无线信号，基于所述第二无线信号的接收时间与所述 第二无线信号的发射时间的差值，计算所述自移动设备与所述充电设备之间的第二参考距离；
基于不同采集位置对应的第二参考距离，确定所述充电设备相对于所述自移动设备的方向。
可选地，所述自移动设备还包括：与所述处理器相连的磁感接收线圈；所述磁感接收线圈，用于将接收到的磁能转换为电能，以供所述自移动设备充电。
第三方面，提供一种充电方法，用于自移动设备中，所述方法包括：
接收第一无线信号和/或第二无线信号；所述第二无线信号的传输距离小于所述第一无线信号的传输距离，且使用所述第二无线信号进行无线定位的定位精度大于所述使用所述第一无线信号进行无线定位的定位精度；
响应于对所述自移动设备进行充电的指令，基于接收到的无线信号确定充电设备的位置信息；
控制所述自移动设备根据所述位置信息移动至所述充电设备进行充电。
第四方面，提供一种计算机可读存储介质，所述存储介质中存储有程序，所述程序被处理器执行时用于实现第三方面提供的充电方法。
第五方面，提供一种自移动设备的充电系统，所述充电系统包括充电设备和自移动设备；
所述充电设备包括第一方面提供的充电设备；
所述自移动设备包括第二方面提供的自移动设备。
本申请的有益效果至少包括：充电设备包括：壳体；设置在壳体中的第一信号发射器和第二信号发射器；第一信号发射器用于发射第一无线信号；第二信号发射器用于发射第二无线信号；以供自移动设备基于第一无线信号和/或第二无线信号确定充电设备的位置；其中，第二无线信号的传输距离小于第一无线信号的传输距离，且使用第二无线信号进行无线定位的定位精度大于使用第一无线信号进行无线定位的定位精度；自移动设备包括：第一信号接收器，用于接收第一无线信号；第二 信号接收器，用于接收第二无线信号；与第一信号接收器和第二信号接收器分别相连的处理器，用于响应于对自移动设备进行充电的指令，基于第一无线信号和/或第二无线信号，确定充电设备的位置信息；控制自移动设备根据位置信息移动至充电设备进行充电；可以解决现有的自移动设备回充方法由于红外发射器的发射角度受限，自移动设备识别充电设备的位置时具有信号盲区；为了保证自移动设备能实现回充，自移动设备通常被禁止进入信号盲区，而导致的自移动设备存在工作盲区的问题；由于第一信号发射器和第二信号发射器对发射角度均无限制，所以自移动设备识别充电设备的位置时不具有信号盲区，所以可以扩大自移动设备的工作范围。
同时，由于充电设备设置有第一信号发射器和第二信号发射器，自移动设备设置有第一信号接收器和第二信号接收器，自移动设备可以根据第一无线信号和/或第二无线信号确定充电设备的位置，由于第二无线信号的传输距离小于第一无线信号的传输距离，而使用第二无线信号定位的精度大于使用第一无线信号定位的精度，因而第一无线信号可以保证自移动设备在第二无线信号的发射范围外能接收到充电设备发射的第一无线信号从而判断充电设备的位置，同时第二无线信号可以保证自移动设备能够根据接收到的第二无线信号精确判断充电设备的位置，最终实现回充，所以可以提高自移动设备的回充效率。
另外，由于不用使用红外发射器，可以解决现有的自移动设备回充方法由于红外发射器的发射角度受限，为了保证红外发射器能够向远处发射红外信号，红外发射器在充电座的安装位置通常较高，会导致充电设备的设备壳体的厚度较厚，占用空间较大的问题；由于充电设备无需安装红外发射器即可实现自移动设备的对充电设备的定位，且信号发射器对安装高度没有要求，所以本申请中充电设备壳体的厚度较薄，便于充电设备的部署。
另外，通过在自移动设备与充电设备之间的距离大于距离阈值的情况下，基于第一无线信号确定充电设备的位置信息；在自移动设备与充电设备之间的距离小于或等于距离阈值的情况下，基于第二无线信号确 定充电设备的位置信息；且第二无线信号的传输距离小于第一无线信号的传输距离，使用第二无线信号进行无线定位的定位精度大于使用第一无线信号进行无线定位的定位精度，所以可以根据自移动设备与充电设备之间的距离选择最佳的定位方案，可以提高回充效率。
另外，由于充电设备的第一信号发射器和第二信号发射器在预设时间段内均发射无线信号，自移动设备可以根据当前与充电设备的距离选择基于第一无线信号或第二无线信号确定充电设备的位置，可以解决在充电设备同一时刻只发射一种信号时，需要进行信号切换的问题，可以提高回充效率。
另外，由于充电设备同一时刻只发射一种无线信号，自移动设备同一时刻也只接收有一种无线信号，可以解决充电设备需要同时接收第一无线信号和第二无线信号导致自移动设备的电量消耗大的问题，自移动设备不需要同时接收第一无线信号和第二无线信号，所以可以减少自移动设备和充电设备的电量消耗。
另外，由于自移动设备能获取自移动设备与充电设备之间的距离，并在距离由小于或等于距离阈值变化为大于距离阈值的情况下，基于通信连接向充电设备发送第一发射指令，在距离由大于距离阈值变化为小于或等于距离阈值的情况下，基于通信连接向充电设备发送第二发射指令；可以实现在充电设备只发射一种无线信号时，充电设备发射的无线信号和自移动设备当前定位所需的无线信号的一致的，避免了因充电设备发射的无线信号与自移动设备当前定位所需的无线信号不一致而导致的定位精度差或无法定位的问题所以可以提高自移动设备的回充效率，同时也降低了自移动设备和充电设备的电量消耗。
另外，由于充电设备的第二信号接收器为至少两个，所以自移动设备可以基于至少两个第二信号接收器同一时刻分别接收到的第二无线信号的强度确定所述充电设备相对于所述自移动设备的方向和距离，可以解决需要多个采样点的数据才能定位充电设备位置的问题，提高了自移动设备的回充效率。
另外，由于第二无线信号携带第二无线信号的发射时间，所以，可 以基于第二无线信号的接收时间和第二无线信号的发射时间计算自移动设备与充电设备之间的距离，可以解决利用无线信号强度计算距离时准确度不高的问题，可以提高距离计算的准确性，从而提高确定出的充电设备位置的准确性。
另外，由于充电设备还包括位于所述壳体内的磁感发射线圈；自移动设备还包括与处理器相连的磁感接收线圈，磁感接收线圈，用于将接收到的磁能转换为电能，以供所述自移动设备充电；可以解决充电设备与自移动设备通过充电弹片进行充电而导致的充电设备体积大部署不方便的问题，同时也解决了充电弹片外露而导致安全性低的问题，由于自移动设备可以实现无线充电，所以不需要充电弹片，可以缩小充电设备的体积便于充电设备的部署，且磁感发射线圈位于充电设备内部，同时也可以提供充电系统的安全性。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例提供的充电系统的结构示意图；
图2是本申请一个实施例提供的充电设备的结构示意图；
图3是本申请一个实施例提供的自移动设备的结构示意图；
图4是本申请一个实施例提供的充电方法的示意图；
图5是本申请一个实施例提供的充电方法的示意图；
图6是本申请一个实施例提供的充电方法的示意图；
图7是本申请一个实施例提供的充电方法的示意图；
图8是本申请一个实施例提供的充电装置的框图；
图9是本申请一个实施例提供的自移动装置的框图；
图10是本申请一个实施例提供的电子设备的框图。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。下文中将参考附图并结合实施例来详细说明本申请。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
在申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的，或者是针对部件本身在竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本实用新型。
首先，对本申请实施例涉及的若干名词进行介绍。
WiFi：是一种创建于IEEE 802.11标准的无线局域网技术。WiFi用于定位时，定位的精度在3米-10米。
超宽带(Ultra Wide Band，UWB)技术：是一种无线载波通信技术，它不采用正弦载波，而是利用纳秒级的非正弦波窄脉冲传输数据，因此其所占的频谱范围很宽。UWB用于定位时，定位的精度在1厘米-10厘米。
数据帧：数据链路层的协议数据单元，它包括三部分：帧头，数据部分，帧尾。其中，帧头和帧尾包含一些必要的控制信息，比如同步信息、地址信息、差错控制信息等；数据部分则包含网络层传下来的数据，比如IP数据包。不同信号的数据帧格式不同。
本实施例提供一种自移动设备的充电系统，如图1所示。该系统至少包括充电设备110和自移动设备120。
充电设备110用于为自移动设备120充电。充电设备110可以为充电桩、或者充电座等具有供电功能的设备，本实施例不对充电设备110的类型作限定。
自移动设备120可以为扫地机器人、或者拖地机器人等具有自移动功 能的设备，本实施例不对自移动设备120的类型作限定。
本实施例中，参考图2，充电设备110包括：壳体111(图中未示意)、第一信号发射器112和第二信号发射器113。
壳体111为充电设备110的外壳，壳体111的形状可以是规则的几何体，或者，也可以根据部署的需求设置成其他形状，本实施例不对壳体111的形状作限定。
第一信号发射器112和第二信号发射器113设置在壳体111内。第一信号发射器112用于发射第一无线信号；第二信号发射器113用于发射第二无线信号；以供自移动设备120基于第一无线信号和/或第二无线信号确定充电设备110的位置。其中，第二无线信号的传输距离小于第一无线信号的传输距离，且使用第二无线信号进行无线定位的定位精度大于使用第一无线信号进行无线定位的定位精度。
可选地，第一无线信号可以是WiFi信号，或者，也可以是蓝牙信号，本实施例不对第一无线信号的类型作限定。
在一个示例中，第一信号为WiFi信号，相应的，第二无线信号为UWB信号。
由于WiFi信号的发射功率比UWB信号的发射功率大，所以WiFi信号的传输距离比UWB信号远；同时，由于UWB信号的频率高于WiFi信号的频率，所述UWB信号的分辨率高于WiFi信号。
可选地，壳体111的高度低于预设充电设备的设备壳体的高度，预设充电设备为设置有红外发射器或超声发射器的充电设备。本实施例中的充电设备110未安装有红外发射器和超声发射器。
比如，预设充电设备设置有红外发射器，由于红外发射器需要安装到一定的高度才能使红外信号的覆盖范围达到预设的最小信号范围，而无线信号发射器对安装高度的要求小于红外发射器对安装高度的要求，所以安装无线信号发射器对壳体111高度的要求低于安装红外信号发射器对预设充电设备壳体高度的要求，所以壳体111的高度小于预设充电设备壳体的高度。
同时，由于壳体111的高度低于预设充电设备的设备高度，所以充电 设备110可以进行隐藏式安装，以节省充电设备所在工作区域的可使用空间。比如：可以安装在踢脚线内部，或者，也可以设置在橱柜底部，或者还可以嵌入其他设备之中，本实施例不对充电设备110的安装位置作限定。
可选地，所述第一信号发射器112和所述第二信号发射器113在预设时间段内均发射无线信号，或者所述第一信号发射器112和所述第二信号发射器113基于处理器的控制同一时刻仅发射一种无线信号。在第一信号发射器112和所述第二信号发射器113基于处理器的控制同一时刻仅发射一种无线信号的情况下，充电设备110还包括与所述第一信号发射器112和第二信号发射器113分别相连的处理器114。
示意性地，处理器114用于：响应于第一发射指令，控制所述第一信号发射器112发射所述第一无线信号，并控制所述第二信号发射器113暂停发射所述第二无线信号；响应于第二发射指令，控制所述第二信号发射器113发射所述第二无线信号，并控制所述第一信号发射器112暂停发射所述第一无线信号。
可选地，可第一发射指令和第二发射指令可以由充电设备110生成，或者，也可以由自移动设备120向充电设备110发送，此时充电设备110与自移动设备120之间建立有通信连接，或者，还可以由其他设备(比如用户终端)向充电设备110发送，本实施例不对第一发射指令和第二发射指令的获取方式作限定。
在第一发射指令和/或第二发射指令是自移动设备120发送的情况下，充电设备110还与自移动设备120通信相连。
参考图3，本实施例中，自移动设备120包括：第一信号接收器121、第二信号接收器122和处理器123。
其中，第一信号接收器121用于接收第一无线信号；第二信号接收器122用于接收第二无线信号。
可选地，第一信号接收器121接收到的第一无线信号可以是第一信号发射器112发射的，也可以是自移动设备所在区域内其它发射第一无线信号的设备发射的；第二信号接收器122接收到的第二无线信号可以是第二 信号发射器113发射的，也可以是自移动设备所在区域内其他发射第二无线信号的设备发射的
处理器123与第一信号接收器121和第二信号接收器122分别相连。处理器123用于：响应于对自移动设备120进行充电的指令，基于第一无线信号和/或第二无线信号，确定充电设备110的位置信息；控制自移动设备120根据位置信息移动至充电设备110进行充电。
可选地，对自移动设备120进行充电的指令可以由自移动设备120生成，或者，还可以由其他设备(比如用户终端，如手机、平板电脑或者可穿戴式设备等)向自移动设备120发送，本实施例不对自移动设备120进行充电的指令的获取方式作限定。
在对自移动设备120进行充电的指令由自移动设备120生成的情况下，该指令可以是自移动设备120在指定时间自动生成的，或者，也可以是自移动设备120在电量小于预设电量阈值时自动生成的，或者，还可以是自移动设备120上安装的充电控件被触发时生成的。
其中，预设电量阈值可以为总电量的10％、15％或者为用户自适应设置的其它数值，本实施例不对预设电量阈值的取值作限定。
可选地，基于第一无线信号和/或第二无线信号，确定充电设备110的位置信息，包括：获取自移动设备120与充电设备110之间的距离；在该距离大于距离阈值的情况下，基于第一无线信号确定充电设备110的位置信息；在该距离小于或等于距离阈值的情况下，基于第二无线信号确定充电设备110的位置信息。可选地，充电设备110的无线信号发射方式包括但不限于以下两种方式中的一种：第一种方式，充电设备110同时发射第一无线信号和第二无线信号；第二种方式，充电设备110同一时刻发射第一无线信号和第二无线信号中的一种。由于不同的无线信号发射方式对应确定自移动设备120与充电设备110之间的距离、以及确定充电设备110的位置信息均不同，因此，下面针对不同的无线信号发射方式，对确定自移动设备120与充电设备110之间的距离、以及确定充电设备110的位置信息的方式分别进行介绍。
第一种方式，充电设备110的第一信号发射器112和第二信号发射器 113在预设时间段内均发射无线信号。
在第一种方式中，自移动设备120获取自移动设备120与充电设备110之间的距离，包括：在自移动设备120同时接收到第一信号发射器112和第二信号发射器113发射的无线信号的情况下，可以基于第一无线信号的强度，确定自移动设备120与充电设备110之间的距离，或者，也可以根据第二无线信号的强度确定自移动设120与充电设备110之间的距离，或者，还可以将基于第一无线信号强度和第二信号强度分别确定的自移动设备120与充电设备110之间的距离的均值，作为自移动设备120与充电设备110之间的距离；在自移动设备120接收到第一信号发射器112和第二信号发射器113中的一个发射的无线信号的情况下，基于自移动设备120当前接收到的无线信号的信号强度，确定自移动设备120与充电设备110之间的距离。
无线信号的信号强度与距离呈负相关关系。信号强度与距离呈负相关关系是指：信号强度越强距离越近，信号强度越弱，距离越远。
在第一种方式中，自移动设备120基于第一无线信号确定充电设备110的位置信息，包括：根据无线信号的信号标识，从接收到无线信号中确定第一无线信号；基于第一无线信号确定位置信息。
若自移动设备120同时接收到第一信号发射器112发射的第一无线信号和第二信号发射器113发射的第二无线信号，则根据信号标识判断信号的信型类别，将接收到的无线信号中类别与第一无线信号类别相同的信号确定为第一无线信号。
若自移动设备120同时接收到第一信号发射器112发射的第一无线信号和其它信号发射器发射的第一无线信号，则根据信号标识判断信号的发射设备，将接收到的无线信号中发射设备为充电设备110的信号确定为第一无线信号。
基于第二无线信号确定充电设备110的位置信息，包括：根据无线信号的信号标识，从接收到无线信号中确定第二无线信号；基于第二无线信号确定位置信息。
若自移动设备120同时接收到第一信号发射器112发射的第一无线信号和第二信号发射器113发射的第二无线信号，则根据信号标识判断信号 的信型类别，将接收到的无线信号中类别与第二无线信号类别相同的信号确定为第二无线信号。
若自移动设备120同时接收到第二信号发射器113发射的第二无线信号和其它信号发射器发射的第二无线信号，则根据信号标识判断信号的发射设备，将接收到的无线信号中发射设备为充电设备110的信号确定为第二无线信号。
其中，无线信号的信号标识包括但不限于：设备标识和信号类型标识。
设备标识用于唯一地指示发射无线信号的设备，设备标识可以为设备号或者IP地址等，本实施例不对设备标识的实现方式作限定。
信号类型标识用于唯一地指示无线信号的种类，信号类型标识可以为信号的数据帧格式，或者，也可以为无线信号的带宽，本实施例不对信号类型标识的实现方式作限定。
第二种方式，充电设备110中的处理器114响应于第一发射指令，控制第一信号发射器112发射第一无线信号，并控制第二信号发射器113暂停发射第二无线信号；响应于第二发射指令，控制第二信号发射器113发射第二无线信号，并控制第一信号发射器112暂停发射第一无线信号。
在第二种方式中，第一发射指令与第二发射指令由自移动设备120发送。相应的，自移动设备120与充电设备110预先建立通信连接。
自移动设备120基于第一无线信号确定充电设备110的位置信息，包括：在距离由小于或等于距离阈值变化为大于距离阈值的情况下，基于通信连接向充电设备110发送第一发射指令，以供充电设备110发射第一无线信号，并暂停发射第二无线信号；接收第一无线信号，并基于第一无线信号确定充电设备110的位置信息。
自移动设备120基于第二无线信号确定充电设备110的位置信息，包括：在距离由大于距离阈值变化为小于或等于距离阈值的情况下，基于通信连接向充电设备110发送第二发射指令，以供充电设备110发射第二无线信号，并暂停发射第一无线信号；接收第二无线信号，并基于第二无线信号确定充电设备110的位置信息。
其中，距离阈值可以根据第二无线信号的最佳传输距离确定，或者，也可以根据第一无线信号的定位精度确定，或者还可以根据第一无线信号的定位精度和第二无线信号的最佳传输距离确定，本实施例不对距离阈值的设定方式作限定。
在一个示例中，距离阈值根据第一无线信号的定位精度确定，距离阈值为第一无线信号的定位精度与缓冲距离之和。
其中，缓冲距离是指：自移动设备120在信号切换的过程中可能运动的最大距离，缓冲距离根据自移动设备120与充电设备110之间的通信时延、以及自移动设备120的移动速度确定。
比如，第一无线信号的定位精度为3米，缓冲距离为0.1米，则距离阈值设定为3.1米。
可选地，基于通信连接向充电设备110发送第一发射指令或者第二发射指令之后，自移动设备120的处理器123还用于，基于信号接收器当前接收到的无线信号与充电设备110建立通信连接，以供自移动设备120后续通过通信连接发送第一发射指令或第二发射指令。
可选地，基于信号接收器当前接收到的无线信号与充电设备110建立通信连接，包括：在第一信号接收器121接收到第一无线信号的情况下，基于第一信号接收器121向充电设备110发送第一连接请求；相应地，充电设备110的第一发射器接收的第一连接请求后，基于第一发射器向自移动设备120发送第一确认信息，自移动设备120收到第一确认信息后，通信连接建立。
或者，在第二信号接收器122接收到第二无线信号的情况下，基于第二信号接收器122向充电设备110发送第二连接请求，相应地，充电设备110的第二发射器接收的第二连接请求后，基于第二发射器向自移动设备120发送第二确认信息，自移动设备120收到第二确认信息后，通信连接建立。
在本实施例中，基于第一无线信号确定充电设备110的位置信息，包括：获取自移动设备120在至少三个不同的采集位置采集的第一无线信号的信号强度；确定每个信号强度指示的自移动设备120与充电设备110之间的第一参考距离，信号强度与第一参考距离呈负相关关系；确定以每个 采集位置为圆心、以采集位置对应的第一参考距离为半径所形成的圆形的交点，交点的位置为充电设备110相对于自移动设备120的位置。
在一个示例中，自移动设备120在运动的过程中以预定的时间间隔采集第一无线信号，并根据采集到的第一无线信号的强度计算自移动设备120与充电设备110之间的第一参考距离；在每次采集到第一无线信号后，以采集位置为圆心，第一参考距离为半径作参考圆；根据三个以上参考圆即可唯一确定参考圆的交点或相交区域，该交点或相交区域即为充电设备110的位置。
在本实施例中，基于第二无线信号确定充电设备110的位置信息，包括：基于第二无线信号确定自移动设备120与充电设备110之间的第二参考距离；基于第二无线信号确定充电设备110相对于自移动设备120的方向。
可选地，基于第二无线信号确定自移动设备120与充电设备110之间的第二参考距离，包括但不限于以下两种方式。第一种方式，根据第二无线信号的强度确定自移动设备120与充电设备110之间的第二参考距离；第二种方式，第二无线信号携带第二信无线信号的发射时间，根据第二无线信号的发射时间和第二无线信号的接收时间计算自移动设备120与充电设备110之间的第二参考距离。下面对两种确定自移动设备120与充电设备110之间距离的方式分别进行介绍。
第一种方式，根据第二无线信号的强度确定自移动设备120与充电设备110之间的第二参考距离。
可选地，基于第二无线信号确定自移动设备120与充电设备110之间的第二距离，包括：基于自移动设备120当前接收到的第二无线信号的信号强度，确定自移动设备120与充电设备110之间的第二参考距离；信号强度与距离呈负相关关系。
第二种方式，第二无线信号携带第二信无线信号的发射时间，根据第二无线信号的发射时间和第二无线信号的接收时间计算自移动设备120与充电设备110之间的第二参考距离。
可选地，基于第二无线信号确定自移动设备120与充电设备110之间的第二参考距离，包括：基于第二无线信号的发射时间和第二无线信号的 接收时间的差值，计算自移动设备120与充电设备110之间的第二参考距离。
在一个示例中，基于第二无线信号的发射时间和第二无线信号的接收时间的差值，计算自移动设备120与充电设备110之间的第二参考距离，包括：将第二无线信号的发射时间和第二无线信号的接收时间的差值乘以第二无线信号的传播速度，得到第二参考距离。
可选地，基于第二无线信号确定充电设备110相对于自移动设备120的方向，包括但不限于以下两种方式。第一种方式，基于至少两个不同位置采集的第二无线信号信息确定充电设备110相对于自移动设备120的方向；第二种方式，自移动设备120上安装有至少两个第二信号接收器122，基于不同第二信号接收器122在同一时刻接收到的第二无线信号信息确定充电设备110相对于自移动设备120的方向。下面对两种确定充电设备110相对于自移动设备120的方向的方式分别进行介绍。
第一种方式，基于至少两个不同位置采集的第二无线信号信息确定充电设备110相对于自移动设备120的方向。
可选地，基于第二无线信号确定充电设备110相对于自移动设备120的方向，包括：获取自移动设备120在至少两个不同的采集位置采集的第二无线信号的发射时间；对于每个第二无线信号，基于第二无线信号确定自移动设备120与充电设备110之间的第二参考距离；基于不同采集位置对应的第二参考距离120，确定充电设备110相对于自移动设备120的方向。
在一个示例中，基于第二无线信号确定充电设备110相对于自移动设备120的方向，包括以下两个步骤：
步骤一，在某一位置，以自移动设备120当前位置为圆心，基于当前采集位置的第二无线信号确定的参考距离为半径作第一参考圆；以之前任一采集位置为圆心，基于该采集位置的第二无线信号确定的参考距离为半径作第二参考圆；确定第一参考圆和第二参考圆的交点，如果第一参考圆和第二参考圆只有一个交点，则第一参考圆和第二参考圆的交点位置为充电设备110的位置；否则，计算第一参考圆和第二参考圆的第一交点和第二交点，同时计算第一交点和第二交点连线的中点；确定充电 设备110位置信息的方式包括但不限于以下三种情况：
第一种情况，自移动设备120位于第一交点和第二点连接线的中点，则充电设备110位于自移动设备120的左侧或者右侧，执行步骤二。
第二种情况，第一交点和第二交点位于自移动设备120前侧，则充电设备110位于自移动设备120前侧，自移动设备120继续向前运动至第一交点和第二交点连接线的中点，执行步骤二。
第三种情况，如果第一交点和第二交点位于自移动设备120后侧，则充电设备110位于自移动设备120后侧，自移动设备120先原地旋转180度，然后向前运动至第一交点和第二交点连接线的中点，执行步骤二。
步骤二，自移动设备120向第一交点运动，如果运动过程中采集位置对应的第二参考距离小于第一交点和第二交点连接线中点对应的第二参考距离，则充电设备110位于第一交点位置，自移动设备120继续向前运动，如果运动过程中采集位置对应的第二参考距离大于第一交点和第二交点连接线中点对应的第二参考距离，则充电设备110位于第二交点位置。
第二种方式，自移动设备120上安装有至少两个第二信号接收器122，分别位于自移动设备120相对的两侧，基于不同第二信号接收器122同一时刻接收到的第二无线信号信息确定充电设备110相对于自移动设备120的方向。
可选地，至少两个第二信号接收器122均匀分布在自移动设备120边缘。
可选地，自移动设备120上安装的第二信号接收器122的数量为至少两个，基于第二无线信号确定充电设备110相对于自移动设备120的方向，包括：基于不同第二信号接收器122同一时刻接收到的第二无线信号确定充电设备110相对于自移动设备120的方向。
可选地，自移动设备120上安装有两个第二信号接收器122，一个位于自移动设备120左侧边缘，另一个位于自移动设备120右侧边缘，自移动设备120的磁感接收线圈位于自移动设备120的前侧边缘；基于两个第二信号接收器122同一时刻分别接收到的第二无线信号确定充电设备110相对于自移动设备120的方向。
在一个示例中，在某一位置，自移动设备120基于左侧第二信号接收器122接收的第二无线信号确定左参考距离；基于右侧第二信号接收器122接收的第二无线信号确定右参考距离；如果左参考距离等于右参考距离，此时充电设备110位于自移动设备120正前方；否则，基于左参考距离、右参考距离和左侧第二信号接收器122与右侧第二信号接收器122的距离计算充电设备110相对于自移动设备120的方向，同时自移动设备120旋转相应角度使得充电设备110位于自移动设备120正前方。
在另一个示例中，在某一位置，自移动设备120基于左侧第二信号接收器122接收的左第二无线信号；基于右侧第二信号接收器122接收的右侧第二无线信号；如果左侧第二无线信号的强度等于右侧第二无线信号的强度，此时充电设备110位于自移动设备120正前方；否则自移动设备120原地沿顺时针方向或逆时针方向旋转，并在旋转过程中不断检测左侧第二无线信号的强度和右侧第二无线信号的强度，直至左侧第二无线信号的强度等于右侧第二无线信号的强度时停止旋转，此时充电设备100位于自移动设备120正前方。
需要补充说明的是，上述基于第二无线信号确定自移动设备120与充电设备110之间的参考距离的方式和基于第二无线信号确定充电设备110相对于自移动设备120的方向的方式可以组成不同的方案，以供基于第二无线信号确定充电设备110的位置信息。
比如，在一个示例中，第二信号接收器122为至少两个；基于第二无线信号确定充电设备110的位置信息，包括：基于不同第二信号接收器122同一时刻接收到的第二无线信号的强度，确定充电设备110相对于自移动设备120的方向和距离。
在另一个示例中，第二无线信号携带第二无线信号的发射时间；基于第二无线信号确定充电设备110的位置信息，包括：获取自移动设备120在至少两个不同的采集位置采集的第二无线信号的发射时间；对于每个第二无线信号，基于第二无线信号的接收时间与第二无线信号的发射时间的差值，计算自移动设备120与充电设备110之间的第二参考距离；基于不同采集位置对应的第二参考距离，确定充电设备110相对于自移动设备 120的方向。
可选地，充电设备110还包括：位于壳体111内的磁感发射线圈115；磁感发射线圈，用于将电能转换为磁能输出，以供自移动设备120将磁能转换成电能进行无线充电。
相应的，自移动设备120还包括：与处理器123相连的磁感接收线圈124；磁感接收线圈，用于将接收到的磁能转换为电能，以供自移动设备120充电。
在一个示例中，充电设备110感应到自移动设备120到达预定充电位置，将磁感发射线圈通电，产生磁能；在自移动设备120响应于感应到充电设备110输出的磁能，将磁感接收线圈导通，以将充电设备110输出的磁能转换为电能，给电池充电；在检测到电池电量达到预设充电阈值时，自移动设备120的控制器控制磁感接收线圈断开，同时控制自移动设备120离开充电区域；充电设备110感应到自移动设备120离开充电位置时，自动将磁感发射线圈断开，停止产生磁能，充电结束。
在另一个示例中，自移动设备120到达预设充电位置后，向充电设备110发送开始充电信号；充电设备110接收到开始充电信号后，将磁感发射线圈通电，产生磁能；自移动设备120响应于感应到充电设备110输出的磁能，将磁感接收线圈导通，以将充电设备110输出的磁能转换为电能，给电池充电；在检测到电池电量达到预设充电阈值时，自移动设备120的控制器控制磁感接收线圈断开，同时向充电设备110发送结束充电信号；充电设备110接收到结束充电信号后，接磁感发射线圈断开，停止产生磁能，充电结束。
综上所述，本实施例提供的充电系统，充电设备包括：壳体；设置在壳体中的第一信号发射器和第二信号发射器；第一信号发射器用于发射第一无线信号；第二信号发射器用于发射第二无线信号；以供自移动设备基于第一无线信号和/或第二无线信号确定充电设备的位置；其中，第二无线信号的传输距离小于第一无线信号的传输距离，且使用第二无线信号进行无线定位的定位精度大于使用第一无线信号进行无线定位的定位精度；自移动设备包括：第一信号接收器，用于接收第一无线信号； 第二信号接收器，用于接收第二无线信号；与第一信号接收器和第二信号接收器分别相连的处理器，用于响应于对自移动设备进行充电的指令，基于第一无线信号和/或第二无线信号，确定充电设备的位置信息；控制自移动设备根据位置信息移动至充电设备进行充电；可以解决现有的自移动设备回充方法由于红外发射器的发射角度受限，自移动设备识别充电设备的位置时具有信号盲区；为了保证自移动设备能实现回充，自移动设备通常被禁止进入信号盲区，而导致的自移动设备存在工作盲区的问题；由于第一信号发射器和第二信号发射器对发射角度均无限制，所以自移动设备识别充电设备的位置时不具有信号盲区，所以可以扩大自移动设备的工作范围。
同时，由于充电设备设置有第一信号发射器和第二信号发射器，自移动设备设置有第一信号接收器和第二信号接收器，自移动设备可以根据第一无线信号和/或第二无线信号确定充电设备的位置，由于第二无线信号的传输距离小于第一无线信号的传输距离，而使用第二无线信号定位的精度大于使用第一无线信号定位的精度，因而第一无线信号可以保证自移动设备在第二无线信号的发射范围外能接收到充电设备发射的第一无线信号从而判断充电设备的位置，同时第二无线信号可以保证自移动设备能够根据接收到的第二无线信号精确判断充电设备的位置，最终实现回充，所以可以提高自移动设备的回充效率。
另外，由于不用使用红外发射器，可以解决现有的自移动设备回充方法由于红外发射器的发射角度受限，为了保证红外发射器能够向远处发射红外信号，红外发射器在充电座的安装位置通常较高，会导致充电设备的设备壳体的厚度较厚，占用空间较大的问题；由于充电设备无需安装红外发射器即可实现自移动设备的对充电设备的定位，且信号发射器对安装高度没有要求，所以本申请中充电设备壳体的厚度较薄，便于充电设备的部署。
另外，通过在自移动设备与充电设备之间的距离大于距离阈值的情况下，基于第一无线信号确定充电设备的位置信息；在自移动设备与充电设备之间的距离小于或等于距离阈值的情况下，基于第二无线信号确 定充电设备的位置信息；且第二无线信号的传输距离小于第一无线信号的传输距离，使用第二无线信号进行无线定位的定位精度大于使用第一无线信号进行无线定位的定位精度，所以可以根据自移动设备与充电设备之间的距离选择最佳的定位方案，可以提高回充效率。
另外，由于充电设备的第一信号发射器和第二信号发射器在预设时间段内均发射无线信号，自移动设备可以根据当前与充电设备的距离选择基于第一无线信号或第二无线信号确定充电设备的位置，可以解决在充电设备同一时刻只发射一种信号时，需要进行信号切换的问题，可以提高回充效率。
另外，由于充电设备同一时刻只发射一种无线信号，自移动设备同一时刻也只接收有一种无线信号，可以解决充电设备需要同时接收第一无线信号和第二无线信号导致自移动设备的电量消耗大的问题，自移动设备不需要同时接收第一无线信号和第二无线信号，所以可以减少自移动设备和充电设备的电量消耗。
另外，由于自移动设备能获取自移动设备与充电设备之间的距离，并在距离由小于或等于距离阈值变化为大于距离阈值的情况下，基于通信连接向充电设备发送第一发射指令，在距离由大于距离阈值变化为小于或等于距离阈值的情况下，基于通信连接向充电设备发送第二发射指令；可以实现在充电设备只发射一种无线信号时，充电设备发射的无线信号和自移动设备当前定位所需的无线信号的一致的，避免了因充电设备发射的无线信号与自移动设备当前定位所需的无线信号不一致而导致的定位精度差或无法定位的问题所以可以提高自移动设备的回充效率，同时也降低了自移动设备和充电设备的电量消耗。
另外，由于充电设备的第二信号接收器为至少两个，所以自移动设备可以基于至少两个第二信号接收器同一时刻分别接收到的第二无线信号的强度确定所述充电设备相对于所述自移动设备的方向和距离，可以解决需要多个采样点的数据才能定位充电设备位置的问题，提高了自移动设备的回充效率。
另外，由于第二无线信号携带第二无线信号的发射时间，所以，可 以基于第二无线信号的接收时间和第二无线信号的发射时间计算自移动设备与充电设备之间的距离，可以解决利用无线信号强度计算距离时准确度不高的问题，可以提高距离计算的准确性，从而提高确定出的充电设备位置的准确性。
另外，由于充电设备还包括位于所述壳体内的磁感发射线圈；自移动设备还包括与处理器相连的磁感接收线圈，磁感接收线圈，用于将接收到的磁能转换为电能，以供所述自移动设备充电；可以解决充电设备与自移动设备通过充电弹片进行充电而导致的充电设备体积大部署不方便的问题，同时也解决了充电弹片外露而导致安全性低的问题，由于自移动设备可以实现无线充电，所以不需要充电弹片，可以缩小充电设备的体积便于充电设备的部署，且磁感发射线圈位于充电设备内部，同时也可以提供充电系统的安全性。
下面对本申请提供的充电方法进行详细介绍。
本实施例提供一种充电方法，如图4所示。本实施例以该方法用于图1所示的充电系统中为例进行说明。该方法至少包括以下几个步骤：
步骤401，充电设备发射第一无线信号和/或第二无线信号。
步骤402，自移动设备接收第一无线信号和/或第二无线信号。
步骤403，自移动设备响应于对自移动设备进行充电的指令，基于接收到的无线信号确定充电设备的位置信息。
步骤404，自移动设备控制自移动设备根据位置信息移动至充电设备进行充电。
可选地，步骤401可以单独实现为充电设备侧的方法实施例；步骤402、403和404可以单独实现为自移动设备侧的方法实施例。
根据上述实施例可知，本申请提供的充电方法，由于第二无线信号的传输距离小于第一无线信号的传输距离，而使用第二无线信号定位的精度大于使用第一无线信号定位的精度，因而第一无线信号可以保证自移动设备在第二无线信号的发射范围外能接收到充电设备发射的第一无线信号从而判断充电设备的位置，同时第二无线信号可以保证自移动设 备能够根据接收到的第二无线信号精确判断充电设备的位置，最终实现回充，所以可以提高自移动设备的回充效率。
本实施例提供一种充电方法，如图5所示。本实施例以该方法用于图1所示的充电系统中为例进行说明。该方法至少包括以下几个步骤：
步骤501，充电设备在预设时段内同时发射第一无线信号和第二无线信号。
步骤502，自移动设备在预设时段内同时接收第一无线信号和第二无线信号。
步骤503，自移动设备响应于对自移动设备进行充电的指令，获取自移动设备与充电设备之间的距离；在距离大于距离阈值的情况下，根据无线信号的信号标识，从接收到无线信号中确定第一无线信号；基于第一无线信号确定位置信息；在距离小于或等于距离阈值的情况下，根据无线信号的信号标识，从接收到无线信号中确定第二无线信号；基于第二无线信号确定位置信息。
步骤504，自移动设备控制自移动设备根据位置信息移动至充电设备进行充电。
可选地，步骤501可以单独实现为充电设备侧的方法实施例；步骤502、503和504可以单独实现为自移动设备侧的方法实施例。
根据上述实施例可知，本申请提供的充电方法，由于充电设备的第一信号发射器和第二信号发射器在预设时间段内均发射无线信号，自移动设备可以根据当前与充电设备的距离选择基于第一无线信号或第二无线信号确定充电设备的位置，可以解决在充电设备同一时刻只发射一种信号时，需要进行信号切换的问题，可以提高回充效率。
本实施例提供一种充电方法，如图6所示。本实施例以该方法用于图1所示的充电系统中为例进行说明。该方法至少包括以下几个步骤：
步骤601，充电设备响应于第一发射指令，发射第一无线信号，并暂停发射第二无线信号；响应于第二发射指令，发射第二无线信号，并暂 停发射第一无线信号。
步骤602，自移动设备获取自移动设备与充电设备之间的距离；在距离大于距离阈值的情况下，接收第一无线信号；在距离小于或等于距离阈值的情况下，接收第二无线信号。
步骤603，响应于对自移动设备进行充电的指令，自移动设备基于接收到的无线信号确定充电设备的位置信息。
步骤604，自移动设备控制自移动设备根据位置信息移动至充电设备进行充电。
可选地，步骤601可以单独实现为充电设备侧的方法实施例；步骤602、603和604可以单独实现为自移动设备侧的方法实施例。
根据上述实施例可知，本申请提供的充电方法，由于充电设备同一时刻只发射一种无线信号，自移动设备同一时刻也只接收有一种无线信号，可以解决充电设备需要同时接收第一无线信号和第二无线信号导致自移动设备的电量消耗大的问题，自移动设备不需要同时接收第一无线信号和第二无线信号，所以可以减少自移动设备和充电设备的电量消耗。
本实施例提供一种充电方法，如图7所示。本实施例为图6所示充电方法的一种具体实现方式，即第一发射指令和第二发射指令由自移动设备发射的情况。该方法至少包括以下几个步骤：
步骤701，自移动设备获取自移动设备与充电设备之间的距离；在距离由小于或等于距离阈值变化为大于距离阈值的情况下，基于通信连接向充电设备发送第一发射指令在距离由大于距离阈值变化为小于或等于距离阈值的情况下，基于通信连接向充电设备发送第二发射指令。
步骤702，充电设备响应于第一发射指令，发射第一无线信号，并暂停发射第二无线信号；响应于第二发射指令，发射第二无线信号，并暂停发射第一无线信号。
步骤703，自移动设备接收第一无线信号或者第二无线信号。
步骤704，响应于对自移动设备进行充电的指令，自移动设备基于接收到的无线信号确定充电设备的位置信息。
步骤705，自移动设备控制自移动设备根据位置信息移动至充电设备进行充电。
可选地，步骤702可以单独实现为充电设备侧的方法实施例；步骤701、703、704和705可以单独实现为自移动设备侧的方法实施例。
根据上述实施例可知，本申请提供的充电方法，由于自移动设备能获取自移动设备与充电设备之间的距离，并在距离由小于或等于距离阈值变化为大于距离阈值的情况下，基于通信连接向充电设备发送第一发射指令，在距离由大于距离阈值变化为小于或等于距离阈值的情况下，基于通信连接向充电设备发送第二发射指令；可以实现在充电设备只发射一种无线信号时，充电设备发射的无线信号和自移动设备当前定位所需的无线信号的一致的，避免了因充电设备发射的无线信号与自移动设备当前定位所需的无线信号不一致而导致的定位精度差或无法定位的问题所以可以提高自移动设备的回充效率，同时也降低了自移动设备的电量消耗。
本实施例提供一种充电装置，如图8所示。本实施例以该装置应用于图1所示的充电系统的中的充电设备110，该装置包括至少以下几个模块：第一发射模块810和第二发射模块820。
第一发射模块810，用于发射第一无线信号；
第二发射模块820，用于发射第二无线信号。
相关细节参考上述方法和系统实施例。
本实施例提供一种自移动装置，如图9所示。本实施例以该装置应用于图1所示的充电系统的中的自移动设备120，该装置包括至少以下几个模块：第一接收模块910、第二接收模块920、位置计算模块930和运动控制模块940。
第一接收模块910，用于接收第一无线信号；
第二接收模块920，用于接收第二无线信号；
位置计算模块930，用于基于接收到的无线信号确定充电设备的位置 信息；
运动控制模块940，用于控制自移动设备根据位置信息移动至充电设备进行充电。
相关细节参考上述方法和系统实施例。
需要说明的是：上述实施例中提供的充电装置和自移动装置在进行充电时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将充电装置和自移动装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的充电装置和自移动装置与充电方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
本实施例提供一种电子设备，如图10所示。电子设备可以为图1中的充电设备110或者为图1中的自移动设备120。该电子设备至少包括处理器1001和存储器1002。
处理器1001可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器1001可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器1001也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器1001可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器1001还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器1002可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器1002还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。 在一些实施例中，存储器1002中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器1001所执行以实现本申请中方法实施例提供的充电方法。
在一些实施例中，电子设备还可选包括有：外围设备接口和至少一个外围设备。处理器1001、存储器1002和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、触摸显示屏、音频电路、和电源等。
当然，电子设备还可以包括更少或更多的组件，本实施例对此不作限定。
可选地，本申请还提供有一种计算机可读存储介质，计算机可读存储介质中存储有程序，程序由处理器加载并执行以实现上述方法实施例的充电方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括计算机可读存储介质，计算机可读存储介质中存储有程序，程序由处理器加载并执行以实现上述方法实施例的充电方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (18)

  1. 一种充电设备，其特征在于，所述充电设备用于为自移动设备充电，所述充电设备包括：
    壳体；
    设置在所述壳体中的第一信号发射器和第二信号发射器；所述第一信号发射器用于发射第一无线信号；所述第二信号发射器用于发射第二无线信号；以供所述自移动设备基于所述第一无线信号和/或所述第二无线信号确定所述充电设备的位置；
    其中，所述第二无线信号的传输距离小于所述第一无线信号的传输距离，且使用所述第二无线信号进行无线定位的定位精度大于所述使用所述第一无线信号进行无线定位的定位精度。
  2. 根据权利要求1所述的充电设备，其特征在于，所述充电设备还包括：与所述第一信号发射器和第二信号发射器分别相连的处理器；所述处理器，用于：
    响应于第一发射指令，控制所述第一信号发射器发射所述第一无线信号，并控制所述第二信号发射器暂停发射所述第二无线信号；
    响应于第二发射指令，控制所述第二信号发射器发射所述第二无线信号，并控制所述第一信号发射器暂停发射所述第一无线信号。
  3. 根据权利要求1所述的充电设备，其特征在于，所述第一信号发射器和所述第二信号发射器在预设时间段内均发射无线信号。
  4. 根据权利要求1所述的充电设备，其特征在于，所述充电设备还包括：位于所述壳体内的磁感发射线圈；
    所述磁感发射线圈，用于将电能转换为磁能输出，以供所述自移动设备将磁能转换成电能进行无线充电。
  5. 根据权利要求1至4任一所述的充电设备，其特征在于，所述第一无线信号为Wi-Fi信号；所述第二无线信号为超宽带信号UWB信号。
  6. 一种自移动设备，其特征在于，所述自移动设备包括：
    第一信号接收器，用于接收第一无线信号；
    第二信号接收器，用于接收第二无线信号，所述第二无线信号的传输距离小于所述第一无线信号的传输距离，且使用所述第二无线信号进 行无线定位的定位精度大于所述使用所述第一无线信号进行无线定位的定位精度；
    与所述第一信号接收器和所述第二信号接收器分别相连的处理器，用于响应于对所述自移动设备进行充电的指令，基于所述第一无线信号和/或所述第二无线信号，确定充电设备的位置信息；控制所述自移动设备根据所述位置信息移动至所述充电设备进行充电。
  7. 根据权利要求6所述的自移动设备，其特征在于，所述处理器用于：
    获取所述自移动设备与所述充电设备之间的距离；
    在所述距离大于所述距离阈值的情况下，基于所述第一无线信号确定充电设备的位置信息；
    在所述距离小于或等于所述距离阈值的情况下，基于所述第二无线信号确定充电设备的位置信息。
  8. 根据权利要求7所述的自移动设备，其特征在于，所述自移动设备与所述充电设备预先建立通信连接；
    所述基于所述第一无线信号确定充电设备的位置信息，包括：在所述距离由小于或等于距离阈值变化为大于所述距离阈值的情况下，基于所述通信连接向所述充电设备发送第一发射指令，以供所述充电设备发射所述第一无线信号，并暂停发射所述第二无线信号；接收所述第一无线信号，并基于所述第一无线信号确定充电设备的位置信息；
    所述基于所述第二无线信号确定充电设备的位置信息，包括：在所述距离由大于距离阈值变化为小于或等于所述距离阈值的情况下，基于所述通信连接向所述充电设备发送第二发射指令，以供所述充电设备发射所述第二无线信号，并暂停发射所述第一无线信号；接收所述第二无线信号，并基于所述第二无线信号确定充电设备的位置信息。
  9. 根据权利要求8所述的自移动设备，其特征在于，基于所述通信连接向所述充电设备发送所述第一发射指令或者所述第二发射指令之后，所述处理器，还用于：
    基于信号接收器当前接收到的无线信号与所述充电设备建立通信连 接，以供所述自移动设备后续通过所述通信连接发送所述第一发射指令或所述第二发射指令。
  10. 根据权利要求7所述的自移动设备，其特征在于，所述第一信号接收器和所述第二信号接收器在预设时间段内均接收到无线信号；
    所述基于所述第一无线信号确定充电设备的位置信息，包括：根据无线信号的信号标识，从接收到的无线信号中确定所述第一无线信号；基于所述第一无线信号确定所述位置信息；
    所述基于所述第二无线信号确定充电设备的位置信息，包括：根据无线信号的信号标识，从接收到的无线信号中确定所述第二无线信号；基于所述第二无线信号确定所述位置信息。
  11. 根据权利要求7所述的自移动设备，其特征在于，所述获取所述自移动设备与所述充电设备之间的距离，包括：
    基于所述自移动设备当前接收到的无线信号的信号强度，确定所述自移动设备与所述充电设备之间的距离；所述信号强度与所述距离呈负相关关系。
  12. 根据权利要求7所述的自移动设备，其特征在于，所述基于所述第一无线信号确定充电设备的位置信息，包括：
    获取所述自移动设备在至少三个不同的采集位置采集的第一无线信号的信号强度；
    确定每个信号强度指示的所述自移动设备与所述充电设备之间的第一参考距离，所述信号强度与所述第一参考距离呈负相关关系；
    确定以每个采集位置为圆心、以所述采集位置对应的第一参考距离为半径所形成的圆形的交点，所述交点的位置为所述充电设备相对于所述自移动设备的位置。
  13. 根据权利要求7所述的自移动设备，其特征在于，所述第二信号接收器的数量为至少两个；
    所述基于所述第二无线信号确定充电设备的位置信息，包括：
    基于不同第二信号接收器在同一时刻接收到的所述第二无线信号的信号强度，确定所述充电设备相对于所述自移动设备的方向和距离。
  14. 根据权利要求7所述的自移动设备，其特征在于，所述第二无线信号携带所述第二无线信号的发射时间；
    所述基于所述第二无线信号确定充电设备的位置信息，包括：
    获取所述自移动设备在至少两个不同的采集位置采集的第二无线信号的发射时间；
    对于每个第二无线信号，基于所述第二无线信号的接收时间与所述第二无线信号的发射时间的差值，计算所述自移动设备与所述充电设备之间的第二参考距离；
    基于不同采集位置对应的第二参考距离，确定所述充电设备相对于所述自移动设备的方向。
  15. 根据权利要求6至14任一所述的自移动设备，其特征在于，所述自移动设备还包括：与所述处理器相连的磁感接收线圈；所述磁感接收线圈，用于将接收到的磁能转换为电能，以供所述自移动设备充电。
  16. 一种充电方法，其特征在于，用于自移动设备中，所述方法包括：
    接收第一无线信号和/或第二无线信号；所述第二无线信号的传输距离小于所述第一无线信号的传输距离，且使用所述第二无线信号进行无线定位的定位精度大于所述使用所述第一无线信号进行无线定位的定位精度；
    响应于对所述自移动设备进行充电的指令，基于接收到的无线信号确定充电设备的位置信息；
    控制所述自移动设备根据所述位置信息移动至所述充电设备进行充电。
  17. 一种计算机可读存储介质，其特征在于，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如权利要求16所述的充电方法。
  18. 一种自移动设备的充电系统，其特征在于，所述充电系统包括充电设备和自移动设备；
    所述充电设备包括权利要求1至5任一所述的充电设备；
    所述自移动设备包括权利要求6至15任一所述的自移动设备。
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