阅读说明：本技术 充电设备、自移动设备、充电方法、系统及存储介质 (Charging device, self-moving device, charging method, charging system and storage medium ) 是由 和孟达 于 2021-09-23 设计创作，主要内容包括：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。(The application relates to a charging device, a self-moving device, a charging method, a charging system and a storage medium, and belongs to the technical field of automatic control. The method comprises the following steps: transmitting, by a charging device, a first wireless signal and/or a second wireless signal; receiving, from a mobile device, a first wireless signal and/or a second wireless signal; determining, from the mobile device, location information of the charging device based on the received wireless signal; moving the mobile equipment to the charging equipment for charging according to the position information; the problem that the self-moving equipment has a working blind area due to the fact that the emission angle of an infrared emitter is limited and the self-moving equipment is usually forbidden to enter a signal blind area in order to ensure that the self-moving equipment can realize recharging in the existing self-moving equipment recharging method can be solved; because the first signal emitter and the second signal emitter have no limit to the emission angle, no signal blind area exists when the self-moving equipment identifies the position of the charging equipment, and the working range of the self-moving equipment can be enlarged.)

1. A charging device for charging a self-moving device, the charging device comprising:

a housing;

a first signal emitter and a second signal emitter disposed in the housing; the first signal transmitter is used for transmitting a first wireless signal; the second signal transmitter is used for transmitting a second wireless signal; for the self-moving device to determine a location of the charging device based on the first wireless signal and/or the second wireless signal;

the transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal.

2. The charging apparatus according to claim 1, further comprising: the processor is respectively connected with the first signal transmitter and the second signal transmitter; the processor is configured to:

in response to a first transmission instruction, controlling the first signal transmitter to transmit the first wireless signal and controlling the second signal transmitter to suspend transmitting the second wireless signal;

and responding to a second transmission instruction, controlling the second signal transmitter to transmit the second wireless signal, and controlling the first signal transmitter to suspend transmitting the first wireless signal.

3. The charging device of claim 1, wherein the first signal transmitter and the second signal transmitter each transmit a wireless signal for a preset period of time.

4. The charging apparatus according to claim 1, further comprising: a magnetic induction transmitting coil located within the housing;

the magnetic induction transmitting coil is used for converting electric energy into magnetic energy to be output, so that the self-moving equipment can convert the magnetic energy into the electric energy to carry out wireless charging.

5. The charging device according to any one of claims 1 to 4, wherein the first wireless signal is a Wi-Fi signal; the second wireless signal is an ultra-wideband signal UWB signal.

6. An autonomous device, comprising:

a first signal receiver for receiving a first wireless signal;

a second signal receiver, configured to receive a second wireless signal, where a transmission distance of the second wireless signal is smaller than a transmission distance of the first wireless signal, and a positioning accuracy of wireless positioning using the second wireless signal is greater than a positioning accuracy of wireless positioning using the first wireless signal;

the processor is respectively connected with the first signal receiver and the second signal receiver and used for responding to an instruction for charging the self-moving equipment and determining position information of the charging equipment based on the first wireless signal and/or the second wireless signal; and controlling the self-moving equipment to move to the charging equipment for charging according to the position information.

7. The self-moving device of claim 6, wherein the processor is configured to:

acquiring the distance between the self-moving equipment and the charging equipment;

determining location information of a charging device based on the first wireless signal if the distance is greater than the distance threshold;

determining location information of a charging device based on the second wireless signal if the distance is less than or equal to the distance threshold.

8. The self-moving device according to claim 7, wherein the self-moving device establishes a communication connection with the charging device in advance;

the determining the position information of the charging device based on the first wireless signal comprises: if the distance is changed from being smaller than or equal to a distance threshold value to being larger than the distance threshold value, sending a first transmission instruction to the charging device based on the communication connection so that the charging device can transmit the first wireless signal, and suspending transmission of the second wireless signal; receiving the first wireless signal, and determining position information of a charging device based on the first wireless signal;

the determining the position information of the charging device based on the second wireless signal includes: if the distance is changed from being greater than a distance threshold value to being smaller than or equal to the distance threshold value, sending a second transmission instruction to the charging device based on the communication connection, so that the charging device transmits the second wireless signal, and suspends transmitting the first wireless signal; and receiving the second wireless signal, and determining the position information of the charging device based on the second wireless signal.

9. The self-moving device of claim 8, wherein after sending the first transmission instruction or the second transmission instruction to the charging device based on the communication connection, the processor is further configured to:

and establishing a communication connection with the charging equipment based on a wireless signal currently received by a signal receiver so that the self-mobile equipment can subsequently send the first transmission instruction or the second transmission instruction through the communication connection.

10. The self-moving device of claim 7, wherein the first signal receiver and the second signal receiver each receive a wireless signal for a preset time period;

the determining the position information of the charging device based on the first wireless signal comprises: determining the first wireless signal from the received wireless signals according to the signal identification of the wireless signals; determining the location information based on the first wireless signal;

the determining the position information of the charging device based on the second wireless signal includes: determining the second wireless signal from the received wireless signals according to the signal identification of the wireless signals; determining the location information based on the second wireless signal.

11. The self-moving device according to claim 7, wherein the obtaining of the distance between the self-moving device and the charging device comprises:

determining a distance between the self-moving device and the charging device based on the signal strength of a wireless signal currently received by the self-moving device; the signal strength is inversely related to the distance.

12. The self-moving device of claim 7, wherein said determining location information of a charging device based on said first wireless signal comprises:

acquiring signal intensity of a first wireless signal acquired by the self-moving equipment at least three different acquisition positions;

determining a first reference distance between the self-moving device and the charging device for each signal strength indication, the signal strength being in a negative correlation with the first reference distance;

and determining an intersection point of a circle which is formed by taking each acquisition position as a center of a circle and taking a first reference distance corresponding to the acquisition position as a radius, wherein the position of the intersection point is the position of the charging equipment relative to the self-moving equipment.

13. The self-moving apparatus according to claim 7, wherein the number of the second signal receivers is at least two;

the determining the position information of the charging device based on the second wireless signal includes:

determining a direction and a distance of the charging device relative to the self-moving device based on signal strengths of the second wireless signals received by different second signal receivers at the same time.

14. The self-moving device of claim 7, wherein the second wireless signal carries a time of transmission of the second wireless signal;

the determining the position information of the charging device based on the second wireless signal includes:

acquiring the emission time of second wireless signals acquired by the self-moving equipment at least two different acquisition positions;

for each second wireless signal, calculating a second reference distance between the self-moving device and the charging device based on a difference value between a receiving time of the second wireless signal and a transmitting time of the second wireless signal;

and determining the direction of the charging equipment relative to the self-moving equipment based on second reference distances corresponding to different acquisition positions.

15. The self-moving apparatus according to any one of claims 6 to 14, further comprising: a magnetic induction receiving coil connected with the processor; the magnetic induction receiving coil is used for converting the received magnetic energy into electric energy so as to charge the self-moving equipment.

16. A charging method for use in a self-moving device, the method comprising:

receiving a first wireless signal and/or a second wireless signal; the transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal;

determining location information of a charging device based on the received wireless signal in response to the instruction to charge the self-moving device;

and controlling the self-moving equipment to move to the charging equipment for charging according to the position information.

17. A computer-readable storage medium, characterized in that the storage medium has stored therein a program for implementing the charging method according to claim 16 when executed by a processor.

18. A charging system from a mobile device, characterized in that the charging system comprises a charging device and a self-mobile device;

the charging device comprises the charging device of any one of claims 1 to 5;

the self-moving device comprising the self-moving device of any one of claims 6 to 15.

Technical Field

The application belongs to the technical field of automatic control, and particularly relates to a charging device, a self-moving device, a charging method, a charging system and a storage medium.

Background

With the development of electronic science and technology, self-moving devices such as floor sweeping robots and floor mopping robots gradually enter the daily life of people, and meanwhile, in order to improve user experience, a plurality of self-moving devices have an automatic recharging function. The automatic recharging function is a function of automatically searching the charging equipment from the mobile equipment for charging.

The existing self-mobile device recharging method comprises the following steps: an infrared transmitter is installed in the charging equipment and transmits an infrared signal through the infrared transmitter; correspondingly, an infrared receiver is installed on the self-moving equipment, and an infrared signal is detected through the infrared receiver in the recharging process; and when the infrared signal is detected, determining the position of the charging seat based on the position of the infrared signal to charge.

However, since the emission angle of the infrared emitter is limited, there is a signal blind area when the mobile device identifies the location of the charging device; in order to ensure that the self-mobile device can realize recharging, the self-mobile device is usually prohibited from entering a signal blind area, so that the self-mobile device has a work blind area.

Disclosure of Invention

The application provides a charging device, a self-moving device, a charging method, a charging system and a storage medium, which can solve the problem that the existing self-moving device recharging method has a signal blind area when the position of the charging device is identified by the self-moving device because the emission angle of an infrared emitter is limited. In order to ensure that the self-mobile device can realize recharging, the self-mobile device is usually prohibited from entering a signal blind area, so that the self-mobile device has a work blind area. The application provides the following technical scheme:

in a first aspect, a charging device is provided, the charging device is configured to charge a self-moving device, and the charging device includes:

a housing;

a first signal emitter and a second signal emitter disposed in the housing; the first signal transmitter is used for transmitting a first wireless signal; the second signal transmitter is used for transmitting a second wireless signal; for the self-moving device to determine a location of the charging device based on the first wireless signal and/or the second wireless signal;

the transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal.

Optionally, the charging device further comprises: the processor is respectively connected with the first signal transmitter and the second signal transmitter; the processor is configured to:

in response to a first transmission instruction, controlling the first signal transmitter to transmit the first wireless signal and controlling the second signal transmitter to suspend transmitting the second wireless signal;

and responding to a second transmission instruction, controlling the second signal transmitter to transmit the second wireless signal, and controlling the first signal transmitter to suspend transmitting the first wireless signal.

Optionally, the first signal transmitter and the second signal transmitter both transmit wireless signals within a preset time period.

Optionally, the charging device further comprises: a magnetic induction transmitting coil located within the housing;

the magnetic induction transmitting coil is used for converting electric energy into magnetic energy to be output, so that the self-moving equipment can convert the magnetic energy into the electric energy to carry out wireless charging.

Optionally, the first wireless signal is a Wi-Fi signal; the second wireless signal is an ultra-wideband signal UWB signal.

In a second aspect, an autonomous mobile device is provided, the autonomous mobile device comprising:

a first signal receiver for receiving a first wireless signal;

a second signal receiver, configured to receive a second wireless signal, where a transmission distance of the second wireless signal is smaller than a transmission distance of the first wireless signal, and a positioning accuracy of wireless positioning using the second wireless signal is greater than a positioning accuracy of wireless positioning using the first wireless signal;

the processor is respectively connected with the first signal receiver and the second signal receiver and used for responding to an instruction for charging the self-moving equipment and determining position information of the charging equipment based on the first wireless signal and/or the second wireless signal; and controlling the self-moving equipment to move to the charging equipment for charging according to the position information.

Optionally, the processor is configured to:

acquiring the distance between the self-moving equipment and the charging equipment;

determining location information of a charging device based on the first wireless signal if the distance is greater than the distance threshold;

determining location information of a charging device based on the second wireless signal if the distance is less than or equal to the distance threshold.

Optionally, the self-moving device and the charging device establish a communication connection in advance;

the determining the position information of the charging device based on the first wireless signal comprises: if the distance is changed from being smaller than or equal to a distance threshold value to being larger than the distance threshold value, sending a first transmission instruction to the charging device based on the communication connection so that the charging device can transmit the first wireless signal, and suspending transmission of the second wireless signal; receiving the first wireless signal, and determining position information of a charging device based on the first wireless signal;

the determining the position information of the charging device based on the second wireless signal includes: if the distance is changed from being greater than a distance threshold value to being smaller than or equal to the distance threshold value, sending a second transmission instruction to the charging device based on the communication connection, so that the charging device transmits the second wireless signal, and suspends transmitting the first wireless signal; and receiving the second wireless signal, and determining the position information of the charging device based on the second wireless signal.

Optionally, after sending the first transmission instruction or the second transmission instruction to the charging device based on the communication connection, the processor is further configured to:

and establishing a communication connection with the charging equipment based on a wireless signal currently received by a signal receiver so that the self-mobile equipment can subsequently send the first transmission instruction or the second transmission instruction through the communication connection.

Optionally, the first signal receiver and the second signal receiver both receive a wireless signal within a preset time period;

the determining the position information of the charging device based on the first wireless signal comprises: determining the first wireless signal from the received wireless signals according to the signal identification of the wireless signals; determining the location information based on the first wireless signal;

the determining the position information of the charging device based on the second wireless signal includes: determining the second wireless signal from the received wireless signals according to the signal identification of the wireless signals; determining the location information based on the second wireless signal.

Optionally, the obtaining the distance between the self-moving device and the charging device includes:

determining a distance between the self-moving device and the charging device based on the signal strength of a wireless signal currently received by the self-moving device; the signal strength is inversely related to the distance.

Optionally, the determining the location information of the charging device based on the first wireless signal includes:

acquiring signal intensity of a first wireless signal acquired by the self-moving equipment at least three different acquisition positions;

determining a first reference distance between the self-moving device and the charging device for each signal strength indication, the signal strength being in a negative correlation with the first reference distance;

and determining an intersection point of a circle which is formed by taking each acquisition position as a center of a circle and taking a first reference distance corresponding to the acquisition position as a radius, wherein the position of the intersection point is the position of the charging equipment relative to the self-moving equipment.

Optionally, the number of the second signal receivers is at least two;

the determining the position information of the charging device based on the second wireless signal includes:

determining a direction and a distance of the charging device relative to the self-moving device based on signal strengths of the second wireless signals received by different second signal receivers at the same time.

Optionally, the second wireless signal carries a transmission time of the second wireless signal;

the determining the position information of the charging device based on the second wireless signal includes:

acquiring the emission time of second wireless signals acquired by the self-moving equipment at least two different acquisition positions;

for each second wireless signal, calculating a second reference distance between the self-moving device and the charging device based on a difference value between a receiving time of the second wireless signal and a transmitting time of the second wireless signal;

and determining the direction of the charging equipment relative to the self-moving equipment based on second reference distances corresponding to different acquisition positions.

Optionally, the self-moving device further comprises: a magnetic induction receiving coil connected with the processor; the magnetic induction receiving coil is used for converting the received magnetic energy into electric energy so as to charge the self-moving equipment.

In a third aspect, a charging method is provided, for use in a self-moving device, the method including:

receiving a first wireless signal and/or a second wireless signal; the transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal;

determining location information of a charging device based on the received wireless signal in response to the instruction to charge the self-moving device;

and controlling the self-moving equipment to move to the charging equipment for charging according to the position information.

In a fourth aspect, a computer-readable storage medium is provided, in which a program is stored, which when executed by a processor, is configured to implement the charging method provided in the third aspect.

In a fifth aspect, a charging system for a self-moving device is provided, the charging system comprising a charging device and a self-moving device;

the charging device comprises the charging device provided by the first aspect;

the self-moving device comprises the self-moving device provided by the second aspect.

The beneficial effects of this application include at least: the charging device includes: a housing; a first signal emitter and a second signal emitter disposed in the housing; the first signal transmitter is used for transmitting a first wireless signal; the second signal transmitter is used for transmitting a second wireless signal; for determining, from the mobile device, a location of the charging device based on the first wireless signal and/or the second wireless signal; the transmission distance of the second wireless signal is less than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal; the self-moving device includes: a first signal receiver for receiving a first wireless signal; a second signal receiver for receiving a second wireless signal; the processor is respectively connected with the first signal receiver and the second signal receiver and used for responding to an instruction for charging the self-moving equipment and determining the position information of the charging equipment based on the first wireless signal and/or the second wireless signal; controlling the mobile equipment to move to the charging equipment for charging according to the position information; the problem that the existing recharging method for the self-moving equipment has a signal blind area when the self-moving equipment identifies the position of the charging equipment due to the limited emission angle of the infrared emitter can be solved; in order to ensure that the self-moving equipment can realize recharging, the self-moving equipment is usually forbidden to enter a signal blind area, so that the problem that the self-moving equipment has a working blind area is caused; because the first signal emitter and the second signal emitter have no limit to the emission angle, the self-moving equipment does not have a signal blind area when identifying the position of the charging equipment, and the working range of the self-moving equipment can be enlarged.

Meanwhile, since the charging device is provided with the first signal transmitter and the second signal transmitter, and the self-moving device is provided with the first signal receiver and the second signal receiver, the self-moving device can determine the position of the charging device according to the first wireless signal and/or the second wireless signal, since the transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the accuracy of positioning using the second wireless signal is greater than that using the first wireless signal, the first wireless signal can ensure that the mobile device can receive the first wireless signal transmitted by the charging device outside the transmission range of the second wireless signal so as to judge the position of the charging device, meanwhile, the second wireless signal can ensure that the self-moving equipment can accurately judge the position of the charging equipment according to the received second wireless signal, and finally recharging is realized, so that the recharging efficiency of the self-moving equipment can be improved.

In addition, an infrared emitter is not used, so that the problems that the thickness of an equipment shell of the charging equipment is thick and the occupied space is large due to the fact that the installation position of the infrared emitter on a charging seat is usually high in order to ensure that the infrared emitter can emit infrared signals to a far place due to the fact that the emission angle of the infrared emitter is limited in the existing self-moving equipment recharging method can be solved; because the battery charging outfit need not to install infrared emitter and can realize from the location of mobile device to battery charging outfit, and signal transmitter does not have the requirement to the mounting height, so the thickness of battery charging outfit casing is thinner in this application, the deployment of the battery charging outfit of being convenient for.

In addition, the position information of the charging device is determined based on the first wireless signal when the distance between the self-moving device and the charging device is larger than a distance threshold value; determining location information of the charging device based on the second wireless signal if the distance between the self-moving device and the charging device is less than or equal to a distance threshold; and the transmission distance of the second wireless signal is less than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal, so that the optimal positioning scheme can be selected according to the distance between the mobile equipment and the charging equipment, and the recharging efficiency can be improved.

In addition, because the first signal transmitter and the second signal transmitter of the charging device both transmit wireless signals in a preset time period, the self-mobile device can select the position of the charging device based on the first wireless signals or the second wireless signals according to the current distance from the charging device, the problem that signal switching is needed when the charging device only transmits one signal at the same time can be solved, and the recharging efficiency can be improved.

In addition, the charging equipment only transmits one wireless signal at the same time, and only receives one wireless signal from the mobile equipment at the same time, so that the problem of large power consumption of the mobile equipment due to the fact that the charging equipment needs to receive the first wireless signal and the second wireless signal at the same time can be solved, and the first wireless signal and the second wireless signal do not need to be received from the mobile equipment at the same time, so that power consumption of the mobile equipment and the charging equipment can be reduced.

In addition, the self-mobile device can acquire the distance between the self-mobile device and the charging device, and sends a first transmission instruction to the charging device based on the communication connection when the distance is changed from being less than or equal to the distance threshold to being greater than the distance threshold, and sends a second transmission instruction to the charging device based on the communication connection when the distance is changed from being greater than the distance threshold to being less than or equal to the distance threshold; the wireless signal that can realize when charging equipment only launches a radio signal, the radio signal that charging equipment launched and the required radio signal of self-mobile device current location are unanimous, avoided because of the radio signal of charging equipment transmission and the required radio signal of self-mobile device current location inconsistent positioning accuracy that leads to poor or the problem that can't fix a position so can improve from mobile device's the efficiency of recharging, also reduced simultaneously from mobile device and charging device's electric quantity consumption.

In addition, because the number of the second signal receivers of the charging device is at least two, the direction and the distance of the charging device relative to the self-moving device can be determined by the self-moving device based on the strength of the second wireless signals respectively received by the at least two second signal receivers at the same moment, the problem that the position of the charging device can be located only by data of a plurality of sampling points can be solved, and the recharging efficiency of the self-moving device is improved.

In addition, because the second wireless signal carries the transmitting time of the second wireless signal, the distance between the mobile device and the charging device can be calculated based on the receiving time of the second wireless signal and the transmitting time of the second wireless signal, the problem of low accuracy in distance calculation by using wireless signal strength can be solved, the accuracy of distance calculation can be improved, and the accuracy of the determined position of the charging device can be improved.

In addition, the charging equipment also comprises a magnetic induction transmitting coil positioned in the shell; the self-moving equipment also comprises a magnetic induction receiving coil connected with the processor, and the magnetic induction receiving coil is used for converting the received magnetic energy into electric energy to charge the self-moving equipment; the problem of charging equipment that charging equipment and self-mobile device charge through the shell fragment that charges and the charging equipment that leads to is bulky deploys inconveniently can be solved, the shell fragment that has also solved simultaneously charges exposes and leads to the low problem of security, owing to can realize wireless charging from the mobile device, so need not charge the shell fragment, can reduce charging equipment's the volume be convenient for the deployment of charging equipment, and magnetic induction transmitting coil is located inside the charging equipment, also can provide charging system's security simultaneously.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a charging system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a charging device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a self-moving device according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a charging method provided by one embodiment of the present application;

FIG. 5 is a schematic diagram of a charging method provided by one embodiment of the present application;

FIG. 6 is a schematic diagram of a charging method provided by one embodiment of the present application;

FIG. 7 is a schematic diagram of a charging method provided by one embodiment of the present application;

fig. 8 is a block diagram of a charging device provided in an embodiment of the present application;

FIG. 9 is a block diagram of a self-moving device provided by one embodiment of the present application;

FIG. 10 is a block diagram of an electronic device provided by one embodiment of the application.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In the application, where the contrary is not stated, the use of directional words such as "upper, lower, top and bottom" is generally with respect to the orientation shown in the drawings, or with respect to the component itself in the vertical, vertical or gravitational direction; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

First, a number of terms related to embodiments of the present application will be described.

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 3-10 meters.

Ultra Wide Band (UWB) technology: the wireless carrier communication technology adopts a nanosecond non-sine wave narrow pulse to transmit data instead of a sine carrier, so that the occupied frequency spectrum range is wide. When the UWB is used for positioning, the positioning precision is 1 cm-10 cm.

Data frame: the protocol data unit of the data link layer comprises three parts: frame header, data section, frame trailer. The frame head and the frame tail contain necessary control information, such as synchronization information, address information, error control information, and the like; the data portion contains data passed down by the network layer, such as IP packets. The data frame formats of different signals are different.

The embodiment provides a charging system of a self-moving device, as shown in fig. 1. The system includes at least a charging device 110 and a self-moving device 120.

The charging device 110 is used to charge the self-moving device 120. The charging device 110 may be a charging pile or a charging stand, and the like, and the charging device 110 is not limited in the embodiment.

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 present embodiment does not limit the type of the self-moving device 120.

In this embodiment, referring to fig. 2, the charging device 110 includes: a housing 111 (not shown), a first signal emitter 112 and a second signal emitter 113.

The housing 111 is a housing of the charging device 110, and the shape of the housing 111 may be a regular geometric body, or may be configured into other shapes according to the requirement of deployment, and the shape of the housing 111 is not limited in this embodiment.

A first signal emitter 112 and a second signal emitter 113 are disposed within the housing 111. The first signal transmitter 112 is used for transmitting a first wireless signal; the second signal transmitter 113 is configured to transmit a second wireless signal; for the mobile device 120 to determine the location of the charging device 110 based on the first wireless signal and/or the second wireless signal. The transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the positioning accuracy of the wireless positioning by using the second wireless signal is larger than that of the wireless positioning by using the first wireless signal.

Optionally, the first wireless signal may be a WiFi signal, or may also be a bluetooth signal, and the embodiment does not limit the type of the first wireless signal.

In one example, the first signal is a WiFi signal and, correspondingly, the second wireless signal is a UWB signal.

Since the transmission power of the WiFi signal is greater than that of the UWB signal, the transmission distance of the WiFi signal is longer than that of the UWB signal; meanwhile, 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.

Optionally, the height of the housing 111 is lower than the height of a device housing of a preset charging device, which is a charging device provided with an infrared transmitter or an ultrasonic transmitter. The charging device 110 in the present embodiment is not mounted with an infrared transmitter and an ultrasonic transmitter.

For example, it is provided with infrared emitter to predetermine battery charging outfit, because infrared emitter need install certain height and just can make infrared signal's coverage reach predetermined minimum signal range, and wireless signal transmitter is less than infrared emitter to the requirement of mounting height, so the requirement of mounting wireless signal transmitter to casing 111 height is less than the requirement of mounting infrared signal transmitter to predetermineeing battery charging outfit casing height, so the height of casing 111 is less than the height of predetermineeing battery charging outfit casing.

Meanwhile, since the height of the housing 111 is lower than the preset device height of the charging device, the charging device 110 can be installed in a hidden manner, so as to save the available space of the working area where the charging device is located. Such as: the charging device 110 can be installed inside the skirting line, or can be installed at the bottom of the cabinet, or can be embedded in other devices, and the installation position of the charging device 110 is not limited in this embodiment.

Optionally, the first signal transmitter 112 and the second signal transmitter 113 both transmit wireless signals within a preset time period, or the first signal transmitter 112 and the second signal transmitter 113 only transmit one wireless signal at the same time based on the control of the processor. In the case where the first signal transmitter 112 and the second signal transmitter 113 transmit only one kind of wireless signal at the same time based on the control of the processor, the charging device 110 further includes a processor 114 connected to the first signal transmitter 112 and the second signal transmitter 113, respectively.

Illustratively, the processor 114 is configured to: in response to a first transmission instruction, controlling the first signal transmitter 112 to transmit the first wireless signal and controlling the second signal transmitter 113 to suspend transmitting the second wireless signal; in response to a second transmission instruction, the second signal transmitter 113 is controlled to transmit the second wireless signal, and the first signal transmitter 112 is controlled to suspend transmitting the first wireless signal.

Optionally, 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, where a communication connection is established between the charging device 110 and the mobile device 120 at this time, or may also be sent to the charging device 110 by another device (such as a user terminal), and the embodiment does not limit the manner of obtaining the first transmission instruction and the second transmission instruction.

In the case where the first transmission instruction and/or the second transmission instruction is transmitted from the mobile device 120, the charging device 110 is also communicatively connected to the mobile device 120.

Referring to fig. 3, in the present embodiment, the self-moving device 120 includes: a first signal receiver 121, a second signal receiver 122, and a processor 123.

The first signal receiver 121 is configured to receive a first wireless signal; the second signal receiver 122 is configured to receive a second wireless signal.

Optionally, 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 in the area where the mobile device is located; the second wireless signal received by the second signal receiver 122 may be transmitted by the second signal transmitter 113, or may be transmitted from other devices transmitting the second wireless signal in the area of the mobile device

The processor 123 is connected to the first signal receiver 121 and the second signal receiver 122, respectively. The processor 123 is configured to: in response to the instruction to charge the self-moving device 120, determining location information of the charging device 110 based on the first wireless signal and/or the second wireless signal; and controlling the mobile device 120 to move to the charging device 110 for charging according to the position information.

Optionally, the instruction to charge the self-moving device 120 may be generated by the self-moving device 120, or may also be sent to the self-moving device 120 by another device (for example, a user terminal, such as a mobile phone, a tablet computer, or a wearable device), and the embodiment does not limit the obtaining manner of the instruction to charge the self-moving device 120.

In the case that the instruction to charge the self-moving device 120 is generated by the self-moving device 120, the instruction may be automatically generated by the self-moving device 120 at a specified time, or may be automatically generated by the self-moving device 120 when the power is less than a preset power threshold, or may be generated when a charging control installed on the self-moving device 120 is triggered.

The preset electric quantity threshold may be 10% or 15% of the total electric quantity or another value adaptively set for the user, and the value of the preset electric quantity threshold is not limited in this embodiment.

Optionally, determining the location information of the charging device 110 based on the first wireless signal and/or the second wireless signal includes: obtaining a distance between mobile device 120 and charging device 110; determining location information of the charging device 110 based on the first wireless signal if the distance is greater than the distance threshold; in a case where the distance is less than or equal to the distance threshold, the position information of the charging device 110 is determined based on the second wireless signal. Optionally, the wireless signal transmission mode of the charging device 110 includes, but is not limited to, one of the following two modes: in the first mode, the charging device 110 transmits the first wireless signal and the second wireless signal at the same time; in the second way, the charging device 110 transmits one of the first wireless signal and the second wireless signal at the same time. Since the distance between the mobile device 120 and the charging device 110 and the location information of the charging device 110 are determined differently according to different wireless signal transmission manners, the following describes the manner of determining the distance between the mobile device 120 and the charging device 110 and the location information of the charging device 110 respectively for different wireless signal transmission manners.

First, the first signal transmitter 112 and the second signal transmitter 113 of the charging device 110 both transmit wireless signals for a preset time period.

In the first way, obtaining the distance between the mobile device 120 and the charging device 110 from the mobile device 120 includes: in the case that the wireless signals transmitted by the first signal transmitter 112 and the second signal transmitter 113 are received from the mobile device 120 at the same time, 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, or an average value of the distances between the mobile device 120 and the charging device 110 determined based on the strength of the first wireless signal and the strength of the second wireless signal, respectively, may be used as the distance between the mobile device 120 and the charging device 110; in the case where the wireless signal transmitted by one of the first signal transmitter 112 and the second signal transmitter 113 is received from the mobile device 120, the distance between the mobile device 120 and the charging device 110 is determined based on the signal strength of the wireless signal currently received from the mobile device 120.

The signal strength of a wireless signal is inversely related to distance. The signal strength is inversely related to the distance, which means that: the stronger the signal strength, the closer the distance, the weaker the signal strength, the further the distance.

In a first manner, the self-moving device 120 determines the location information of the charging device 110 based on the first wireless signal, including: determining a first wireless signal from the received wireless signals according to the signal identification of the wireless signals; position information is determined based on the first wireless signal.

If the first wireless signal transmitted by the first signal transmitter 112 and the second wireless signal transmitted by the second signal transmitter 113 are received from the mobile device 120 at the same time, the type of the signal is determined according to the signal identifier, and a signal with the same type as the first wireless signal type in the received wireless signals is determined as the first wireless signal.

If the first wireless signal transmitted by the first signal transmitter 112 and the first wireless signal transmitted by the other signal transmitter are received simultaneously from the mobile device 120, the transmitting device of the signal is determined according to the signal identifier, and a signal that the transmitting device is the charging device 110 in the received wireless signals is determined as the first wireless signal.

Determining the location information of the charging device 110 based on the second wireless signal includes: determining a second wireless signal from the received wireless signals according to the signal identification of the wireless signals; position information is determined based on the second wireless signal.

If the first wireless signal transmitted by the first signal transmitter 112 and the second wireless signal transmitted by the second signal transmitter 113 are received from the mobile device 120 at the same time, the type of the signal is determined according to the signal identifier, and a signal with the same type as the second wireless signal type in the received wireless signals is determined as the second wireless signal.

If the second wireless signal transmitted by the second signal transmitter 113 and the second wireless signal transmitted by the other signal transmitter are simultaneously received from the mobile device 120, the transmitting device of the signal is determined according to the signal identifier, and the signal of the charging device 110, which is the transmitting device in the received wireless signals, is determined as the second wireless signal.

The signal identification of the wireless signal includes but is not limited to: device identification and signal type identification.

The device identifier is used to uniquely indicate a device that transmits a wireless signal, and the device identifier may be a device number or an IP address, and the implementation manner of the device identifier is not limited in this embodiment.

The signal type identifier is used to uniquely indicate a type of the wireless signal, and the signal type identifier may be a data frame format of the signal or may also be a bandwidth of the wireless signal.

In a second manner, the processor 114 in the charging device 110 controls the first signal transmitter 112 to transmit the first wireless signal and controls the second signal transmitter 113 to suspend transmitting the second wireless signal in response to the first transmission instruction; in response to the second transmission instruction, the second signal transmitter 113 is controlled to transmit the second wireless signal, and the first signal transmitter 112 is controlled to suspend transmission of the first wireless signal.

In the second mode, the first transmission instruction and the second transmission instruction are transmitted by the self-mobile device 120. Accordingly, the self-moving device 120 establishes a communication connection with the charging device 110 in advance.

The self-moving device 120 determines the location information of the charging device 110 based on the first wireless signal, including: when the distance is changed from being less than or equal to the distance threshold to being greater than the distance threshold, sending a first transmission instruction to the charging device 110 based on the communication connection, so that the charging device 110 transmits a first wireless signal, and suspends transmitting a second wireless signal; the first wireless signal is received and the location information of the charging device 110 is determined based on the first wireless signal.

Determining, from the mobile device 120, the location information of the charging device 110 based on the second wireless signal includes: when the distance is changed from being greater than the distance threshold to being less than or equal to the distance threshold, sending a second transmission instruction to the charging device 110 based on the communication connection, so that the charging device 110 transmits a second wireless signal, and suspending transmission of the first wireless signal; the second wireless signal is received, and the position information of the charging device 110 is determined based on the second wireless signal.

The distance threshold may be determined according to the optimal transmission distance of the second wireless signal, or may also be determined according to the positioning accuracy of the first wireless signal and the optimal transmission distance of the second wireless signal, and the setting manner of the distance threshold is not limited in this embodiment.

In one example, the distance threshold is determined based on a positioning accuracy of the first wireless signal, the distance threshold being a sum of the positioning accuracy of the first wireless signal and the buffering distance.

Wherein, the buffer distance means: the maximum distance that the self-moving device 120 may move during the signal switching process, the buffer distance is determined according to the communication delay between the self-moving device 120 and the charging device 110, and the moving speed of the self-moving device 120.

For example, if the positioning accuracy of the first wireless signal is 3 meters and the buffer distance is 0.1 meter, the distance threshold is set to 3.1 meters.

Optionally, after the first transmission instruction or the second transmission instruction is sent to the charging device 110 based on the communication connection, the processor 123 of the mobile device 120 is further configured to establish a communication connection with the charging device 110 based on the wireless signal currently received by the signal receiver, so that the mobile device 120 can subsequently send the first transmission instruction or the second transmission instruction through the communication connection.

Optionally, establishing a communication connection with the charging device 110 based on the wireless signal currently received by the signal receiver includes: in a case where the first signal receiver 121 receives the first wireless signal, transmitting a first connection request to the charging device 110 based on the first signal receiver 121; accordingly, after receiving the first connection request from the first transmitter of the charging device 110, the first transmitter sends the first confirmation information to the self-mobile device 120, and after receiving the first confirmation information from the self-mobile device 120, the communication connection is established.

Alternatively, when the second signal receiver 122 receives the second wireless signal, the second signal receiver 122 sends the second connection request to the charging device 110, and accordingly, after the second connection request is received by the second transmitter of the charging device 110, the second transmitter sends the second confirmation information to the mobile device 120, and after the second confirmation information is received by the mobile device 120, the communication connection is established.

In this embodiment, determining the location information of the charging device 110 based on the first wireless signal includes: obtaining signal strengths of first wireless signals acquired from the mobile device 120 at least three different acquisition locations; determining a first reference distance between the mobile device 120 and the charging device 110 for each signal strength indication, the signal strength being in a negative correlation with the first reference distance; and determining an intersection point of a circle which is formed by taking each acquisition position as a center and taking the first reference distance corresponding to the acquisition position as a radius, wherein the position of the intersection point is the position of the charging device 110 relative to the self-moving device 120.

In one example, the self-mobile device 120 collects a first wireless signal at a predetermined time interval during the movement, and calculates a first reference distance between the self-mobile device 120 and the charging device 110 according to the strength of the collected first wireless signal; after the first wireless signal is acquired each time, taking the acquisition position as the center of a circle and the first reference distance as the radius as a reference circle; the intersection point or the intersection area of the reference circles, which is the position of the charging device 110, can be uniquely determined according to more than three reference circles.

In this embodiment, determining the position information of the charging device 110 based on the second wireless signal includes: determining a second reference distance between the self-moving device 120 and the charging device 110 based on the second wireless signal; the orientation of the charging device 110 relative to the self-moving device 120 is determined based on the second wireless signal.

Optionally, the second reference distance between the self-moving device 120 and the charging device 110 is determined based on the second wireless signal, including but not limited to the following two ways. The first way, a second reference distance between the self-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, and the second reference distance 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. Two ways of determining the distance between the mobile device 120 and the charging device 110 are described below.

First, a second reference distance between the self-moving device 120 and the charging device 110 is determined according to the strength of the second wireless signal.

Optionally, determining a second distance between the self-moving device 120 and the charging device 110 based on the second wireless signal comprises: determining a second reference distance between the self-mobile device 120 and the charging device 110 based on a signal strength of a second wireless signal currently received from the self-mobile device 120; the signal strength is inversely related to the distance.

In the second way, the second wireless signal carries the transmission time of the second wireless signal, and the second reference distance 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.

Optionally, determining a second reference distance between the self-moving device 120 and the charging device 110 based on the second wireless signal comprises: the second reference distance between the self-moving device 120 and the charging device 110 is calculated based on a difference between the transmission time of the second wireless signal and the reception time of the second wireless signal.

In one example, calculating a second reference distance between the self-moving device 120 and the charging device 110 based on a difference between a transmission time of the second wireless signal and a reception time of the second wireless signal includes: and multiplying the difference value of the transmitting time of the second wireless signal and the receiving time of the second wireless signal by the propagation speed of the second wireless signal to obtain a second reference distance.

Optionally, the direction of the charging device 110 relative to the self-moving device 120 is determined based on the second wireless signal, including but not limited to the following two ways. The first way, the direction of the charging device 110 relative to the self-moving device 120 is determined based on the second wireless signal information collected from at least two different positions; in the second way, at least two second signal receivers 122 are installed on the self-moving device 120, and the direction of the charging device 110 relative to the self-moving device 120 is determined based on the second wireless signal information received by different second signal receivers 122 at the same time. Two ways of determining the orientation of the charging device 110 relative to the self-moving device 120 are described below.

First, the direction of the charging device 110 relative to the self-moving device 120 is determined based on the second wireless signal information collected at least two different positions.

Optionally, determining the orientation of the charging device 110 relative to the self-moving device 120 based on the second wireless signal comprises: acquiring the transmission times of the second wireless signals acquired by the mobile device 120 at least two different acquisition positions; for each second wireless signal, determining a second reference distance between the self-moving device 120 and the charging device 110 based on the second wireless signal; based on the second reference distances 120 corresponding to the different acquisition positions, the direction of the charging device 110 relative to the self-moving device 120 is determined.

In one example, determining the orientation of the charging device 110 relative to the self-moving device 120 based on the second wireless signal includes the following two steps:

step one, in a certain position, taking the current position of the mobile equipment 120 as the center of a circle, and taking a reference distance determined based on a second wireless signal of the current acquisition position as a radius to make a first reference circle; taking any one acquisition position as a circle center, and taking a reference distance determined based on a second wireless signal of the acquisition position as a radius to make a second reference circle; determining an intersection point of the first reference circle and the second reference circle, wherein if the first reference circle and the second reference circle only have one intersection point, the intersection point position of the first reference circle and the second reference circle is the position of the charging device 110; otherwise, calculating a first intersection point and a second intersection point of the first reference circle and the second reference circle, and simultaneously calculating a middle point of a connecting line of the first intersection point and the second intersection point; the manner of determining the location information of the charging device 110 includes, but is not limited to, the following three cases:

in the first case, the self-moving device 120 is located at the midpoint of the connection line between the first intersection point and the second point, and the charging device 110 is located at the left side or the right side of the self-moving device 120, the step two is performed.

In the second case, the first intersection and the second intersection are located at the front side of the mobile device 120, and 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 midpoint of the connecting line between the first intersection and the second intersection, and step two is executed.

In the third case, if the first intersection point and the second intersection point are located at the rear side of the self-moving device 120, the charging device 110 is located at the rear side of the self-moving device 120, the self-moving device 120 is rotated in place by 180 degrees, and then moves forward to the middle point of the connection line of the first intersection point and the second intersection point, and step two is performed.

And step two, moving the mobile device 120 to the first intersection point, if a second reference distance corresponding to the acquisition position in the moving process is smaller than a second reference distance corresponding to a midpoint between the first intersection point and a connecting line of the second intersection point, the charging device 110 is located at the first intersection point, continuing to move forwards from the mobile device 120, and if the second reference distance corresponding to the acquisition position in the moving process is larger than the second reference distance corresponding to the midpoint between the first intersection point and the connecting line of the second intersection point, the charging device 110 is located at the second intersection point.

In the second mode, at least two second signal receivers 122 are installed on the self-moving device 120, and are respectively located on two opposite sides of the self-moving device 120, and the direction of the charging device 110 relative to the self-moving device 120 is determined based on the second wireless signal information received by the different second signal receivers 122 at the same time.

Optionally, the at least two second signal receivers 122 are evenly distributed at the edge of the self-moving device 120.

Optionally, the number of the second signal receivers 122 installed on the self-moving device 120 is at least two, and determining the direction of the charging device 110 relative to the self-moving device 120 based on the second wireless signal includes: the direction of the charging device 110 with respect to the self-moving device 120 is determined based on the second wireless signals received by the different second signal receivers 122 at the same time.

Optionally, two second signal receivers 122 are installed on the self-moving device 120, one is located at the left edge of the self-moving device 120, the other is located at the right edge of the self-moving device 120, and the magnetic induction receiving coil of the self-moving device 120 is located at the front edge of the self-moving device 120; the direction of the charging device 110 with respect to the self-moving device 120 is determined based on the second wireless signals respectively received by the two second signal receivers 122 at the same time.

In one example, at a location, a left reference distance is determined from the mobile device 120 based on a second wireless signal received by the left second signal receiver 122; determining a right reference distance based on the second wireless signal received by the right second signal receiver 122; if the left reference distance is equal to the right reference distance, then the charging device 110 is located right in front of the self-moving device 120; otherwise, the direction of the charging device 110 with respect to the self-moving device 120 is calculated based on the left reference distance, the right reference distance, and the distance of the left side second signal receiver 122 and the right side second signal receiver 122, while the self-moving device 120 is rotated by a corresponding angle so that the charging device 110 is positioned directly in front of the self-moving device 120.

In another example, at a location, a left second wireless signal is received from the mobile device 120 based on the left second signal receiver 122; based on the right second wireless signal received by the right second signal receiver 122; if the strength of the left second wireless signal is equal to the strength of the right second wireless signal, the charging device 110 is located right in front of the mobile device 120; otherwise, the self-mobile device 120 rotates in a clockwise direction or a counterclockwise direction in place, and continuously detects the strength of the left second wireless signal and the strength of the right second wireless signal during the rotation process, and stops rotating until the strength of the left second wireless signal is equal to the strength of the right second wireless signal, at which time the charging device 100 is located right in front of the self-mobile device 120.

It should be added that the above-mentioned manner of determining the reference distance between the self-moving device 120 and the charging device 110 based on the second wireless signal and the manner of determining the direction of the charging device 110 relative to the self-moving device 120 based on the second wireless signal may constitute different schemes for determining the location information of the charging device 110 based on the second wireless signal.

For example, in one example, the second signal receivers 122 are at least two; determining the location information of the charging device 110 based on the second wireless signal includes: the direction and distance of the charging device 110 with respect to the self-moving device 120 are determined based on the strength of the second wireless signal received by the different second signal receivers 122 at the same time.

In another example, the second wireless signal carries a time of transmission of the second wireless signal; determining the location information of the charging device 110 based on the second wireless signal includes: acquiring the transmission times of the second wireless signals acquired by the mobile device 120 at least two different acquisition positions; for each second wireless signal, calculating a second reference distance between the mobile device 120 and the charging device 110 based on a difference between a reception time of the second wireless signal and a transmission time of the second wireless signal; based on the second reference distances corresponding to the different acquisition positions, the direction of the charging device 110 relative to the self-moving device 120 is determined.

Optionally, the charging device 110 further comprises: a magnetic induction transmitting coil 115 located within the housing 111; the magnetic induction transmitting coil is configured to convert electrical energy into magnetic energy for output, so that the mobile device 120 converts the magnetic energy into electrical energy for wireless charging.

Accordingly, the self-moving device 120 further includes: a magnetic induction receiving coil 124 connected to the processor 123; and a magnetic induction receiving coil for converting the received magnetic energy into electric energy for charging the mobile device 120.

In one example, the charging device 110 induces the magnetic induction transmitting coil to be energized to generate magnetic energy when sensing that the mobile device 120 reaches a predetermined charging position; when the self-moving device 120 responds to the magnetic energy output by the charging device 110, the magnetic induction receiving coil is conducted, so that the magnetic energy output by the charging device 110 is converted into electric energy to charge the battery; when the battery capacity is detected to reach the preset charging threshold, the controller of the mobile device 120 controls the magnetic induction receiving coil to be disconnected, and meanwhile, the mobile device 120 is controlled to leave the charging area; when the charging device 110 senses that the mobile device 120 leaves the charging position, the magnetic induction transmitting coil is automatically disconnected, magnetic energy is stopped from being generated, and charging is finished.

In another example, the charging start signal is sent to the charging device 110 after the mobile device 120 reaches the preset charging position; after receiving the charging start signal, the charging device 110 energizes the magnetic induction transmitting coil to generate magnetic energy; the self-moving device 120 responds to the magnetic energy output by the charging device 110, and conducts the magnetic induction receiving coil to convert the magnetic energy output by the charging device 110 into electric energy to charge the battery; when the battery capacity is detected to reach the preset charging threshold, the controller of the mobile device 120 controls the magnetic induction receiving coil to be disconnected, and meanwhile, a charging ending signal is sent to the charging device 110; after receiving the charging end signal, the charging device 110 disconnects the magnetic induction transmitting coil, stops generating magnetic energy, and ends charging.

In summary, the charging system provided in this embodiment, the charging device includes: a housing; a first signal emitter and a second signal emitter disposed in the housing; the first signal transmitter is used for transmitting a first wireless signal; the second signal transmitter is used for transmitting a second wireless signal; for determining, from the mobile device, a location of the charging device based on the first wireless signal and/or the second wireless signal; the transmission distance of the second wireless signal is less than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal; the self-moving device includes: a first signal receiver for receiving a first wireless signal; a second signal receiver for receiving a second wireless signal; the processor is respectively connected with the first signal receiver and the second signal receiver and used for responding to an instruction for charging the self-moving equipment and determining the position information of the charging equipment based on the first wireless signal and/or the second wireless signal; controlling the mobile equipment to move to the charging equipment for charging according to the position information; the problem that the existing recharging method for the self-moving equipment has a signal blind area when the self-moving equipment identifies the position of the charging equipment due to the limited emission angle of the infrared emitter can be solved; in order to ensure that the self-moving equipment can realize recharging, the self-moving equipment is usually forbidden to enter a signal blind area, so that the problem that the self-moving equipment has a working blind area is caused; because the first signal emitter and the second signal emitter have no limit to the emission angle, the self-moving equipment does not have a signal blind area when identifying the position of the charging equipment, and the working range of the self-moving equipment can be enlarged.

Meanwhile, since the charging device is provided with the first signal transmitter and the second signal transmitter, and the self-moving device is provided with the first signal receiver and the second signal receiver, the self-moving device can determine the position of the charging device according to the first wireless signal and/or the second wireless signal, since the transmission distance of the second wireless signal is smaller than that of the first wireless signal, and the accuracy of positioning using the second wireless signal is greater than that using the first wireless signal, the first wireless signal can ensure that the mobile device can receive the first wireless signal transmitted by the charging device outside the transmission range of the second wireless signal so as to judge the position of the charging device, meanwhile, the second wireless signal can ensure that the self-moving equipment can accurately judge the position of the charging equipment according to the received second wireless signal, and finally recharging is realized, so that the recharging efficiency of the self-moving equipment can be improved.

In addition, an infrared emitter is not used, so that the problems that the thickness of an equipment shell of the charging equipment is thick and the occupied space is large due to the fact that the installation position of the infrared emitter on a charging seat is usually high in order to ensure that the infrared emitter can emit infrared signals to a far place due to the fact that the emission angle of the infrared emitter is limited in the existing self-moving equipment recharging method can be solved; because the battery charging outfit need not to install infrared emitter and can realize from the location of mobile device to battery charging outfit, and signal transmitter does not have the requirement to the mounting height, so the thickness of battery charging outfit casing is thinner in this application, the deployment of the battery charging outfit of being convenient for.

In addition, the position information of the charging device is determined based on the first wireless signal when the distance between the self-moving device and the charging device is larger than a distance threshold value; determining location information of the charging device based on the second wireless signal if the distance between the self-moving device and the charging device is less than or equal to a distance threshold; and the transmission distance of the second wireless signal is less than that of the first wireless signal, and the positioning accuracy of wireless positioning by using the second wireless signal is greater than that of wireless positioning by using the first wireless signal, so that the optimal positioning scheme can be selected according to the distance between the mobile equipment and the charging equipment, and the recharging efficiency can be improved.

In addition, because the first signal transmitter and the second signal transmitter of the charging device both transmit wireless signals in a preset time period, the self-mobile device can select the position of the charging device based on the first wireless signals or the second wireless signals according to the current distance from the charging device, the problem that signal switching is needed when the charging device only transmits one signal at the same time can be solved, and the recharging efficiency can be improved.

In addition, the charging equipment only transmits one wireless signal at the same time, and only receives one wireless signal from the mobile equipment at the same time, so that the problem of large power consumption of the mobile equipment due to the fact that the charging equipment needs to receive the first wireless signal and the second wireless signal at the same time can be solved, and the first wireless signal and the second wireless signal do not need to be received from the mobile equipment at the same time, so that power consumption of the mobile equipment and the charging equipment can be reduced.

In addition, the self-mobile device can acquire the distance between the self-mobile device and the charging device, and sends a first transmission instruction to the charging device based on the communication connection when the distance is changed from being less than or equal to the distance threshold to being greater than the distance threshold, and sends a second transmission instruction to the charging device based on the communication connection when the distance is changed from being greater than the distance threshold to being less than or equal to the distance threshold; the wireless signal that can realize when charging equipment only launches a radio signal, the radio signal that charging equipment launched and the required radio signal of self-mobile device current location are unanimous, avoided because of the radio signal of charging equipment transmission and the required radio signal of self-mobile device current location inconsistent positioning accuracy that leads to poor or the problem that can't fix a position so can improve from mobile device's the efficiency of recharging, also reduced simultaneously from mobile device and charging device's electric quantity consumption.

In addition, because the number of the second signal receivers of the charging device is at least two, the direction and the distance of the charging device relative to the self-moving device can be determined by the self-moving device based on the strength of the second wireless signals respectively received by the at least two second signal receivers at the same moment, the problem that the position of the charging device can be located only by data of a plurality of sampling points can be solved, and the recharging efficiency of the self-moving device is improved.

In addition, because the second wireless signal carries the transmitting time of the second wireless signal, the distance between the mobile device and the charging device can be calculated based on the receiving time of the second wireless signal and the transmitting time of the second wireless signal, the problem of low accuracy in distance calculation by using wireless signal strength can be solved, the accuracy of distance calculation can be improved, and the accuracy of the determined position of the charging device can be improved.

In addition, the charging equipment also comprises a magnetic induction transmitting coil positioned in the shell; the self-moving equipment also comprises a magnetic induction receiving coil connected with the processor, and the magnetic induction receiving coil is used for converting the received magnetic energy into electric energy to charge the self-moving equipment; the problem of charging equipment that charging equipment and self-mobile device charge through the shell fragment that charges and the charging equipment that leads to is bulky deploys inconveniently can be solved, the shell fragment that has also solved simultaneously charges exposes and leads to the low problem of security, owing to can realize wireless charging from the mobile device, so need not charge the shell fragment, can reduce charging equipment's the volume be convenient for the deployment of charging equipment, and magnetic induction transmitting coil is located inside the charging equipment, also can provide charging system's security simultaneously.

The charging method provided by the present application is described in detail below.

The present embodiment provides a charging method, as shown in fig. 4. The present embodiment will be described by taking as an example the method used in the charging system shown in fig. 1. The method at least comprises the following steps:

in step 401, a charging device transmits a first wireless signal and/or a second wireless signal.

Step 402, a first wireless signal and/or a second wireless signal is received from a mobile device.

In step 403, the self-mobile device determines the position information of the charging device based on the received wireless signal in response to the instruction to charge the self-mobile device.

And step 404, controlling the self-mobile device to move to the charging device for charging according to the position information.

Alternatively, step 401 may be implemented separately as a method embodiment on the charging device side; steps 402, 403 and 404 may be implemented separately as method embodiments from the mobile device side.

According to the above embodiment, in the charging method provided by the application, since the transmission distance of the second wireless signal is smaller than the transmission distance of the first wireless signal, and the positioning accuracy using the second wireless signal is greater than the positioning accuracy using the first wireless signal, the first wireless signal can ensure that the first wireless signal transmitted by the charging device can be received by the mobile device outside the transmission range of the second wireless signal, so as to determine the position of the charging device, and meanwhile, the second wireless signal can ensure that the position of the charging device can be accurately determined by the mobile device according to the received second wireless signal, so as to finally realize recharging, thereby improving the recharging efficiency of the mobile device.

The present embodiment provides a charging method, as shown in fig. 5. The present embodiment will be described by taking as an example the method used in the charging system shown in fig. 1. The method at least comprises the following steps:

step 501, a charging device simultaneously transmits a first wireless signal and a second wireless signal within a preset time period.

Step 502, a first wireless signal and a second wireless signal are simultaneously received from a mobile device within a preset time period.

Step 503, the self-moving device responds to the instruction for charging the self-moving device, and obtains the distance between the self-moving device and the charging device; determining a first wireless signal from the received wireless signals according to the signal identification of the wireless signals under the condition that the distance is greater than the distance threshold; determining location information based on the first wireless signal; determining a second wireless signal from the received wireless signals according to the signal identification of the wireless signals under the condition that the distance is smaller than or equal to the distance threshold; position information is determined based on the second wireless signal.

And step 504, the self-mobile device controls the self-mobile device to move to the charging device for charging according to the position information.

Alternatively, step 501 may be implemented separately as a method embodiment on the charging device side; steps 502, 503 and 504 may be implemented separately as method embodiments from the mobile device side.

According to the above embodiment, according to the charging method provided by the application, since the first signal transmitter and the second signal transmitter of the charging device both transmit the wireless signals in the preset time period, the self-moving device can select the position of the charging device to be determined based on the first wireless signal or the second wireless signal according to the current distance from the charging device, so that the problem that signal switching is required when the charging device only transmits one signal at the same time can be solved, and the recharging efficiency can be improved.

The present embodiment provides a charging method, as shown in fig. 6. The present embodiment will be described by taking as an example the method used in the charging system shown in fig. 1. The method at least comprises the following steps:

step 601, the charging device responds to the first transmission instruction, transmits a first wireless signal, and suspends transmitting a second wireless signal; and transmitting the second wireless signal in response to the second transmission instruction, and suspending the transmission of the first wireless signal.

Step 602, obtaining a distance between a mobile device and a charging device from the mobile device; receiving a first wireless signal if the distance is greater than the distance threshold; receiving a second wireless signal if the distance is less than or equal to the distance threshold.

Step 603, in response to the instruction to charge the self-mobile device, the self-mobile device determines the position information of the charging device based on the received wireless signal.

And step 604, controlling the self-moving device to move to the charging device for charging according to the position information.

Alternatively, step 601 may be implemented separately as a method embodiment on the charging device side; steps 602, 603 and 604 may be implemented separately as method embodiments from the mobile device side.

According to the above embodiments, in the charging method provided by the application, since the charging device only transmits one wireless signal at the same time and only receives one wireless signal from the mobile device at the same time, the problem of large power consumption of the mobile device due to the fact that the charging device needs to receive the first wireless signal and the second wireless signal at the same time can be solved, and the mobile device does not need to receive the first wireless signal and the second wireless signal at the same time, so that power consumption of the mobile device and the charging device can be reduced.

The present embodiment provides a charging method, as shown in fig. 7. The present embodiment is a specific implementation manner of the charging method shown in fig. 6, that is, a case where the first transmission instruction and the second transmission instruction are transmitted by the mobile device. The method at least comprises the following steps:

step 701, obtaining a distance between a mobile device and a charging device from the mobile device; under the condition that the distance is changed from being smaller than or equal to the distance threshold value to being larger than the distance threshold value, sending a first transmission instruction to the charging equipment based on the communication connection; and sending a second transmission instruction to the charging device based on the communication connection when the distance is changed from being greater than the distance threshold to being less than or equal to the distance threshold.

Step 702, the charging device transmits a first wireless signal in response to the first transmission instruction, and suspends transmitting a second wireless signal; and transmitting the second wireless signal in response to the second transmission instruction, and suspending the transmission of the first wireless signal.

Step 703, receiving a first wireless signal or a second wireless signal from the mobile device.

In 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 self-moving device controls the self-moving device to move to the charging device for charging according to the position information.

Alternatively, step 702 may be implemented separately as a method embodiment on the charging device side; steps 701, 703, 704 and 705 may be implemented separately as method embodiments from the mobile device side.

According to the above embodiment, in the charging method provided by the application, the self-mobile device can obtain the distance between the self-mobile device and the charging device, and send the first transmission instruction to the charging device based on the communication connection when the distance changes from being less than or equal to the distance threshold to being greater than the distance threshold, and send the second transmission instruction to the charging device based on the communication connection when the distance changes from being greater than the distance threshold to being less than or equal to the distance threshold; the wireless signal that can realize when charging equipment only launches a radio signal, the radio signal that charging equipment launched is unanimous with the radio signal that needs from the mobile device current location, has avoided the problem that the positioning accuracy is poor or unable location that leads to because of the radio signal that charging equipment launched is inconsistent with the radio signal that needs from the mobile device current location so can improve from the recharging efficiency of mobile device, has also reduced the electric quantity consumption from the mobile device simultaneously.

The present embodiment provides a charging device as shown in fig. 8. The present embodiment applies the apparatus to the charging device 110 in the charging system shown in fig. 1, and the apparatus 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;

and a second transmitting module 820 for transmitting a second wireless signal.

For further details, reference is made to the above-described method and system embodiments.

The present embodiment provides a self-moving apparatus, as shown in fig. 9. The present embodiment applies the apparatus to the self-moving device 120 in the charging system shown in fig. 1, and the apparatus includes at least the following modules: a first receiving module 910, a second receiving module 920, a position calculating module 930, and a motion 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 position information of the charging device based on the received wireless signal;

and the motion control module 940 is used for controlling the mobile device to move to the charging device for charging according to the position information.

For further details, reference is made to the above-described method and system embodiments.

It should be noted that: in the charging device and the self-moving device provided in the above embodiments, only the division of the above functional modules is exemplified when charging is performed, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structures of the charging device and the self-moving device are divided into different functional modules to complete all or part of the above described functions. In addition, the charging device and the self-moving device provided by the above embodiments belong to the same concept as the charging method embodiment, and specific implementation processes thereof are described in the method embodiment and are not described herein again.

The present embodiment provides an electronic apparatus as shown in fig. 10. The electronic device may be the charging device 110 in fig. 1 or the self-moving device 120 in fig. 1. The electronic device comprises at least a processor 1001 and a memory 1002.

Processor 1001 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 1001 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1001 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1001 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 1001 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

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, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1002 is used to store at least one instruction for execution by processor 1001 to implement a charging method provided by method embodiments herein.

In some embodiments, the electronic device may further include: a peripheral interface and at least one peripheral. The processor 1001, memory 1002 and peripheral interface may be connected by bus or signal lines. Each peripheral may be connected to the peripheral interface via a bus, signal line, or circuit board. Illustratively, peripheral devices include, but are not limited to: radio frequency circuit, touch display screen, audio circuit, power supply, etc.

Of course, the electronic device may include fewer or more components, which is not limited by the embodiment.

Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the charging method of the above-mentioned method embodiment.

Optionally, the present application further provides a computer product, which includes a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the charging method of the above-mentioned method embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.