Self-moving device and charging station docking method, device, self-moving device, system and readable storage medium

Abstract

The present invention discloses a method, apparatus, self-moving device, system, and readable storage medium for docking a mobile device with a charging station. The method includes the following steps: controlling the mobile device to move from a current position to a docking area; controlling the mobile device to move around the charging station within the docking area and capture an environmental image; obtaining a docking identifier from the environmental image and determining whether the mobile device and the charging station are facing each other based on the docking identifier; and if the mobile device and the charging station are facing each other, controlling the mobile device to move straight toward the charging station until docking is successful. By controlling the mobile device to move around the charging station within the docking area, the present invention can reduce the time it takes for the mobile device to search for a charging station, thereby improving the return efficiency of the mobile device.

Description

Technical Field

[0001] The present invention relates to a method, device, self-moving device, system and readable storage medium for docking a self-moving device with a charging station, and in particular to a method, device, self-moving device, system and readable storage medium for docking a self-moving device with a charging station for improving return efficiency. Background Art

[0002] With the advancement of technology, the application of outdoor robots is becoming increasingly widespread. For example, smart lawn mowers can automatically help people maintain their lawns, freeing them from the tedious, time-consuming and laborious chores of lawn care, and have therefore become extremely popular. Outdoor robots perform their tasks without requiring user interaction, which requires them to have excellent positioning capabilities, enabling them to autonomously navigate within their work area.

[0003] To ensure the smart mower accurately reaches the charging station, the traditional method involves placing boundary lines around the lawn. These boundary lines can be magnetic guides that emit electromagnetic signals. The smart mower's electromagnetic signal sensor uses the intensity of the electromagnetic signal to align the boundary lines longitudinally with the center of the smart mower, allowing the smart mower to move along the boundary lines to the charging station. This method involves the smart mower searching for the boundary lines in random directions, which takes a long time and is not conducive to improving regression efficiency. Summary of the Invention

[0004] The present invention provides a method and device for docking a self-moving device with a charging station, a self-moving device, a system and a readable storage medium, which can improve the return efficiency.

[0005] The present invention provides a method for docking a mobile device with a charging station, the method comprising the following steps:

[0006] Controlling the mobile device to move from a current position to a docking area;

[0007] Controlling the mobile device to move around the charging station within the docking area and collect environmental images;

[0008] Acquire a docking identifier from the environment image, and determine whether the mobile device and the charging station are facing each other according to the docking identifier;

[0009] If the self-moving device is facing the charging station, the self-moving device is controlled to move straight toward the charging station until the docking is successful.

[0010] Optionally, the docking mark is provided on the charging station, and the docking mark has a concave surface and a convex surface, and the concave surface and the convex surface have different colors;

[0011] The acquiring of the docking identifier from the environment image and determining whether the mobile device is facing the charging station according to the docking identifier includes:

[0012] Acquire color features and contour features of the docking mark from the environment image;

[0013] Determining whether the color characteristics of the docking mark conform to the preset colors and the preset color arrangement order, and determining whether the outline characteristics of the docking mark conform to the preset outline characteristics;

[0014] If the color characteristics of the docking mark meet the preset colors and the preset color arrangement order, and the outline characteristics of the docking mark meet the preset outline characteristics, the mobile device is controlled to move straight toward the charging station until the docking is successful.

[0015] Optionally, the docking mark is provided on the charging station, and the docking mark includes a plurality of luminous bodies;

[0016] The acquiring of the docking identifier from the environment image and determining whether the mobile device is facing the charging station according to the docking identifier includes:

[0017] Acquire the number of the luminous bodies from the environment image;

[0018] Determining whether the number of the light-emitting bodies meets the preset number of light-emitting bodies;

[0019] If the number of the light-emitting bodies meets the preset number of light-emitting bodies, the self-mobile device is controlled to move straight toward the charging station until the docking is successful.

[0020] Optionally, the docking mark is provided on the charging station, and the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a luminous body;

[0021] The acquiring of the docking identifier from the environment image and determining whether the mobile device is facing the charging station according to the docking identifier includes:

[0022] Acquire the arrangement direction of the light emitters from the environment image;

[0023] Determining whether the arrangement direction of the light-emitting body complies with the preset light-emitting body arrangement direction;

[0024] If the arrangement direction of the light-emitting bodies conforms to the preset arrangement direction of the light-emitting bodies, the self-mobile device is controlled to move straight toward the charging station until docking is successful.

[0025] Optionally, controlling the self-mobile device to move around the charging station within the docking area and controlling the self-mobile device to capture an environmental image includes:

[0026] Controlling the self-moving device to move around the charging station within the docking area by a radio detection device, and controlling the self-moving device to collect environmental images according to preset conditions;

[0027] The radio detection device is provided on the self-moving device, and controls the self-moving device to move around the charging station within the docking area according to the distance between the self-moving device and the charging station sensed by the radio detection device.

[0028] The present invention also provides a device for docking a mobile device with a charging station, the device comprising:

[0029] A movement control module, configured to control the self-moving device to move from a current position to a docking area;

[0030] An image acquisition module, configured to control the self-mobile device to move around the charging station within the docking area and to control the self-mobile device to acquire an environmental image;

[0031] a facing judgment module, configured to obtain a docking identifier from the environment image and determine whether the mobile device and the charging station are facing each other according to the docking identifier;

[0032] The docking control module is used to control the mobile device to move straight toward the charging station until docking is successful.

[0033] The present invention also provides a self-moving device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for docking the self-moving device with a charging station when executing the computer program.

[0034] The present invention also provides a docking system between a self-moving device and a charging station. The system includes the self-moving device and a docking identifier.

[0035] Optionally, the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface have different colors.

[0036] Optionally, the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a light-emitting body.

[0037] Optionally, the docking mark includes several luminous bodies.

[0038] The present invention also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for docking a mobile device with a charging station are implemented.

[0039] Compared to the prior art, the present invention reduces the time it takes for an automatic mobile device to search for a charging station by controlling the self-mobile device to move around the charging station in the docking area and collect environmental images; obtains a docking identifier from the environmental image, and determines whether the self-mobile device and the charging station are facing each other based on the docking identifier, thereby improving the return efficiency of the automatic mobile device. The present invention determines whether the self-mobile device and the charging station are facing each other by obtaining the color characteristics and contour characteristics of the docking identifier, thereby improving the facing recognition efficiency of the automatic mobile device. The present invention determines whether the self-mobile device and the charging station are facing each other by obtaining the number of light-emitting bodies or the arrangement direction of the light-emitting bodies, thereby avoiding misjudgment caused by color distortion. The present invention obtains the distance between the self-mobile device and the charging station through an ultrasonic sensor to control the self-mobile device to move around the charging station in the docking area, which is beneficial to controlling the proportion of the docking identifier in the environmental image and facilitating identification and comparison. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A flow chart of a method for docking a mobile device with a charging station according to the present invention;

[0041] Figure 2 for Figure 1 Detailed flow chart of step S1 in FIG.

[0042] Figure 3 for Figure 1 The coarse positioning regression state diagram of step S1;

[0043] Figure 4 for Figure 1 The precise positioning regression state diagram of step S2;

[0044] Figure 5 Schematic diagram of distance measurement from a mobile device of the present invention;

[0045] Figure 6A A schematic structural diagram of a first embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention;

[0046] Figure 6B Obtained from the environment image in step S3 Figure 6A A schematic diagram of the docking mark shown, which is obtained when the mobile device and the charging station are facing each other;

[0047] Figure 7A A schematic structural diagram of a second embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention;

[0048] Figure 7B Obtained from the environment image in step S3 Figure 7A A schematic diagram of the docking mark shown, which is obtained when the mobile device and the charging station are facing each other;

[0049] Figure 8A A schematic structural diagram of a third embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention;

[0050] Figure 8B Obtained from the environment image in step S3 Figure 8A A schematic diagram of the docking mark shown, which is obtained when the mobile device and the charging station are facing each other;

[0051] Figure 9 for Figure 1 In the first embodiment of step S3 Figure 6A 、 Figure 7A 、 Figure 8A Detailed flow charts in the usage environment;

[0052] Figure 10A A schematic structural diagram of a fourth embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention;

[0053] Figure 10B Obtained from the environment image in step S3 Figure 10A A schematic diagram of the docking mark shown, which is obtained when the mobile device and the charging station are facing each other;

[0054] Figure 11 for Figure 1 In the second embodiment of step S3 Figure 10A Detailed flow charts in the usage environment;

[0055] Figure 12A A schematic structural diagram of a fourth embodiment of a docking identifier used in a method for docking a mobile device with a charging station according to the present invention;

[0056] Figure 12B Obtained from the environment image in step S3 Figure 12A A schematic diagram of the docking mark shown, which is obtained when the mobile device and the charging station are facing each other;

[0057] Figure 13 for Figure 1 The third embodiment of step S3 in Figure 12A Detailed flow charts in the usage environment;

[0058] Figure 14 for Figure 1 Detailed process of step S2 in FIG.

[0059] Figure 15 This is a block diagram of the principle of the device for docking a mobile device with a charging station according to the present invention. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0061] See also Figure 1-15 As shown, the self-moving device 1 can be an automatic lawn mower or an automatic vacuum cleaner, which automatically moves around a work area to perform tasks such as mowing and vacuuming. The self-moving device 1 is powered by a power module (not shown). To ensure normal power supply from the power module, the self-moving device 1 can be intelligently controlled to return to the charging station 2 for recharging based on the remaining power of the power module or the operating time. The self-moving device 1 can also be triggered to return to the charging station 2 for recharging as needed by pressing a trigger button (not shown) on the self-moving device 1. A recharging signal can also be sent to the self-moving device 1 via a mobile terminal (not shown) to cause the self-moving device 1 to return to the charging station 2 for recharging.

[0062] See also Figure 1 As shown, the present invention provides a method for docking a mobile device with a charging station, the method comprising the following steps:

[0063] Step S1: Control the mobile device to move from the current position to the docking area;

[0064] Step S2: Control the mobile device to move around the charging station in the docking area and collect environmental images;

[0065] Step S3: Obtaining a docking identifier from the environment image, and determining whether the mobile device and the charging station are facing each other based on the docking identifier; if the mobile device and the charging station are facing each other, executing step S4; otherwise, returning to step S2;

[0066] Step S4: Control the mobile device to move straight toward the charging station until docking is successful.

[0067] See also Figure 2-Figure 3As shown, in another embodiment of the present invention, a docking area 3 is set in an area close to the charging station 2, and the self-mobile device 1 is guided to work in the working area by a radio detection device or a visual system. The self-mobile device 1 can also be guided by the radio detection device or the visual system to perform coarse positioning regression from an area outside the docking area 3 until it moves to the docking area 3 (step S1), so that the self-mobile device 1 is close to the charging station 2; then the self-mobile device 1 is guided by the radio detection device to move around the charging station in the docking area 3 (step S2), and the environmental image is collected by the visual system (step S2), and the docking mark is obtained by the visual system to determine whether the self-mobile device 1 and the charging station 2 are facing each other, so as to complete the fine positioning regression (step S3).

[0068] In another embodiment of the present invention, the docking area 3 is a docking circle with the positioning base station as the center, and the radius of the docking circle is Ddst.

[0069] In another embodiment of the present invention, step S1 includes:

[0070] The self-moving device is controlled to move from its current location to docking area 3 by a radio detection device in a coarse positioning regression. The radio detection device in the coarse positioning regression can be a positioning system such as UWB, Zigbee, or GPS. The radio detection device in the coarse positioning regression includes a positioning base station and a positioning tag. The positioning base station is located within a preset distance of charging station 2, for example, the positioning base station is located at charging station 2; the positioning tag is located on the self-moving device 1, and the self-moving device 1 is controlled to move from its current location to docking area 3 based on the distance between the positioning tag and the positioning base station.

[0071] In another embodiment of the present invention, step S1 includes:

[0072] In another embodiment of the present invention, the step S1 further includes the following steps:

[0073] Step S11: Control the self-moving device 1 to move forward from the current position in the current direction, and determine whether the self-moving device 1 has reached the docking area 3; if the self-moving device 1 has not reached the docking area 3, execute step S13; if the self-moving device 1 has reached the docking area 3, execute step S3;

[0074] Step S13: Determine whether the distance between the self-mobile device 1 and the positioning base station is decreasing; if the distance between the self-mobile device 1 and the positioning base station is decreasing, return to step S11; if the distance between the self-mobile device 1 and the positioning base station is not decreasing, execute step S14;

[0075] Step S14: Controlling the self-moving device 1 to rotate along a first predetermined rotation angle in a first rotation direction, controlling the self-moving device 1 to move forward from the current position in the current direction, and determining whether the distance between the self-moving device 1 and the positioning base station is decreasing; if the distance between the self-moving device 1 and the positioning base station is decreasing, returning to step S11; if the distance between the self-moving device 1 and the positioning base station is not decreasing, executing step S15;

[0076] Step S15: Control the self-moving device 1 to rotate in the opposite direction of the first rotation direction by a second predetermined rotation angle, and then control the self-moving device 1 to move forward in the current direction from the current position; and then return to step S11.

[0077] Control the self-moving device 1 to move close to the docking area 3, and the self-moving device 1 is at point A1, point A i-1 , point A i , point A i+1 , point A n The distances between the position and the positioning base station 3 are D1 and D i-1 、D i 、D i+1 、D n , the self-mobile device 1 moves from the current position A1 (D1>D dst ), passing through point A i-1 (D i-1 >D dst ), point A i (D i >D dst ), point A i+1 (D i+1 >D dst ) and then arrive at point A on docking area 3 n (D n =D dst ).

[0078] Since mobile device 1 is located at point A i The position is randomly rotated in place by a first predetermined rotation angle θ (such as 90 degrees to the left), and then moves forward; if the distance between the mobile device 1 and the positioning base station 3 does not decrease, the movement stops (such as Figure 3 Point A i+1 Position), the mobile device 1 rotates in the opposite direction by a second predetermined rotation angle 2*θ (such as rotating 180 degrees to the right), and then moves forward to reach point A n Location.

[0079] See also Figure 4 、 Figure 5 and Figure 14As shown, in another embodiment of the present invention, a radio detection device 11 is provided on each of the left and right sides of the self-mobile device 1, and a camera 12 is provided in front of the self-mobile device 1 to capture an image of the environment. In another embodiment of the present invention, a camera 12 is provided on one side of the self-mobile device 1 to capture an image of the environment, and when the self-mobile device 1 moves around the charging station 2, the camera 12 faces the charging station 2.

[0080] The step S2 comprises:

[0081] Step S21: controlling the self-mobile device 1 to move around the charging station 2 within the docking area 3 via the radio detection device 11, and controlling the self-mobile device 1 to capture an image of the environment according to a preset condition; the preset condition is rotating the body of the self-mobile device 1 or rotating the camera 12 of the self-mobile device 1;

[0082] Among them, the radio detection device 11 in the precise positioning regression can be an ultrasonic sensor. The radio detection device 11 is arranged on the self-moving device. According to the distance between the self-moving device 1 and the charging station 2 sensed by the radio detection device 11, the self-moving device 1 is controlled to move around the charging station 2 in the docking area 3.

[0083] The sensing range of the radio detection device 11 is as follows Figure 5 The fan-shaped area shown:

[0084] θ (i = 1, 2) is the angle range detected by the radio detection device 11;

[0085] Si (i = 1, 2) is the distance between the mobile device 1 and the charging station 2 determined by the echo signal received by the radio detection device 11;

[0086] diMax (i = 1, 2) is the maximum threshold value of the safety distance between the radio detection device 11 and the charging station 2;

[0087] diMin (i = 1, 2) is the minimum threshold of the safety distance between the radio detection device 11 and the charging station 2;

[0088] (diMax > Ddst > diMin)

[0089] When the distance Si is less than the safety distance threshold diMax, it is determined that the mobile device 1 is approaching the charging station 2 .

[0090] When the distance Si is greater than the safety distance threshold diMax, it is determined that the mobile device 1 has deviated from the charging station 2 .

[0091] The self - moving device 1 walks to position A, rotates in place at the said position A, and based on the environmental images collected by the camera 12, determines whether the self - moving device 1 is facing the charging station 2 by executing step S3; if the self - moving device 1 is facing the charging station 2, the self - moving device 1 stops rotating and executes step S4; otherwise, the self - moving device 1 continues to rotate at position A, and based on the environmental images collected by the camera 12, determines whether the self - moving device 1 is facing the charging station 2 by executing step S3; until the self - moving device 1 rotates one full circle at position A.

[0092] If the self - moving device 1 rotates one full circle at position A and it is determined that the self - moving device 1 cannot face the charging station 2, the self - moving device 1 rotates in place until the ultrasonic (1 or 2) ranging satisfies diMin < Si < diMax and then stops rotating. After that, the ranging by the radio detection device 11 will be the standard. The self - moving device 1 walks forward in its current posture and adjusts the body posture in a left - arc and right - arc manner according to the ranging Si of the radio detection device 11 to keep diMin < S_i < diMax.

[0093] Control the self - moving device 1 to stop after moving forward a certain distance or for a certain time (such as Figure 4 position B), and repeat the steps described at position A.

[0094] Please refer to Figure 6A 、 Figure 6B 、 Figure 7A 、 Figure 7B 、 Figure 8A 、 Figure 8B As shown, in another embodiment of the present invention, the docking identifier 5 is provided on the charging station 2. For example, the docking identifier 5 is placed on the top of the charging station 2 for the self - moving device 1 to obtain through the vision system. The docking identifier 5 has a three - dimensional structure. The docking identifier is provided with a concave surface 51 and a convex surface 52, and the colors of the concave surface 51 and the convex surface 52 are different. The number and positional relationship of the concave surface 51 and the convex surface 52 can be set as needed. The docking identifier 5 has different three - dimensional structures, and the color features and contour features of the docking identifier obtained from the environmental images are correspondingly different.

[0095] Please refer to Figure 9 As shown, in another embodiment of the present invention, the step S3 includes:

[0096] Step S31: Obtain the color features and contour features of the docking identifier from the environmental image;

[0097] Step S32: Determine whether the color characteristics of the docking mark conform to the preset color and the preset color arrangement order, and determine whether the outline characteristics of the docking mark conform to the preset outline characteristics; if the color characteristics of the docking mark conform to the preset color and the preset color arrangement order, and the outline characteristics of the docking mark conform to the preset outline characteristics; then execute step S4; otherwise, return to step S2.

[0098] In another embodiment of the present invention, the preset contour feature includes a shape of a preset contour or a similarity threshold of a preset contour.

[0099] In another embodiment of the present invention, for example, the preset colors may be three colors: red, yellow, and blue, and the preset colors may be arranged in the order of: red on the leftmost side, yellow in the middle, and blue on the rightmost side, and the preset contour feature may be the shape of the preset contour (e.g., a rectangle).

[0100] Assuming that the color characteristics of the docking mark conform to the preset colors and the preset color arrangement order, but the contour characteristics of the concave surface 51 and the convex surface 52 of the docking mark (e.g., parallelogram) do not conform to the preset contour characteristics (e.g., rectangle), the self-moving device and the charging station are not facing each other.

[0101] Assuming that the color characteristics of the docking mark conform to the preset colors and the preset color arrangement order, and the contour characteristics (e.g., rectangle) of the concave surface 51 and the convex surface 52 of the docking mark conform to the preset contour characteristics (e.g., rectangle), the self-moving device is facing the charging station.

[0102] In another embodiment of the present invention, the preset colors may be three colors: red, yellow, and blue. The preset color arrangement order is: red on the leftmost side, yellow in the middle, and blue on the rightmost side. The preset contour feature is the similarity threshold of the preset contour.

[0103] Assume that the color characteristics of the docking mark meet the preset colors and the preset color arrangement order, but the similarity between the contours of the concave surface 51 and the convex surface 52 of the docking mark does not meet the preset contour similarity threshold (for example, not greater than the preset contour similarity threshold), that is, the concave surface 51 and the convex surface 52 are not similar to each other, then the self-mobile device and the charging station are not facing each other.

[0104] Assuming that the color characteristics of the docking mark conform to the preset colors and the preset color arrangement order, and the similarity of the contours of the concave surface 51 and the convex surface 52 of the docking mark conforms to the preset contour similarity threshold (for example, greater than the preset contour similarity threshold), that is, the concave surface 51 and the convex surface 52 are similar to each other, then the self-moving device is facing the charging station.

[0105] In another embodiment of the present invention, the greater the distance between the concave surface 51 and the convex surface 52 along the direction in which the self-mobile device and the charging station face each other, the smaller the viewing angle range of the self-mobile device to obtain the concave surface 51. Step S3 can be used to determine whether the self-mobile device and the charging station face each other based on whether the concave surface 51 exists in the docking mark. If the concave surface 51 exists in the docking mark, the self-mobile device is controlled to move straight toward the charging station until docking is successful. If the concave surface 51 does not exist in the docking mark, it is determined that the self-mobile device and the charging station are not facing each other. For example, a preset color of yellow is set on the concave surface 51. If a yellow area exists in the docking mark, it indicates that the self-mobile device and the charging station are facing each other. Otherwise, it indicates that the self-mobile device and the charging station are not facing each other. The recognition of a single color can greatly simplify the calculation of the system and improve the recognition efficiency.

[0106] See also Figure 10A 、 Figure 10B and Figure 11 As shown, in another embodiment of the present invention, the docking mark 5 is provided on the charging station 2, and the docking mark 5 includes a plurality of luminous bodies 7;

[0107] In another embodiment of the present invention, step S3 includes:

[0108] Step S310: obtaining the number of the light sources 7 from the environment image;

[0109] Step S320: Determine whether the number of the light-emitting bodies 7 meets the preset number of light-emitting bodies; if the number of the light-emitting bodies 7 meets the preset number of light-emitting bodies, execute step S4; otherwise, return to step S2.

[0110] Assuming that the number of the light-emitting bodies 7 obtained from the environment image is not equal to 1 or the number of the light-emitting body 7 is equal to 1 but is not located on the left side of the docking identification device 5 , the self-mobile device 1 is not facing the charging station 2 .

[0111] Assuming that the number of the light-emitting body 7 obtained from the environment image is 1 and is located on the left side of the docking identification device 5 , the self-mobile device 1 is facing the charging station 2 .

[0112] See also Figure 12A 、 Figure 12B and Figure 13 As shown, in another embodiment of the present invention, the docking mark 5 is provided on the charging station 2, and the docking mark 5 is provided with a concave surface 51 and a convex surface 52, and the concave surface 51 and the convex surface 52 respectively include a light emitting body 7;

[0113] In another embodiment of the present invention, step S3 includes:

[0114] Step S301: Acquire the arrangement direction of the light-emitting body 7 from the environmental image;

[0115] Step S302: Determine whether the arrangement direction of the light-emitting body 7 conforms to the preset light-emitting body arrangement direction; if the arrangement direction of the light-emitting body conforms to the preset light-emitting body arrangement direction, execute step S4; otherwise, return to step S2.

[0116] Assuming that the arrangement directions of the light-emitting bodies 7 obtained from the environment image are not located on the same straight line in the vertical direction, the self-moving device 1 and the charging station 2 are not facing each other.

[0117] Assuming that the arrangement directions of the light-emitting bodies 7 obtained from the environment image are located on the same straight line in the vertical direction, the self-moving device 1 and the charging station 2 are facing each other.

[0118] In another embodiment of the present invention, by pre-storing an image of the environment when the self-mobile device 1 and the charging station 2 are facing each other, a similarity calculation is performed between the captured environment image (the environment image captured during the process of finding the facing position) and the pre-storage environment image to obtain a similarity, and based on the similarity, it is determined whether the self-mobile device 1 and the charging station 2 are facing each other. The specific steps are as follows:

[0119] The step S3 further comprises:

[0120] Preprocessing the collected environment image to obtain a preprocessed environment image, wherein the preprocessing is to replace the background area of the environment image except the docking mark with the background area of the pre-stored environment image;

[0121] A similarity calculation is performed on the pre-processed environment image and the pre-stored environment image to obtain similarity, and based on the similarity, it is determined whether the self-mobile device 1 and the charging station 2 are facing each other. The similarity calculation methods include existing algorithms such as hash algorithm, template matching, PSNR peak signal-to-noise ratio, SSIM structural similarity, etc.

[0122] See also Figure 14 As shown, the present invention also provides a device 200 for docking a mobile device with a charging station, the device comprising:

[0123] A movement control module 201 is used to control the self-mobile device to move from a current position to a docking area;

[0124] An image acquisition module 202 is configured to control the mobile device to move around the charging station within the docking area and to control the mobile device to acquire an image of the environment;

[0125] The facing judgment module 203 is used to obtain a docking identifier from the environment image and determine whether the mobile device and the charging station are facing each other according to the docking identifier;

[0126] The docking control module 204 is configured to control the mobile device to move straight toward the charging station until docking is successful.

[0127] The present invention also provides a self-moving device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for docking the self-moving device with a charging station when executing the computer program.

[0128] The present invention also provides a docking system between a self-moving device and a charging station. The system includes the self-moving device and a docking identifier.

[0129] In another embodiment of the present invention, the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface are different in color.

[0130] In another embodiment of the present invention, the docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a light-emitting body.

[0131] In another embodiment of the present invention, the docking mark includes a plurality of luminous bodies.

[0132] The present invention also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for docking a mobile device with a charging station are implemented.

[0133] Compared to the prior art, the present invention reduces the time it takes for an automatic mobile device to search for a charging station by controlling the self-mobile device to move around the charging station in the docking area and collect environmental images; obtains a docking identifier from the environmental image, and determines whether the self-mobile device and the charging station are facing each other based on the docking identifier, thereby improving the return efficiency of the automatic mobile device. The present invention determines whether the self-mobile device and the charging station are facing each other by obtaining the color characteristics and contour characteristics of the docking identifier, thereby improving the facing recognition efficiency of the automatic mobile device. The present invention determines whether the self-mobile device and the charging station are facing each other by obtaining the number of light-emitting bodies or the arrangement direction of the light-emitting bodies, thereby avoiding misjudgment caused by color distortion. The present invention obtains the distance between the self-mobile device and the charging station through an ultrasonic sensor to control the self-mobile device to move around the charging station in the docking area, which is beneficial to controlling the proportion of the docking identifier in the environmental image and facilitating identification and comparison.

[0134] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0135] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for docking a mobile device with a charging station, characterized in that: The method comprises the following steps: Controlling the mobile device to move from a current position to a docking area; Controlling the mobile device to move around the charging station within the docking area and collect environmental images; Acquire a docking identifier from the environment image, and determine whether the mobile device and the charging station are facing each other according to the docking identifier; If the self-mobile device is facing the charging station, controlling the self-mobile device to move straight toward the charging station until docking is successful; The docking mark is provided on the charging station, and the docking mark has a concave surface and a convex surface, and the concave surface and the convex surface are different in color; The acquiring of the docking identifier from the environment image and determining whether the mobile device is facing the charging station according to the docking identifier includes: Acquire color features and contour features of the docking mark from the environment image; Determining whether the color characteristics of the docking mark conform to the preset colors and the preset color arrangement order, and determining whether the outline characteristics of the docking mark conform to the preset outline characteristics; If the color characteristics of the docking mark meet the preset colors and the preset color arrangement order, and the outline characteristics of the docking mark meet the preset outline characteristics, the mobile device is controlled to move straight toward the charging station until the docking is successful.

2. The method for docking a mobile device with a charging station according to claim 1, characterized in that: The docking mark is provided on the charging station, and the docking mark includes a plurality of luminous bodies; The acquiring of the docking identifier from the environment image and determining whether the mobile device is facing the charging station according to the docking identifier includes: Acquire the number of the luminous bodies from the environment image; Determining whether the number of the light-emitting bodies meets the preset number of light-emitting bodies; If the number of the light-emitting bodies meets the preset number of light-emitting bodies, the self-mobile device is controlled to move straight toward the charging station until the docking is successful.

3. The method for docking a mobile device with a charging station according to claim 1, wherein: The docking mark is provided on the charging station, and the docking mark has a concave surface and a convex surface, and the concave surface and the convex surface respectively include a luminous body; The acquiring of the docking identifier from the environment image and determining whether the mobile device is facing the charging station according to the docking identifier includes: Acquire the arrangement direction of the light emitters from the environment image; Determining whether the arrangement direction of the light-emitting body complies with the preset light-emitting body arrangement direction; If the arrangement direction of the light-emitting bodies conforms to the preset arrangement direction of the light-emitting bodies, the self-mobile device is controlled to move straight toward the charging station until docking is successful.

4. The method for docking a mobile device with a charging station according to claim 1, wherein: The controlling the self-mobile device to move around the charging station in the docking area and controlling the self-mobile device to collect an environmental image includes: Controlling the self-moving device to move around the charging station within the docking area by a radio detection device, and controlling the self-moving device to collect environmental images according to preset conditions; The radio detection device is provided on the self-moving device, and controls the self-moving device to move around the charging station within the docking area according to the distance between the self-moving device and the charging station sensed by the radio detection device.

5. A device for docking a mobile device with a charging station, characterized in that: The device comprises: A movement control module, configured to control the self-moving device to move from a current position to a docking area; An image acquisition module, configured to control the self-mobile device to move around the charging station within the docking area and to control the self-mobile device to acquire an environmental image; a facing judgment module, configured to obtain a docking identifier from the environment image and determine whether the mobile device and the charging station are facing each other according to the docking identifier; Acquire color features and contour features of the docking mark from the environment image; Determining whether the color characteristics of the docking mark conform to the preset colors and the preset color arrangement order, and determining whether the outline characteristics of the docking mark conform to the preset outline characteristics; If the color characteristics of the docking mark meet the preset colors and the preset color arrangement order, and the contour characteristics of the docking mark meet the preset contour characteristics, controlling the self-mobile device to move straight toward the charging station until docking is successful, wherein the docking mark is provided on the charging station, the docking mark has a concave surface and a convex surface, and the concave surface and the convex surface have different colors; The docking control module is used to control the mobile device to move straight toward the charging station until docking is successful.

6. A self-propelled device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method for docking a mobile device with a charging station according to any one of claims 1 to 4 are implemented.

7. A system for docking a mobile device with a charging station, characterized in that: The system includes the self-moving device according to claim 6, and the system also includes a docking mark, wherein the docking mark has a concave surface and a convex surface, and the concave surface and the convex surface have different colors.

8. The system for docking a mobile device with a charging station according to claim 7, characterized in that: The docking mark is provided with a concave surface and a convex surface, and the concave surface and the convex surface respectively include a luminous body.

9. The system for docking a mobile device with a charging station according to claim 7, wherein: The docking mark includes a plurality of luminous bodies.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for docking a mobile device with a charging station according to any one of claims 1 to 4 are implemented.

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