Control method of return device, return device and robot system

Abstract

The present invention relates to a control method for a return device, a return device and a robot system. The control method for the return device reduces the intensity of the first light signal when the first light intensity is greater than a first threshold, that is, when it is determined that the first light signal is reflected at this time, so that the self-moving robot cannot receive enough first light signals, thereby avoiding affecting its search for the return device; and reduces the intensity of the second light signal when the second light intensity is greater than a second threshold, that is, when it is determined that the second light signal is reflected at this time, so that the self-moving robot cannot receive enough second light signals, thereby avoiding affecting its search for the return device. In this way, the interference of the self-moving robot can be eliminated when the first light signal and the second light signal are reflected, thereby improving the accuracy of the return of the self-moving robot.

Description

Technical Field

[0001] The present invention relates to the technical field of self-moving robots, and in particular to a control method for a return device, a return device and a robot system. Background Art

[0002] With the development of science and technology and the improvement of living standards, self-moving robots have been widely used. In order to improve convenience, the self-moving robots are set to automatically navigate back to the return device after completing the work, so as to facilitate storage management or charging.

[0003] Existing self-propelled robots usually use infrared lights for automatic alignment. The return device is equipped with multiple transmitters for emitting infrared light signals. The light signals emitted by each transmitter and the areas covered by the light signals are different. The self-propelled robot is provided with a receiver for receiving infrared light. It can determine which transmitter the light signal comes from based on the received light signal, and then determine which transmitter's emission area it is located in, thereby knowing the position of the self-propelled robot and finally determining the return plan of the self-propelled robot.

[0004] However, when there is an interference object (such as a wall or cabinet furniture) that can reflect light signals next to the return device, the self-moving robot, which should not receive the light signal of a certain transmitter, receives its light signal due to light reflection. If the position of the self-moving robot is still determined according to the original method, it may lead to misjudgment, and ultimately cause the self-moving robot to fail to return correctly. Therefore, a control method that can solve the interference of reflected light and improve the accuracy of the self-moving robot's return is urgently needed. Summary of the invention

[0005] Based on this, it is necessary to provide a control method, a return device and a robot system that can solve the interference of reflected light so that the self-moving robot can return to its position accurately.

[0006] A control method for a return device, the return device comprising a transmitting module and a receiving module, the transmitting module is used to transmit a first light signal to a first area, and is used to transmit a second light signal to a second area, the first area and the second area do not overlap each other; the receiving module is used to detect a first light intensity and a second light intensity, the first light intensity is used to reflect whether the first light signal is reflected by an interfering object, and the second light intensity is used to reflect whether the second light signal is reflected by an interfering object; the method comprises:

[0007] When the first light intensity is greater than a first threshold, controlling the transmitting module to reduce the emission intensity of the first light signal;

[0008] When the second light intensity is greater than a second threshold, the transmitting module is controlled to reduce the emission intensity of the second light signal.

[0009] In one of the embodiments, the step of controlling the transmitting module to reduce the emission intensity of the first optical signal includes: controlling the transmitting module to reduce the emission intensity of the first optical signal from a first emission intensity to a second emission intensity;

[0010] After the step of controlling the transmitting module to reduce the transmission intensity of the first optical signal, the method further includes:

[0011] When the transmitting module meets the recovery condition, the transmitting module is controlled to restore the emission intensity of the first optical signal from the second emission intensity to the first emission intensity.

[0012] In one embodiment,

[0013] After controlling the transmission module to restore the emission intensity of the first optical signal from the second emission intensity to the first emission intensity, if the first light intensity is greater than the first threshold, controlling the transmission module to reduce the emission intensity of the first optical signal from the first emission intensity to the second emission intensity; if the first light intensity is less than the first threshold, the emission intensity of the first optical signal remains at the first emission intensity.

[0014] In one embodiment,

[0015] After the step of controlling the transmitting module to reduce the emission intensity of the first optical signal, if the emission intensity of the first optical signal is maintained at the second emission intensity for a preset time, it is determined that the transmitting module meets the recovery condition.

[0016] In one embodiment,

[0017] When the set recovery time of the transmitting module arrives, it is determined that the transmitting module meets the recovery condition.

[0018] A return device, comprising:

[0019] A transmitting module, used to transmit a first optical signal to a first area, and used to transmit a second optical signal to a second area, wherein the first area and the second area do not overlap each other;

[0020] A receiving module, used to detect a first light intensity and a second light intensity, wherein the first light intensity is used to reflect whether the first light signal is reflected by an interfering object, and the second light intensity is used to reflect the intensity of a reflected light signal formed after the second light signal is reflected by the interfering object;

[0021] The controller is used to control the transmitting module to reduce the emission intensity of the first optical signal when the first optical intensity is greater than a first threshold, and to control the transmitting module to reduce the emission intensity of the second optical signal when the second optical intensity is greater than a second threshold.

[0022] In one embodiment, the transmitting module includes:

[0023] A first transmitting unit, configured to transmit the first optical signal to the first area;

[0024] The second transmitting unit is used to transmit the second optical signal to the second area.

[0025] In one embodiment, the receiving module includes:

[0026] a first receiving unit, the first receiving unit being disposed adjacent to the first emitting unit and having a first sensing portion for sensing light, the first sensing portion being disposed toward the first area to detect the first light intensity;

[0027] A second receiving unit is disposed adjacent to the second emitting unit and has a second sensing portion for sensing light, wherein the second sensing portion is disposed toward the second area to detect the second light intensity.

[0028] In one embodiment, the return device further comprises:

[0029] A charging module is used to provide electrical energy.

[0030] A robot system comprises a self-moving robot and the above-mentioned return device; the self-moving robot is used to receive the first light signal or the second light signal, and return according to the first light signal or the second light signal.

[0031] The control method of the return device reduces the intensity of the first light signal when the first light intensity is greater than a first threshold, that is, when it is determined that the first light signal is reflected, so that the self-moving robot cannot receive enough first light signals, thereby avoiding affecting its search for the return device; and reduces the intensity of the second light signal when the second light intensity is greater than a second threshold, that is, when it is determined that the second light signal is reflected, so that the self-moving robot cannot receive enough second light signals, thereby avoiding affecting its search for the return device. In this way, the interference of the self-moving robot when the first light signal and the second light signal are reflected can be eliminated, thereby improving the accuracy of the return of the self-moving robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 This is a schematic structural diagram of a return device according to an embodiment;

[0034] Figure 2 It is a structural schematic diagram of a return device of another embodiment;

[0035] Figure 3 A schematic flow chart of a control method for a return device according to an embodiment;

[0036] Figure 4 It is a schematic structural diagram of a return device of another embodiment. DETAILED DESCRIPTION

[0037] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0039] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first optical signal may be referred to as a second optical signal, and similarly, a second optical signal may be referred to as a first optical signal. Both the first optical signal and the second optical signal are optical signals, but they are not the same optical signal.

[0040] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0041] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0042] Figure 1 FIG. 1 is a schematic diagram of the structure of a return device according to an embodiment of the present invention. The return device 100 includes a transmitting module 101 and a receiving module ( Figure 1 Not shown), wherein the transmitting module 101 is used to transmit a first optical signal to a first area A, and to transmit a second optical signal to a second area B, wherein the first area and the second area do not overlap with each other, and the receiving module is used to detect a first light intensity and a second light intensity, the first light intensity is used to reflect whether the first optical signal is reflected by an interfering object, and the second light intensity is used to reflect whether the second optical signal is reflected by an interfering object.

[0043] It can be understood that the transmitting module 101 may have two optical signal transmitting ends to transmit the first optical signal and the second optical signal respectively. The first optical signal and the second optical signal are different optical signals, and both are emitted outward at a certain emission angle, so as to respectively cover the first area A and the second area B of the return device, wherein the first area A and the second area B do not overlap each other, so that the self-moving robot can determine whether it is located in the first area A or the second area B by detecting the first optical signal or the second optical signal. For example, when the self-moving robot detects the first optical signal but does not detect the second optical signal, it is determined that it is located in the first area A; when the self-moving robot detects the second optical signal but does not detect the first optical signal, it is determined that it is located in the second area B. In one embodiment, the range of the first area A and the second area B is relatively wide, and the transmitting module 101 can use a large angle to transmit the first optical signal and the second optical signal, such as a 90° emission angle, a 100° emission angle, a 120° emission angle, etc., to determine the approximate position of the self-moving robot, thereby helping the self-moving robot to return to its position correctly.

[0044] The first area A and the second area B are set not to overlap each other, for example Figure 1As shown, the first area A is the left area of ​​the return device 100, and the second area B is the right area of ​​the return device 100. In one embodiment, the first optical signal emitted by the transmitting module 101 covers the first area A, and the second optical signal emitted by the transmitting module 101 covers the second area B. It can be understood that, since the light signal is divergent after being emitted, and considering the irradiation distance of the light signal, part of the first light signal emitted by the transmitting module 101 may exceed the first area A and enter the second area B; similarly, part of the second light signal of the transmitting module 101 may also exceed the second area B and enter the first area A, but because the self-moving robot has a light intensity limit for the detected light signal, as long as the light intensity of part of the first light signal emitted by the transmitting module 101 is weak after entering the second area B, it can be ensured that it will not be detected by the self-moving robot in the second area B; similarly, as long as the light intensity of part of the second light signal emitted by the transmitting module 101 is weak after entering the first area A, it can be ensured that it will not be detected by the self-moving robot in the first area A, thereby ensuring that no matter where the self-moving robot moves, it can only use at most one of the first light signal and the second light signal as a valid light signal to determine which area of ​​the first area A and the second area B it specifically falls into.

[0045] In one embodiment, the receiving module has two light receiving ends, which can be respectively arranged at any position where the first light signal and the second light signal reflected by the interference object can be detected, so as to respectively detect the first light intensity and the second light intensity, wherein the first light intensity can reflect whether the first light signal is reflected by the interference object, and the second light intensity can reflect whether the second light signal is reflected by the interference object. In one embodiment, the two light receiving ends of the receiving module can be respectively arranged adjacent to each other on both sides of the transmitting module 101, such as Figure 2 Position a and position b in the image are used to ensure that what is detected is the intensity of the reflected light of the first optical signal and the second optical signal, and the intensity of the first optical signal and the second optical signal emitted by the transmitting module 101 is not directly detected. It can be understood that if there is an interference object in the first area A, the first optical signal emitted by the transmitting module 101 will be reflected to position a, thereby being detected by the receiving module, and if there is an interference object in the second area B, the second optical signal emitted by the transmitting module 101 will be reflected to position b, thereby being detected by the receiving module.

[0046] The control method of the return device according to the embodiment of the present invention comprises steps S110 to S120. Figure 3 shown.

[0047] Step S110: When the first light intensity is greater than a first threshold, control the transmitting module to reduce the emission intensity of the first light signal.

[0048] Among them, the first threshold can be determined according to the light intensity of the first optical signal emitted by the transmitting module 101. When the light intensity of the first optical signal is high, the light intensity of the reflected light when the first optical signal is reflected by the interference object is also high. At this time, the first threshold can be set to a larger value. When the light intensity of the first optical signal is low, the light intensity of the reflected light when the first optical signal is reflected by the interference object is also low. The first threshold can be set to a smaller value.

[0049] It can be understood that if the first light intensity is greater than the first threshold, it can be determined that the first light signal has been reflected. At this time, the first light signal may be reflected by the interference object to the second area B. Figure 2 As shown, if the self-moving robot is located in the second area B, the self-moving robot may detect the first light signal reflected by the interference object, thereby interfering with the positioning. In order to prevent the reflected first light signal from interfering with the self-moving robot, the intensity of the first light signal can be reduced at this time, so that the self-moving robot located in the second area B cannot detect the reflected first light signal, or cannot react to the reflected first light signal, thereby solving the interference problem from the source.

[0050] Step S120: When the second light intensity is greater than the second threshold, control the transmitting module to reduce the intensity of the second light signal.

[0051] Among them, the second threshold can be determined according to the light intensity of the second optical signal emitted by the transmitting module 101. When the light intensity of the second optical signal is high, the light intensity of the reflected light when the second optical signal is reflected by the interference object is also high. At this time, the second threshold can be set to a larger value. When the light intensity of the second optical signal is low, the light intensity of the reflected light when the second optical signal is reflected by the interference object is also low. The second threshold can be set to a smaller value.

[0052] Similarly, if the second light intensity is greater than the first threshold, it can be determined that the second light signal has been reflected. At this time, the second light signal emitted by the transmitting module 101 may be reflected by the interference object to the first area A. If the self-moving robot is located in the first area A, the self-moving robot may detect the second light signal reflected by the interference object, thereby interfering with the return of the self-moving robot. In order to prevent the reflected second light signal from interfering with the self-moving robot, the intensity of the second light signal can be reduced at this time, so that the self-moving robot located in the first area A cannot detect the reflected second light signal, or cannot react to the reflected second light signal, thereby solving the interference problem from the source.

[0053] The control method of the return device in the embodiment of the present invention reduces the intensity of the first light signal when the first light intensity is greater than the first threshold, that is, when it is determined that the first light signal is reflected at this time, so that the self-moving robot cannot receive enough first light signals, thereby avoiding affecting its search for the return device; and reduces the intensity of the second light signal when the second light intensity is greater than the second threshold, that is, when it is determined that the second light signal is reflected at this time, so that the self-moving robot cannot receive enough second light signals, thereby avoiding affecting its search for the return device. In this way, the interference of the self-moving robot when the first light signal and the second light signal are reflected can be eliminated, thereby improving the accuracy of the return of the self-moving robot.

[0054] In one embodiment, the step of controlling the transmitting module to reduce the emission intensity of the first optical signal includes: controlling the transmitting module to reduce the emission intensity of the first optical signal from the first emission intensity to the second emission intensity; after the step of controlling the transmitting module to reduce the emission intensity of the first optical signal, the step also includes: when the transmitting module meets the recovery condition, controlling the transmitting module to restore the emission intensity of the first optical signal from the second emission intensity to the first emission intensity.

[0055] It can be understood that reducing the emission intensity of the first light signal may be reducing the emission intensity of the first light signal from a first emission intensity to a second emission intensity, wherein the first emission intensity may be the normal emission intensity of the first light signal, which may be set according to actual conditions, and the second emission intensity may be the emission intensity at which the reflected signal cannot cause the self-moving robot to respond after the first light signal is reflected by an interference object. In one embodiment, the second emission intensity may be 0.

[0056] When the transmitting module meets the recovery condition, it is confirmed that the transmitting module can restore the intensity of the first light signal, that is, restore the emission intensity of the first light signal from the second emission intensity to the first emission intensity, so as to avoid affecting the return of the self-moving robot according to the first light signal due to long-term restriction of the emission intensity of the first light signal. The recovery condition of the transmitting module can be set according to actual work requirements.

[0057] In one embodiment, after the control transmission module restores the emission intensity of the first optical signal from the second emission intensity to the first emission intensity, if the first light intensity is greater than the first threshold, the control transmission module reduces the emission intensity of the first optical signal from the first emission intensity to the second emission intensity; if the first light intensity is less than the first threshold, the emission intensity of the first optical signal remains at the first emission intensity.

[0058] It can be understood that after restoring the intensity of the first light signal emitted by the transmitting module, if the first light intensity is still greater than the first threshold value, it indicates that the first light signal still produces a reflection phenomenon and the interference still exists. At this time, the transmitting module can be controlled again to reduce the emission intensity of the first light signal from the first emission intensity to the second emission intensity to avoid the reflected light affecting the accuracy of the self-moving robot's return; if the first light intensity is less than the first threshold value, it indicates that the first light signal does not produce a reflection phenomenon and the interference has been removed. At this time, the emission intensity of the first light signal can be controlled to remain at the first emission intensity to instruct the self-moving robot to return.

[0059] In one embodiment, after the step of controlling the transmitting module to reduce the transmission intensity of the first optical signal, if the transmission intensity of the first optical signal remains at the second transmission intensity for a preset time, it is determined that the transmitting module meets the recovery condition.

[0060] It can be understood that after determining that the first light signal is reflected by an interference object and controlling the transmitting module to reduce the first light signal from the first emission intensity to the second emission intensity, if the first light signal maintains the second emission intensity for a preset time, it is determined that the transmitting module meets the recovery condition, and then the transmitting module can be controlled to restore the emission intensity of the first light signal from the second emission intensity to the first emission intensity, so as to avoid affecting the self-moving robot's return to its position according to the first light signal due to long-term restriction on the emission intensity of the first light signal, wherein the preset time can be set to 1 minute, which can be set specifically according to needs.

[0061] In one embodiment, it is determined that the transmission module meets the recovery condition when the set recovery time of the transmission module arrives.

[0062] It can be understood that a set recovery time can also be set for the transmitting module 101. Regardless of whether the emission intensity of the first light signal is reduced, the transmitting module 101 can be controlled according to the set recovery time to reset the intensity of the emitted first light signal to the first emission intensity, so as to realize the timing opening of the transmitting module 101, thereby improving the effectiveness of the first light signal in indicating the return of the self-moving robot. Among them, the set recovery time can be 1 minute or 5 minutes, which can be set according to the needs.

[0063] In one embodiment, reducing the emission intensity of the first optical signal includes reducing a first emission power of the emission module 101 , where the first emission power is the power when the emission module 101 emits the first optical signal.

[0064] It can be understood that the intensity of the first optical signal is determined by the first transmitting power of the transmitting module 101. When the first optical intensity detected by the receiving module is greater than the first threshold, that is, when it is determined that the first optical signal is reflected, in order to avoid the reflected signal interfering with the return of the self-moving robot, the first transmitting power can be reduced, thereby reducing the intensity of the first optical signal, so that the self-moving robot cannot detect the reflected signal of the first optical signal of sufficient intensity in the second area B, and cannot interfere with the self-moving robot.

[0065] In one embodiment, reducing the intensity of the first optical signal includes: controlling the transmitting module 101 to stop transmitting the first optical signal.

[0066] It can be understood that when the first light intensity detected by the receiving module is greater than the first threshold, that is, when it is determined that the first light signal is reflected, in order to avoid the reflected signal interfering with the return of the self-moving robot, the transmitting module 101 can be controlled to stop transmitting the first light signal, so that the self-moving robot cannot detect the reflected first light signal at all in the second area B, and thus cannot interfere with the self-moving robot. This method can effectively solve the problem of reflected light and is simpler to implement.

[0067] In one embodiment, the step of controlling the transmitting module to reduce the emission intensity of the second optical signal includes: controlling the transmitting module to reduce the emission intensity of the second optical signal from a third emission intensity to a fourth emission intensity; after the step of controlling the transmitting module to reduce the emission intensity of the second optical signal, the step also includes: when the transmitting module meets the second optical signal recovery condition, controlling the transmitting module to restore the emission intensity of the second optical signal from the fourth emission intensity to the third emission intensity.

[0068] It can be understood that reducing the emission intensity of the second light signal may be reducing the emission intensity of the second light signal from the third emission intensity to the fourth emission intensity, wherein the third emission intensity may be the normal emission intensity of the second light signal, and the third emission intensity may be set according to actual conditions, and the fourth emission intensity may be the emission intensity at which the reflected signal cannot cause the self-moving robot to respond after the second light signal is reflected by an interference object. In one embodiment, the fourth emission intensity may be 0.

[0069] When the transmitting module meets the second optical signal recovery condition, it is confirmed that the transmitting module can restore the intensity of the second optical signal, that is, restore the emission intensity of the second optical signal from the fourth emission intensity to the third emission intensity, so as to avoid affecting the return of the self-moving robot according to the second optical signal due to long-term restriction of the emission intensity of the second optical signal.

[0070] In one embodiment, after the control transmission module restores the emission intensity of the second optical signal from the fourth emission intensity to the third emission intensity, if the second light intensity is greater than the second threshold, the control transmission module reduces the emission intensity of the second optical signal from the third emission intensity to the fourth emission intensity; if the second light intensity is less than the second threshold, the emission intensity of the second optical signal remains at the third emission intensity.

[0071] It can be understood that after restoring the intensity of the second light signal emitted by the transmitting module, if the second light intensity is still greater than the second threshold value, it indicates that the second light signal still produces reflection and the interference still exists. At this time, the transmitting module can be controlled again to reduce the emission intensity of the second light signal from the third emission intensity to the fourth emission intensity to avoid the reflected light affecting the accuracy of the self-moving robot's return; if the second light intensity is less than the second threshold value, it indicates that the second light signal does not produce reflection and the interference has been removed. At this time, the emission intensity of the second light signal can be controlled to remain at the third emission intensity to instruct the self-moving robot to return.

[0072] In one embodiment, after the step of controlling the transmitting module to reduce the emission intensity of the second optical signal, if the emission intensity of the second optical signal remains at the fourth emission intensity for a preset time, it is determined that the transmitting module meets the second optical signal recovery condition.

[0073] It can be understood that after determining that the second light signal is reflected by an interference object and controlling the transmitting module to reduce the second light signal from the third emission intensity to the fourth emission intensity, if the second light signal maintains the fourth emission intensity for a preset time, it is determined that the transmitting module meets the second light signal recovery condition, and then the transmitting module can be controlled to restore the emission intensity of the second light signal from the fourth emission intensity to the third emission intensity, thereby avoiding affecting the return of the self-moving robot according to the second light signal due to long-term restriction of the emission intensity of the second light signal.

[0074] In one embodiment, when a set recovery time of the transmission module is reached, it is determined that the transmission module meets the second optical signal recovery condition.

[0075] It can be understood that a set recovery time can also be set. Regardless of whether the emission intensity of the second light signal is reduced, the emission module can be controlled according to the set recovery time to reset the intensity of the emitted second light signal to the third emission intensity, thereby improving the effectiveness of the second light signal in indicating the return of the self-moving robot.

[0076] In one embodiment, reducing the emission intensity of the second optical signal may include: reducing a second emission power of the emission module 101 , where the second emission power is the power when the emission module 101 emits the second optical signal.

[0077] It can be understood that the intensity of the second optical signal is determined by the second transmitting power of the transmitting module 101. When the second optical intensity of the second optical signal is greater than the second threshold, that is, when it is determined that the second optical signal is reflected, in order to avoid the reflected signal interfering with the return of the self-moving robot, the second transmitting power can be reduced, thereby reducing the intensity of the second optical signal, so that the self-moving robot cannot detect the reflected signal of the second optical signal of sufficient intensity in the first area A, and cannot interfere with the self-moving robot.

[0078] In one embodiment, reducing the intensity of the second optical signal includes: controlling the transmitting module 101 to stop transmitting the second optical signal.

[0079] It can be understood that when the second light intensity of the second light signal is greater than the second threshold, that is, when it is determined that the second light signal is reflected, in order to prevent the reflected signal from interfering with the return of the self-moving robot, the transmitting module 101 can be controlled to stop transmitting the second light signal, that is, the second transmitting power of the transmitting module 101 is controlled to be 0, so that the self-moving robot cannot detect the reflected second light signal at all in the first area A, and thus cannot interfere with the self-moving robot. This method can effectively solve the problem of reflected light and is simpler to implement.

[0080] The embodiment of the present invention further provides a return device, which includes: a transmitting module 101, a receiving module and a controller. The transmitting module 101 is used to transmit a first optical signal to a first area A, and to transmit a second optical signal to a second area B, wherein the first area and the second area do not overlap each other; the receiving module is used to detect a first light intensity and a second light intensity, wherein the first light intensity is used to reflect the intensity of a reflected optical signal formed after the first optical signal is reflected by an interference object, and the second light intensity is used to reflect the intensity of a reflected optical signal formed after the second optical signal is reflected by an interference object; the controller is used to reduce the emission intensity of the first optical signal when the first light intensity is greater than a first threshold, and is used to reduce the emission intensity of the second optical signal when the second light intensity is greater than a second threshold.

[0081] Among them, the specific principles and functions of the transmitting module 101 and the receiving module have been specifically explained in the above embodiments and will not be repeated here.

[0082] The controller (not shown) can be connected to the receiving module to obtain the first light intensity and the second light intensity detected by the receiving module, thereby determining and eliminating interference based on the relationship between the first light intensity and the first threshold, and determining and eliminating interference based on the relationship between the second light intensity and the second threshold.

[0083] Among them, the first threshold value can be determined according to the light intensity of the first light signal emitted by the transmitting module 101. When the light intensity of the first light signal is high, the light intensity of the reflected light after the first light signal is reflected by the interference object is also high. At this time, the first threshold value can be set to a larger value, and when the light intensity of the first light signal is low, the light intensity of the reflected light after the first light signal is reflected by the interference object is also low, and the first threshold value can be set to a smaller value. Similarly, the second threshold value can be determined according to the light intensity of the second light signal emitted by the transmitting module 101. When the light intensity of the second light signal is high, the light intensity of the reflected light after the second light signal is reflected by the interference object is also high. At this time, the second threshold value can be set to a larger value, and when the light intensity of the second light signal is low, the light intensity of the reflected light after the second light signal is reflected by the interference object is also low, and the second threshold value can be set to a smaller value.

[0084] It can be understood that if the first light intensity is greater than the first threshold, it can be determined that the first light signal has been reflected. At this time, the first light signal may be reflected by the interference object to the second area B. Figure 2 As shown, if the self-moving robot is located in the second area B, the self-moving robot may detect the first light signal reflected by the interference object, thereby interfering with the return of the self-moving robot. In order to prevent the reflected first light signal from interfering with the self-moving robot, the intensity of the first light signal can be reduced at this time, so that the self-moving robot located in the second area B cannot detect the first light signal reflected by the interference object, or cannot react to the first light signal reflected by the interference object, thereby solving the interference problem from the source.

[0085] Similarly, if the second light intensity is greater than the first threshold, it can be determined that the second light signal has been reflected. At this time, the second light signal may be reflected by the interference object to the first area A. If the self-moving robot is located in the first area A, the reflected second light signal may be detected, thereby interfering with the return of the self-moving robot. In order to prevent the reflected second light signal from interfering with the self-moving robot, the intensity of the second light signal can be reduced at this time, so that the self-moving robot located in the first area A cannot detect the second light signal reflected by the interference object, or cannot react to the second light signal reflected by the interference object, thereby solving the interference problem from the source.

[0086] The beneficial effects of the return device of the embodiment of the present invention are as follows: Figure 3 The beneficial effects of the control method of the return device of the embodiment are similar and will not be described in detail here.

[0087] In one embodiment, the transmitting module 101 includes a first transmitting unit and a second transmitting unit, the first transmitting unit is used to transmit a first optical signal to a first area, and the second transmitting unit is used to transmit a second optical signal to a second area.

[0088] like Figure 4As shown, the first emitting unit and the second emitting unit can be represented by p and q in the figure respectively. It can be understood that the first emitting unit and the second emitting unit can be infrared light emitters respectively.

[0089] In one embodiment, the receiving module includes a first receiving unit and a second receiving unit, the first receiving unit having a first sensing portion for sensing light, the first sensing portion being arranged to face a first area to detect a first light intensity; the second receiving unit is arranged adjacent to the second transmitting unit, and the second receiving unit having a second sensing portion for sensing light, the second sensing portion being arranged to face a second area to detect a second light intensity.

[0090] like Figure 4 As shown, the first receiving unit is represented by symbol c, and the second receiving unit is represented by symbol d. It can be understood that the first receiving unit and the second receiving unit can be infrared light receivers respectively.

[0091] In one embodiment, the return device further includes a charging module, and the charging module can be used to provide electrical energy.

[0092] It can be understood that the charging module can charge the self-moving robot after it returns to its original position, and the setting position of the charging module can be determined according to the returning position of the self-moving robot, for example, it can be set on the base after the self-moving robot returns to its original position, so that the self-moving robot can be charged after it returns to its original position. The return device can be a charging pile for charging the self-moving robot.

[0093] In one embodiment, the transmitting module further includes an alignment unit, which is located between the first transmitting unit and the second transmitting unit and is used to transmit an alignment signal to the third area; wherein the third area is located between the first area and the second area.

[0094] In one embodiment, Figure 4 As shown, the third area includes the first sub-area and the second sub-area, the alignment signal includes the third light signal and the fourth light signal, the alignment unit includes the third transmitting unit and the fourth transmitting unit, the third transmitting unit is located between the first transmitting unit and the second transmitting unit, the third transmitting unit is represented by the symbol m in the figure, and is used to transmit the third light signal to the first sub-area C1 of the return device; the fourth transmitting unit is located between the first transmitting unit and the second transmitting unit and is adjacent to the third transmitting unit, represented by the symbol n, and is used to transmit the fourth light signal to the second sub-area C2 of the return device.

[0095] It can be understood that the range of the third area is narrower than the first area and the second area. Therefore, the positioning unit uses a small angle to emit the third light signal and the fourth light signal, such as a 4° emission angle, a 5° emission angle, a 10° emission angle, etc., to achieve precise positioning of the self-moving robot, so that the self-moving robot can return to its position accurately.

[0096] In one embodiment, the third light signal and the fourth light signal at least partially overlap, and the return position of the self-moving robot is exactly opposite to the overlapping area of ​​the third light signal and the fourth light signal, so that the self-moving robot can be kept moving in the overlapping area to further ensure the accurate return of the self-moving robot; and when the self-moving robot does not fall into the overlapping area, but only receives one of the third light signal and the fourth light signal, the self-moving robot can find the overlapping area according to the light signal and move towards the overlapping area. Therefore, by setting the third light signal and the fourth light signal to at least partially overlap, the light signal irradiation area is increased, so that the detectability of the self-moving robot is improved, and the return accuracy of the self-moving robot is improved.

[0097] An embodiment of the present invention also provides a return control device, which is applied to the return device. The return device includes a transmitting module 101 and a receiving module. The transmitting module 101 is used to transmit a first light signal to a first area and to transmit a second light signal to a second area, and the first area and the second area do not overlap with each other; the receiving module is used to detect a first light intensity and a second light intensity, the first light intensity is used to reflect whether the first light signal is reflected by an interference object, and the second light intensity is used to reflect whether the second light signal is reflected by an interference object; the return control device includes a first control module and a second control module, the first control module is used to reduce the emission intensity of the first light signal when the first light intensity is greater than a first threshold; the second control module is used to reduce the emission intensity of the second light signal when the second light intensity is greater than a second threshold.

[0098] The principle and beneficial effects of the return control device of this embodiment can be referred to Figure 3 The principles and beneficial effects of the control method of the return device of the embodiment are not described in detail here.

[0099] An embodiment of the present invention also provides a robot system, which includes a self-moving robot and a return device as described in any of the above embodiments; the self-moving robot is used to receive a first light signal or a second light signal, and return according to the first light signal or the second light signal.

[0100] In one embodiment, a computer device is provided, which may be a server. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store optical signals and comparison result data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a control method for a return device is implemented.

[0101] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method of the above-mentioned return device are implemented.

[0102] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the control method of the above-mentioned return device when executed by a processor.

[0103] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0104] It should be understood that although Figure 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 3 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0105] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0106] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A control method for a return device, characterized in that: The return device is a return device of a self-moving robot, and the return device includes a transmitting module and a receiving module, the transmitting module is used to transmit a first light signal to a first area, and is used to transmit a second light signal to a second area, and the first area and the second area do not overlap each other; the receiving module is used to detect a first light intensity and a second light intensity, the first light intensity is used to reflect whether the first light signal is reflected by an interference object, and the second light intensity is used to reflect whether the second light signal is reflected by an interference object; the method includes: When the first light intensity is greater than a first threshold, controlling the transmitting module to reduce the emission intensity of the first light signal, the first threshold being determined according to the light intensity of the first light signal; When the second light intensity is greater than a second threshold, the transmitting module is controlled to reduce the emission intensity of the second light signal, and the second threshold is determined according to the light intensity of the second light signal.

2. The control method according to claim 1, characterized in that: The step of controlling the transmitting module to reduce the emission intensity of the first optical signal includes: controlling the transmitting module to reduce the emission intensity of the first optical signal from a first emission intensity to a second emission intensity; After the step of controlling the transmitting module to reduce the transmission intensity of the first optical signal, the method further includes: When the transmitting module meets the recovery condition, the transmitting module is controlled to restore the emission intensity of the first optical signal from the second emission intensity to the first emission intensity.

3. The control method according to claim 2, characterized in that: After controlling the transmission module to restore the emission intensity of the first optical signal from the second emission intensity to the first emission intensity, if the first light intensity is greater than the first threshold, controlling the transmission module to reduce the emission intensity of the first optical signal from the first emission intensity to the second emission intensity; if the first light intensity is less than the first threshold, the emission intensity of the first optical signal remains at the first emission intensity.

4. The control method according to claim 2, characterized in that: After the step of controlling the transmitting module to reduce the emission intensity of the first optical signal, if the emission intensity of the first optical signal is maintained at the second emission intensity for a preset time, it is determined that the transmitting module meets the recovery condition.

5. The control method according to claim 2, characterized in that: When the set recovery time of the transmitting module arrives, it is determined that the transmitting module meets the recovery condition.

6. A return device, characterized in that: The return device is a return device of the self-moving robot, comprising: A transmitting module, used to transmit a first optical signal to a first area, and used to transmit a second optical signal to a second area, wherein the first area and the second area do not overlap each other; A receiving module, used to detect a first light intensity and a second light intensity, wherein the first light intensity is used to reflect whether the first light signal is reflected by an interfering object, and the second light intensity is used to reflect the intensity of a reflected light signal formed after the second light signal is reflected by the interfering object; A controller, used to control the transmitting module to reduce the emission intensity of the first optical signal when the first light intensity is greater than a first threshold, and used to control the transmitting module to reduce the emission intensity of the second optical signal when the second light intensity is greater than a second threshold, wherein the first threshold is determined according to the light intensity of the first optical signal, and the second threshold is determined according to the light intensity of the second optical signal.

7. The return device according to claim 6, characterized in that: The transmitting module comprises: A first transmitting unit, configured to transmit the first optical signal to the first area; The second transmitting unit is used to transmit the second optical signal to the second area.

8. The return device according to claim 7, characterized in that: The receiving module comprises: a first receiving unit, the first receiving unit being disposed adjacent to the first emitting unit and having a first sensing portion for sensing light, the first sensing portion being disposed toward the first area to detect the first light intensity; A second receiving unit is disposed adjacent to the second emitting unit and has a second sensing portion for sensing light, wherein the second sensing portion is disposed toward the second area to detect the second light intensity.

9. The return device according to claim 7, characterized in that: The return device also includes: A charging module is used to provide electrical energy.

10. A robot system, comprising a self-moving robot and the return device according to any one of claims 6 to 9; the self-moving robot is used to receive the first light signal or the second light signal, and return according to the first light signal or the second light signal.

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