Return method, device, surface driving equipment and storage medium

Abstract

The embodiments of the present invention disclose a return-to-dock method, apparatus, surface vehicle, and storage medium, which are applied to the surface vehicle. The method includes: responding to a return-to-dock instruction, controlling the surface vehicle to deflect toward the dock entrance and measuring the current heading angle after the deflection; calculating whether the difference between the maximum heading angle and the current heading angle is within a preset range; if not, adjusting the heading angle of the surface vehicle accordingly until the difference between the maximum heading angle and the adjusted heading angle is within the preset range; controlling the surface vehicle to move forward and approach the shore, and then starting to move along the shore to enter the dock. This allows the surface vehicle to automatically find a shorter path back to the dock, saving return time and automating the entire process.

Description

Technical Field

[0001] The present invention relates to the field of navigation and pathfinding, and in particular to a return method, device, water surface driving equipment and storage medium. Background Art

[0002] To effectively reduce labor costs in shrimp farming, and to lower labor costs amidst rising labor costs in aquaculture, aquaculture robots are being developed. These robots, operating without water or supervision, map their working environment, intelligently plan paths, and use sensors to detect travel distance and turning angles for autonomous navigation. These robots can fully and automatically perform tasks such as adaptive intelligent feeding, water cleaning and desilting, and water quality monitoring in shrimp ponds, tailored to specific work scenarios. Upon completion of these tasks, they need to be able to automatically return to the dock to reduce labor costs. However, existing technologies cannot guarantee robot stability, and various environmental factors can make navigation methods inaccurate. Summary of the Invention

[0003] In view of this, the present application provides a return method, which is applied to surface traveling equipment, comprising:

[0004] In response to a return instruction, the surface driving device is controlled to deflect toward the direction of the dock entrance, and a current heading angle after the deflection is measured;

[0005] Calculate whether the difference between the maximum heading angle and the current heading angle is within the preset range;

[0006] If it is not within the preset range, adjusting the heading angle of the water surface driving device accordingly until the difference between the maximum heading angle and the adjusted heading angle is within the preset range;

[0007] The water surface traveling device is controlled to travel forward and approach the shore, and then begins to travel along the shore and enter the dock.

[0008] Furthermore, controlling the water surface traveling device to travel forward and approach the shore includes:

[0009] Real-time detection of the distance between the water surface driving device and the shore ahead, and when the distance ahead is less than the detection distance, the driving speed is changed to slow driving;

[0010] Determining that the water surface travel equipment is not approaching the shore;

[0011] If the vehicle is not close to the shore, it continues to travel at a slow speed. If it is close to the shore, the water surface traveling device is turned on the spot so that the water surface traveling device is parallel to the shore.

[0012] Furthermore, the water surface traveling equipment is provided with a laser ranging sensor and an ultrasonic sensor;

[0013] The laser ranging sensor is arranged at the center of the bow of the water-surface traveling equipment and is used to detect the distance ahead;

[0014] The ultrasonic sensor includes a first ultrasonic sensor and a second ultrasonic sensor. The first ultrasonic sensor is arranged at the bow position of the water surface traveling equipment, biased towards a first direction, and the detection direction is forward. The second ultrasonic sensor is arranged in the first direction of the hull of the water surface traveling equipment, and the detection direction is towards the first direction.

[0015] Furthermore, the driving along the coast and entering the dock includes:

[0016] If the first ultrasonic sensor or the second ultrasonic sensor detects the shore, controlling the water surface traveling device to turn on the spot so that the side where the second ultrasonic sensor is located faces the shore;

[0017] The water surface traveling equipment is controlled to maintain a preset distance from the shore so that the water surface traveling equipment travels along the shore and enters the dock.

[0018] Furthermore, controlling the water surface traveling device to maintain a preset distance from the shore includes:

[0019] When the first ultrasonic sensor detects the shore, the water-surface traveling device is controlled to turn in place at a first preset angle and a second direction;

[0020] When the first ultrasonic sensor does not detect the shore, detecting whether the second ultrasonic sensor detects the shore;

[0021] When the second ultrasonic sensor detects the shore, the water surface traveling device is controlled to turn and move forward according to a first preset angle and a second direction;

[0022] When the second ultrasonic sensor does not detect the shore, the water surface traveling device is controlled to move straight.

[0023] Furthermore, the preset interval includes an upper boundary value and a lower boundary value;

[0024] The upper boundary value ranges from 30 to 50 degrees;

[0025] The lower boundary value ranges from 5 to 20 degrees.

[0026] Furthermore, the maximum heading angle is calculated by a tangent formed by an inscribed circle passing through an entrance position along the shore of the dock and an operating area of ​​the water surface traveling equipment;

[0027] The tangent point of the tangent line is located on the side opposite to the entrance of the dock along the shore.

[0028] The present application also provides a return-to-home device, which is applied to water surface traveling equipment, comprising:

[0029] A steering module, configured to respond to a return instruction, control the surface traveling device to deflect toward the direction of the dock entrance, and measure the current heading angle after the deflection;

[0030] The measurement module is used to calculate whether the difference between the maximum heading angle and the current heading angle is within a preset range;

[0031] an adjustment module, configured to adjust the heading angle of the water surface traveling device accordingly if the heading angle is not within the preset range, until the difference between the maximum heading angle and the adjusted heading angle is within the preset range;

[0032] The control module is used to control the water surface driving equipment to move forward and approach the shore, and then start to move along the shore into the dock.

[0033] Furthermore, the present application also provides a surface driving device, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program executes the return method when running on the processor.

[0034] Furthermore, the present application also provides a readable storage medium storing a computer program, which executes the return method when running on a processor.

[0035] The embodiments of the present invention disclose a return method, apparatus, surface traveling equipment, and storage medium, which are applied to the surface traveling equipment. The method includes: responding to a return instruction, controlling the surface traveling equipment to deflect toward the direction of the dock entrance, and measuring the current heading angle after the deflection; calculating whether the difference between the maximum heading angle and the current heading angle is within a preset range; if not within the preset range, adjusting the heading angle of the surface traveling equipment accordingly until the difference between the maximum heading angle and the adjusted heading angle is within the preset range; controlling the surface traveling equipment to move forward and approach the shore, and then starting to travel along the shore to enter the dock. This allows the surface traveling equipment to automatically find a shorter path back to the dock, saving return time and fuel, and achieving automation and precision in the entire return process, while requiring inexpensive equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0037] Figure 1A schematic diagram of a return method process according to an embodiment of the present application is shown;

[0038] Figure 2 A scenario diagram of a return method according to an embodiment of the present application is shown;

[0039] Figure 3 A schematic diagram of the process of the coastal return method according to an embodiment of the present application is shown;

[0040] Figure 4 A schematic diagram of a sensor placement structure according to an embodiment of the present application is shown;

[0041] Figure 5 A schematic structural diagram of a return device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the figures is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are intended to be within the scope of protection of the present invention.

[0044] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0045] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0046] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present invention pertain. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present invention.

[0047] The technical solution of this application can be applied to water-based vehicles in bounded water areas such as shrimp ponds and fish ponds. The water-based vehicles can be traditional sewage suction vessels or water-based robots. The main function is to provide an automated return-to-dock function, allowing the sewage suction vessel and the corresponding sewage suction robot to return to the dock as quickly and safely as possible after completing their operations. The technical solution of this application will be explained below using specific embodiments.

[0048] Example 1

[0049] like Figure 1 , the return method of this embodiment includes the following steps:

[0050] Step S100, in response to the return instruction, the surface driving device is controlled to deflect toward the direction of the dock entrance, and the current heading angle after the deflection is measured.

[0051] This embodiment is described by taking a sewage suction vessel as an example.

[0052] For a sewage suction ship operating in a pond, when returning, it will be at any position in the operating area. If the sewage suction area is in the center of the pond, then for the sewage suction ship, it will return to the dock from a certain position in the center. Figure 2 As shown, the entrance to the dock may be towards the clockwise direction of the pond, the counterclockwise direction and the center of the pond.

[0053] If the dock entrance is towards the center of the pond, you only need to find the direction of the dock relative to the sewage suction boat, and the sewage suction boat can go straight.

[0054] If the dock entrance is facing the pond clockwise or counterclockwise, the sewage suction boat first needs to find a suitable angle.

[0055] like Figure 2 As shown, taking the dock entrance facing counterclockwise as an example, if the heading angle of the sewage suction boat is too large, it will sail to the back of the dock and obviously cannot find the entrance. Therefore, the sewage suction boat needs to deflect to the side facing the dock entrance.

[0056] The position of the dock is fixed and the direction of the entrance is known. Therefore, if the sewage suction boat wants to enter the dock through the dock entrance, it must move clockwise along the pond. After its deflection, the extension line of the bow direction and the focus of the shore must be as close to the dock entrance as possible. In order to evaluate whether the turning angle is appropriate, the current heading angle is measured to determine the current direction of the sewage suction boat.

[0057] The heading angle is the angle between the central axis of the sewage suction vessel and the north, which can be obtained by a geomagnetic sensor.

[0058] Step S200 , calculating whether the difference between the maximum heading angle and the current heading angle is within a preset range.

[0059] After obtaining the heading angle, we need to know whether the current heading angle is appropriate. To do this, we need to first calculate the maximum heading angle.

[0060] The maximum heading angle is calculated by the tangent formed by the inscribed circle of the operating area of ​​the water surface driving equipment and the entrance position along the shore of the dock. Figure 2 The tangent point of the tangent line is located on the opposite side of the entrance to the dock along the shore.

[0061] Specifically, when the dock entrance faces right, two tangent lines can be formed between the entrance location and the inscribed circle in the suction area. At the same time, two tangent points, one on the left and one on the right, are generated relative to the dock. In this application, the angle formed by the tangent line passing through the left tangent point and the north is used to determine the maximum heading angle. Similarly, if the dock entrance faces left, the angle formed by the tangent line passing through the right tangent point and the north is used to determine the maximum heading angle.

[0062] After the maximum heading angle is obtained, the maximum margin Δ and the minimum margin δ are set according to the actual application scenario, and the maximum margin Δ and the minimum margin δ are used as the upper boundary value and the lower boundary value of the preset interval respectively.

[0063] The maximum margin Δ and minimum margin δ are set based on factors such as the actual pond size and dock size. For example, if the minimum margin δ is 15 degrees and the maximum margin Δ is 40 degrees, this step determines whether the difference between the maximum heading angle and the current heading angle is within the range [15°, 40°].

[0064] Reference Figure 2 It can be seen that when the difference between the maximum heading angle and the current heading angle is less than the minimum margin, the sewage suction vessel will travel to the back of the dock and be unable to find the dock entrance. In actual operation, for example, the vessel's own heading control error and environmental interference (such as strong winds and waves) may cause the vessel's direction to deviate. Therefore, a minimum margin is established to ensure that it will not travel to the back of the dock.

[0065] When the difference between the maximum heading angle and the current heading angle is greater than the maximum margin, it will take a longer distance to travel along the shore back to the dock, wasting return time and fuel. Therefore, by setting a reasonable maximum margin Δ and minimum margin δ, the heading angle of the suction ship can be controlled within a reasonable range, so that the suction ship can return to the dock as short as possible.

[0066] Step S300: If it is not within the preset range, the heading angle of the water surface driving device is adjusted accordingly until the difference between the maximum heading angle and the adjusted heading angle is within the preset range.

[0067] When the difference between the maximum heading angle and the current heading angle is not within the preset range, the heading angle of the sewage suction vessel needs to be adjusted so that the difference between the maximum heading angle and the current heading angle falls within the range.

[0068] Specifically, when the difference between the maximum heading angle and the current heading angle is less than the minimum margin, it means that the current heading angle is too large and needs to be adjusted smaller. Figure 2 In this situation, it is necessary to control the sewage suction boat to turn left.

[0069] When the difference between the maximum heading angle and the current heading angle is greater than the maximum margin, it means that the heading angle is too small and needs to be increased. Figure 2 In this situation, it is necessary to control the sewage suction boat to turn right on the spot.

[0070] Through the above adjustment, the heading angle of the sewage suction ship is made at a suitable angle.

[0071] Step S400: If it is within the preset interval, the water surface driving device is controlled to move forward and approach the shore, and then starts to move along the shore into the dock.

[0072] When the difference between the maximum heading angle and the current heading angle is within the preset range, the sewage suction boat can be controlled to move forward and start returning. The sewage suction boat will first approach the shore, then move along the shore and return to the dock from the dock entrance. Figure 2 For example, after the sewage suction boat approaches the shore, it turns to the right, so that the left side of the sewage suction boat faces the shore and the right side faces the center of the pond, and it travels along the shore in a clockwise direction and returns to the dock.

[0073] Specifically, such as Figure 3 As shown, this step also includes the following steps:

[0074] Step S410: Detect the distance between the water surface driving device and the shore in front in real time. When the distance in front is less than the detection distance, change the driving speed to slow driving.

[0075] The sewage suction ship will detect the distance between the bow and the shore in front in real time. The detector for detecting this distance can be a laser sensor that can detect longer distances, such as a TOF ranging sensor.

[0076] When the distance between the sewage suction ship and the shore is close to a certain distance, it will slow down to ensure that the sewage suction ship has enough time to turn when it approaches a sufficient distance from the shore to avoid running aground.

[0077] Among them Figure 4 The figure shows the schematic diagram of the sensor arrangement structure on the sewage suction vessel of the present application.

[0078] A laser ranging sensor 200 capable of detecting a long distance is provided in the center of the bow, and a plurality of ultrasonic sensors are also provided, including a first ultrasonic sensor 110 and a second ultrasonic sensor 120 .

[0079] The first ultrasonic sensor 110 is arranged at the bow of the water surface traveling equipment in a first direction, with a detection direction facing forward. The second ultrasonic sensor 120 is arranged at the first direction of the hull of the water surface traveling equipment, with a detection direction facing the first direction.

[0080] In this embodiment, the first ultrasonic sensor 110 is arranged on the left side of the bow, with the detection direction facing forward, and the second ultrasonic sensor 120 is arranged on the left side of the hull, with the detection direction facing left.

[0081] The detection distance of the ultrasonic detector is shorter than that of the laser ranging sensor, so the above detection distance can be a multiple of the effective detection distance of the ultrasonic sensor, such as 2 times or 1.5 times.

[0082] Step S420: Determine whether the water surface traveling equipment is close to the shore.

[0083] If the ultrasonic sensor detects the shore, it is determined that the water surface traveling equipment is close to the shore; if the ultrasonic sensor does not detect the shore, it is determined that the water surface traveling equipment is not close to the shore.

[0084] The detection distance of the ultrasonic sensor is relatively short, so the distance between the sewage suction vessel and the shore is determined by whether the ultrasonic sensor can detect the shore.

[0085] Step S430: If the vehicle is not close to the shore, the vehicle continues to travel at a slow speed; if the vehicle is close to the shore, the vehicle turns on the spot so that the vehicle is parallel to the shore.

[0086] If the sewage suction boat does not approach the shore, it will continue to travel at a slow speed until the ultrasonic sensor detects the shore.

[0087] When the first ultrasonic sensor 110 or the second ultrasonic sensor 120 detects the shore, the suction boat is controlled to turn on the spot so that the side where the second ultrasonic sensor is located faces the shore, so that the suction boat and the shore are parallel to each other, which facilitates the subsequent driving along the shore.

[0088] When traveling along the coast, it is necessary to control the sewage suction boat to maintain a preset distance from the shore so that the sewage suction boat can travel along the coast and enter the dock. The preset distance can be the effective detection distance of the ultrasonic sensor, or it can be a distance set based on the effective detection distance.

[0089] Specifically, when the first ultrasonic sensor 110 detects the shore, the water-surface traveling device is controlled to turn in situ at a first preset angle and a second direction;

[0090] When the first ultrasonic sensor 110 does not detect the shore, detecting whether the second ultrasonic sensor 120 detects the shore;

[0091] When the second ultrasonic sensor 120 detects the shore, the water surface traveling device is controlled to turn and move forward according to the second preset angle and the second direction;

[0092] When the second ultrasonic sensor 120 does not detect the shore, the water surface traveling device is controlled to move straight.

[0093] In this embodiment, the second direction is right, which is opposite to the first direction.

[0094] When the first ultrasonic sensor 110 detects the shore, it means that the sewage suction boat may be moving toward the shore. There is a risk of running aground if it continues to move forward, so it needs to turn. Therefore, the first preset angle here can be larger, for example, between 30 and 60 degrees.

[0095] When the first ultrasonic sensor 110 does not detect the shore, it means that the sewage suction boat is basically parallel to the shore. At this time, it is necessary to detect whether the second ultrasonic sensor 120 detects the shore. When the second ultrasonic sensor 120 detects the shore, it means that the distance between the sewage suction boat and the shore is within the preset range. Then, the current state can be maintained, and the boat can turn right at a smaller angle to move forward along the shore. The second preset angle here is smaller than the first preset angle, for example, between 0 and 15 degrees.

[0096] When the second ultrasonic sensor 120 does not detect the shore, it means that the sewage suction boat is far away from the shore. Because the pond is a flat convex shape, most of which are circular or rectangular, as long as you go straight forward, you will get close to the shore sooner or later. Therefore, there is no need to turn left to find the shore, just go straight.

[0097] Through the above-mentioned shore-finding navigation process, the sewage suction boat can travel along the shore and finally enter the dock from the dock entrance. In this embodiment, the dock entrance is facing counterclockwise of the entire pond. If the dock entrance is facing clockwise, navigation control can be performed according to the same logic, which will not be repeated here.

[0098] The embodiments of the present application control the heading angle of the water surface traveling equipment within an appropriate range by measuring the heading angle and calculating the maximum heading angle, as well as establishing the maximum margin Δ and the minimum margin δ. This allows the water surface traveling equipment to travel to the shore closer to the dock entrance through the heading angle after completing the sewage suction task. The shore is then detected by sensors to achieve shore navigation, allowing the water surface traveling equipment to return to the dock by walking along the shore. The entire process is fully automated, does not require GPS positioning, and does not have high requirements for the environment and equipment. The sensors used for ranging can also be cheap and common tof ranging sensors and ultrasonic sensors, which are suitable for farmers to use, reduce costs, and automate the entire workflow. It can also self-correct and is applicable to most environments.

[0099] Example 2

[0100] The present application also provides a return device, which is applied to water surface driving equipment, such as Figure 5 As shown, the device includes:

[0101] The steering module 10 is used to control the surface traveling device to deflect toward the direction of the dock entrance in response to the return instruction, and measure the current heading angle after the deflection;

[0102] The measurement module 20 is used to calculate whether the difference between the maximum heading angle and the current heading angle is within a preset range;

[0103] an adjusting module 30 for adjusting the heading angle of the water surface traveling device accordingly if the heading angle is not within the preset range, until the difference between the maximum heading angle and the adjusted heading angle is within the preset range;

[0104] The control module 40 is used to control the water surface driving device to move forward and approach the shore, and then start to move along the shore and enter the dock.

[0105] Furthermore, the present application also provides a surface driving device, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program executes the return method when running on the processor.

[0106] Furthermore, the present application also provides a readable storage medium storing a computer program, which executes the return method when running on a processor.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or flowchart, and the combination of boxes in the structure diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0108] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0109] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0110] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. A return method, characterized in that: Applicable to water surface equipment, including: In response to a return instruction, the surface driving device is controlled to deflect toward the direction of the dock entrance, and a current heading angle after the deflection is measured; Calculate whether the difference between the maximum heading angle and the current heading angle is within the preset range; If it is not within the preset range, adjusting the heading angle of the water surface driving device accordingly until the difference between the maximum heading angle and the adjusted heading angle is within the preset range; If it is within the preset interval, the water surface driving device is controlled to move forward and approach the shore, and then starts to move along the shore into the dock; The maximum heading angle is calculated by a tangent formed by an inscribed circle passing through an entrance position along the shore of the dock and an operating area of ​​the surface traveling equipment; The point of tangency of the tangent line is located on the side opposite to the entrance to the dock along the shore.

2. The return method according to claim 1, characterized in that: Said controlling said water surface traveling device to travel forward and approach the shore comprises: Real-time detection of the distance between the water surface driving device and the shore ahead, and when the distance ahead is less than the detection distance, the driving speed is changed to slow driving; Determining whether the water surface traveling equipment is close to the shore; If the vehicle is not close to the shore, it continues to travel at a slow speed. If it is close to the shore, the water surface traveling device is turned on the spot so that the water surface traveling device is parallel to the shore.

3. The return method according to claim 2, characterized in that: The water surface traveling equipment is provided with a laser ranging sensor and an ultrasonic sensor; The laser ranging sensor is arranged at the center of the bow of the water-surface traveling equipment and is used to detect the distance ahead; The ultrasonic sensor includes a first ultrasonic sensor and a second ultrasonic sensor. The first ultrasonic sensor is arranged at the bow position of the water surface traveling equipment, biased towards a first direction, and the detection direction is forward. The second ultrasonic sensor is arranged in the first direction of the hull of the water surface traveling equipment, and the detection direction is towards the first direction.

4. The return method according to claim 3, characterized in that: Said coasting into the dock includes: If the first ultrasonic sensor or the second ultrasonic sensor detects the shore, controlling the water surface traveling device to turn on the spot so that the side where the second ultrasonic sensor is located faces the shore; The water surface traveling equipment is controlled to maintain a preset distance from the shore so that the water surface traveling equipment travels along the shore and enters the dock.

5. The return method according to claim 4, characterized in that: The controlling of the water surface traveling equipment to maintain a preset distance from the shore comprises: When the first ultrasonic sensor detects the shore, the water-surface traveling device is controlled to turn in place at a first preset angle and a second direction; When the first ultrasonic sensor does not detect the shore, detecting whether the second ultrasonic sensor detects the shore; When the second ultrasonic sensor detects the shore, the water surface traveling device is controlled to turn and move forward according to a second preset angle and a second direction; When the second ultrasonic sensor does not detect the shore, the water surface traveling device is controlled to move straight.

6. The return method according to claim 1, characterized in that: The preset interval includes an upper boundary value and a lower boundary value; The upper boundary value ranges from 30 degrees to 50 degrees; The lower boundary value ranges from 5 degrees to 20 degrees.

7. A return-to-home device, characterized in that: Applicable to water surface equipment, including: A steering module, configured to respond to a return instruction, control the surface traveling device to deflect toward the direction of the dock entrance, and measure the current heading angle after the deflection; The measurement module is used to calculate whether the difference between the maximum heading angle and the current heading angle is within a preset range; an adjustment module, configured to adjust the heading angle of the water surface traveling device accordingly if the heading angle is not within the preset range, until the difference between the maximum heading angle and the adjusted heading angle is within the preset range; A control module is used to control the water surface driving device to move forward and approach the shore, and then start to drive along the shore and enter the dock; The maximum heading angle is calculated by a tangent formed by an inscribed circle passing through an entrance position along the shore of the dock and an operating area of ​​the surface traveling equipment; The point of tangency of the tangent line is located on the side opposite to the entrance to the dock along the shore.

8. A water surface traveling device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is run on the processor, the return method according to any one of claims 1 to 6 is executed.

9. A readable storage medium, characterized in that: The device stores a computer program, which executes the return method according to any one of claims 1 to 6 when running on a processor.

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