Method for self-moving robot to return to base station and self-moving robot

Abstract

The present application provides a method for a self-moving robot to return to a base station and a self-moving robot, which relates to the technical field of self-moving robots. At least two sensing detection elements are arranged on the self-moving robot; when the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is within a set range, the two sensing detection elements can sense the sensing element at the same time; when the horizontal deviation angle is outside the set range, the two sensing detection elements will not sense the sensing element at the same time; the method includes: controlling the self-moving robot to move toward the base station; when at least one sensing detection element senses the sensing element during the moving process, and the two sensing detection elements do not sense the sensing element at the same time, controlling the self-moving robot to stop entering the base station in the current front and rear axis direction. The use of the present application can reduce the risk of a more serious collision in the process of the self-moving robot retreating back to the base station.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving robots, and in particular to a method for a self-moving robot to return to a base station and the self-moving robot. Background Art

[0002] In the related art, a self-moving robot (such as a mopping robot, a sweeping robot, or a sweeping and mopping robot) needs to return to a base station to charge the self-moving robot and / or clean the components of the self-moving robot through the base station.

[0003] However, currently, when the self-moving robot returns to the base station, there is a large deviation angle between its front and rear axes and the front and rear axes of the base station, causing the self-moving robot to have a relatively serious collision with the components of the base station during the process of returning to the base station. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method for a self-moving robot to return to a base station and a self-moving robot, which can reduce the risk of a serious collision when the self-moving robot retreats back to the base station. The specific technical solution is as follows:

[0005] In a first aspect, a method for a self-moving robot to return to a base station is provided.

[0006] The self-propelled robot is provided with at least two sensing detection elements, and the two sensing detection elements are respectively arranged on the left and right sides of the self-propelled robot;

[0007] The base station is provided with a sensing element corresponding to the sensing detection element;

[0008] When the horizontal deviation angle between the front-rear axis of the self-moving robot and the front-rear axis of the base station is within a set range, the two sensing detection elements can sense the sensing elements at the same time;

[0009] When the horizontal deviation angle between the front-rear axis of the self-moving robot and the front-rear axis of the base station is outside the set range, the two sensing detection elements will not sense the sensing elements at the same time;

[0010] The method comprises:

[0011] Controlling the self-moving robot to move toward a base station;

[0012] When at least one sensing detection element senses the sensing element during the moving process and the two sensing detection elements do not sense the sensing element at the same time, the self-moving robot is controlled to stop entering the base station in the current front-rear axis direction.

[0013] Optionally, the method further includes:

[0014] Determine the sequence information of the at least two sensing detection elements sensing the sensing element, wherein the sequence information includes a sequence order and a sequence distance;

[0015] Determine the horizontal deviation direction of the front-rear axis of the self-propelled robot and the front-rear axis of the base station according to the sequence, and determine the horizontal deviation angle of the front-rear axis of the self-propelled robot and the front-rear axis of the base station according to the sequence;

[0016] According to the horizontal deviation angle direction and the horizontal deviation angle, the direction of the self-propelled robot is adjusted so that the horizontal deviation angle between the front and rear axis of the self-propelled robot and the front and rear axis of the base station is within a set range;

[0017] The self-moving robot is controlled to move in the current front-rear axis direction to a docking position with a base station.

[0018] Optionally, determining the horizontal deviation direction of the front-rear axis of the self-propelled robot and the front-rear axis of the base station according to the sequence includes:

[0019] If the sensing detection element located on the left side detects the sensing element first, it is determined that the front-rear axis of the self-moving robot is biased to the right relative to the front-rear axis of the base station;

[0020] If the sensing detection element located on the right side detects the sensing element first, it is determined that the front-rear axis of the self-moving robot is biased to the left of the front-rear axis of the base station.

[0021] Optionally, the horizontal deviation angle is positively correlated with the distance between the consecutive walks.

[0022] Optionally, the inductive detection element is a Hall sensor, and the inductive element is a magnetic strip;

[0023] Alternatively, the inductive detection element is a reed switch, and the inductive element is a magnetic strip;

[0024] Alternatively, the sensing detection element is an infrared receiving tube, and the sensing element is an infrared transmitting tube.

[0025] Optionally, the sensing element is arranged at the entrance of the base station.

[0026] Optionally, guide plates are provided on both sides of the entrance of the base station.

[0027] Optionally, the method further includes:

[0028] When the self-moving robot is in a wall-walking mode, when the sensing element is sensed by the sensing detection element, the self-moving robot is controlled to deviate to a side of the sensing element away from the base station.

[0029] Optionally, the self-moving robot is provided with a mopping assembly at the bottom, and the base station is provided with a cleaning component for cleaning the mopping assembly; the self-moving robot is provided with a first charging electrode for receiving electric energy, and the base station is provided with a second charging electrode corresponding to the first charging electrode for supplying electric energy.

[0030] In a second aspect, a self-moving robot is provided, comprising a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement any method step described in the first aspect.

[0031] An embodiment of the present application provides a method for a self-moving robot to return to a base station and a self-moving robot, which control the self-moving robot to move toward the base station. During the moving process, if at least one sensing detection element senses a sensing element, and if two sensing detection elements do not sense the sensing element at the same time, it indicates that the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is outside a set range. In this case, the self-moving robot is controlled to stop entering the base station with the current front and rear axes, which can reduce the risk of a more serious collision in the process of the self-moving robot retreating back to the base station.

[0032] In addition, determine the sequence information of at least two sensing detection elements sensing the sensing element, the sequence information includes the sequence and the distance between the sequential walking; determine the horizontal deviation direction of the front and rear axes of the self-moving robot and the front and rear axes of the base station according to the sequence, and determine the horizontal deviation angle of the front and rear axes of the self-moving robot and the front and rear axes of the base station according to the distance between the sequential walking; adjust the direction of the self-moving robot according to the horizontal deviation angle direction and the horizontal deviation angle, so that the horizontal deviation angle of the front and rear axes of the self-moving robot and the front and rear axes of the base station is within a set range. Based on the deviation direction and deviation angle determined by the sequence information, the direction of the self-moving robot can be accurately adjusted to achieve precise alignment of the self-moving robot and the base station.

[0033] In addition, when the self-moving robot is in the wall walking mode, when the sensing element is sensed by the sensing detection element, the self-moving robot is controlled to shift to the side of the sensing element away from the base station, so that the sensing element can also act as a virtual wall, preventing the self-moving robot from entering the base station when cleaning along the wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be 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 paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a base station provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the structure of a self-moving robot provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the positional relationship between a self-moving robot and a base station provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the positional relationship between another self-moving robot and a base station provided in an embodiment of the present application;

[0039] Figure 5 A flow chart of a method for a mobile robot to return to a base station provided in an embodiment of the present application;

[0040] Figure 6 A flowchart of another method for a mobile robot to return to a base station provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of a self-propelled robot walking along a wall provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of the structure of a self-moving robot provided in an embodiment of the present application.

[0043] Reference numerals:

[0044] 1. Base station; 101. Sensing element; 102. Guide plate; 103. Cleaning tank; 104. Second charging electrode; 105. Infrared transmitting tube; 106. Guide surface; 107. Clean water tank; 108. Sewage tank; 109. Protrusion; 2. Self-moving robot; 201. Driving wheel; 2021. Left sensing detection element; 2022. Right sensing detection element; 203. LiDAR; 204. First infrared receiving tube. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] An embodiment of the present application provides a method for a self-moving robot to return to a base station. The self-moving robot is provided with a sensing detection element, and the base station is provided with a sensing element corresponding to the sensing detection element.

[0047] The sensing element may be a Hall sensor, and the sensing element may be a magnetic strip; or the sensing element may be a reed switch, and the sensing element may be a magnetic strip; or the sensing element may be an infrared receiving tube, and the sensing element may be an infrared transmitting tube. The sensing element may be arranged at the entrance of the base station.

[0048] like Figure 1 As shown, the base station 1 comprises a cleaning tank 103 for cleaning the mopping member of the self-moving robot.

[0049] Among them, the base station 1 also includes a guide surface 106 (base station entrance) gradually extending downward from one side of the cleaning tank 103 and guide plates 102 arranged on both sides of the guide surface 106. The guide surface 106 is used to guide the self-moving robot into the base station 1, and the guide plates 102 arranged on both sides of the guide surface 106 are used to adjust the moving direction of the cleaning robot so that the self-moving robot reaches the cleaning position in the base station 1.

[0050] The cleaning tank 103 is provided with a protrusion 109 for frictionally cleaning the mopping and wiping parts of the self-moving robot.

[0051] Among them, the sensing element 101 is arranged on the guide surface 106, for example, it can be arranged at the top or bottom of the guide surface 106, the sensing element 101 can be arranged at the end of the guide plate 102 away from the cleaning tank 103, the sensing element 101 can be a magnetic strip, which is horizontally arranged on the guide surface 106, and the horizontal extension line of the magnetic strip can intersect with the guide plate 102 or not.

[0052] The base station 1 further includes a clean water tank 107 and a water supply pipe connected to the clean water tank 107 for supplying water to the cleaning tank 103 .

[0053] The bottom of the cleaning tank 103 is also provided with a drainage groove, and the bottom wall of the cleaning tank 103 is provided with a drainage hole, so that the cleaning tank 103 can flow the sewage after cleaning the mopping and wiping parts into the drainage groove through the drainage hole.

[0054] The base station 1 further includes a sewage tank 108 and a sewage pipe connected to the sewage tank 108 and the leakage tank, so as to discharge the sewage in the leakage tank into the sewage tank 108 through the sewage pipe.

[0055] The base station 1 may further include a second charging electrode 104 for supplying electric energy to charge the self-moving robot, and an infrared transmitting tube 105 for transmitting an infrared guiding signal. The number of the infrared transmitting tubes 105 may be multiple.

[0056] like Figure 2 As shown, the self-propelled robot is provided with at least two sensing detection elements, which are respectively arranged on the left and right sides of the self-propelled robot, namely the left sensing detection element 2021 and the right sensing detection element 2022. The connecting line of the two sensing detection elements may be perpendicular to the central axis of the self-propelled robot or may not be perpendicular.

[0057] When the horizontal deviation angle between the front and rear axes of the self-propelled robot and the front and rear axes of the base station is within a set range, the two sensing detection elements can sense the sensing element at the same time. The set range can be (0 degrees, 3 degrees), of course, it can also be other ranges, and the embodiments of the present application are no longer specifically limited here. When the horizontal deviation angle between the front and rear axes of the self-propelled robot and the front and rear axes of the base station is outside the set range, the two sensing detection elements will not sense the sensing element at the same time. For example, Figure 3 As shown, the horizontal deviation angle A between the front and rear axes of the self-moving robot and the front and rear axes of the base station is outside the set range, and the two sensing detection elements will not sense the sensing element at the same time. When the right sensing detection element 2022 senses the sensing element, the left sensing detection element 2021 is far away from the sensing element and cannot sense the sensing element.

[0058] like Figure 2 As shown, the self-moving robot may further include a laser radar 203 to detect environmental information through the laser radar 203 and establish an environmental map.

[0059] The self-moving robot may further include driving wheels 201 so as to move via the driving wheels 201 .

[0060] A first infrared receiving tube 204 for receiving an infrared guidance signal may also be provided at the front end of the self-moving robot, so that the self-moving robot receives the infrared guidance signal emitted by the base station 1 through the first infrared receiving tube 204, and moves toward the base station 1 with its head facing forward under the guidance of the infrared guidance signal. There may be more than one first infrared receiving tube 204.

[0061] A second infrared receiving tube for receiving infrared guidance signals may also be provided at the rear end of the self-moving robot, so that the self-moving robot receives the infrared guidance signals emitted by the base station 1 through the second infrared receiving tube, and moves toward the base station 1 in a backward manner (i.e., moves toward the base station 1 with the tail facing forward) under the guidance of the infrared guidance signals. There may be multiple second infrared receiving tubes.

[0062] A mopping member for mopping the ground may also be provided at the bottom of the rear end of the self-propelled robot. The mopping member may be a fixed mop or a rotatable turntable mopping member.

[0063] The rear end of the self-moving robot may also be provided with a first charging electrode for receiving electric energy, so as to receive the electric energy provided by the second charging electrode 104 on the base station 1 to charge the self-moving robot.

[0064] A collision sensor may also be provided at the front end of the self-moving robot so that when the front end of the self-moving robot hits an obstacle, the self-moving robot may sense it through the collision sensor.

[0065] A wall sensor may also be provided on the side of the front end of the self-propelled robot, so that the self-propelled robot can detect the distance between itself and the wall / obstacle through the wall sensor and walk along the wall / obstacle.

[0066] A cliff sensor can also be set at the front end of the self-propelled robot.

[0067] The self-moving robot can move toward the base station with its head facing forward, and move to the docking position with the base station, that is, the position where the first charging electrode contacts the second charging electrode 104, or the position where the mopping member of the self-moving robot is placed in the cleaning tank 103 of the base station 1.

[0068] The self-moving robot can also move toward the base station with its tail facing forward (i.e., backward), and move to the docking position with the base station, i.e., the position where the first charging electrode contacts the second charging electrode 104, or the position where the mopping member of the self-moving robot is placed in the cleaning tank 103 of the base station 1.

[0069] like Figure 5 As shown, the embodiment of the present application provides a method for a mobile robot to return to a base station, and the specific steps are as follows:

[0070] Step 501, control the mobile robot to move toward the base station.

[0071] In the embodiment of the present application, the self-moving robot can control the self-moving robot to move toward the base station by means of navigation. In one implementation, the self-moving robot can establish an environmental map through the laser radar 203, and obtain the position of the base station 1 in the environmental map, and control the self-moving robot to move toward the base station 1 by means of navigation according to the position of the base station 1 in the environmental map.

[0072] Alternatively, the self-moving robot can move toward the base station 1 by infrared guidance. In one implementation, the base station 1 is provided with an infrared receiving tube for transmitting infrared guidance signals, and the front end of the self-moving robot is provided with a first infrared receiving tube 204 for receiving infrared guidance signals. Under the guidance of the infrared guidance signals received by the first infrared receiving tube 204, the self-moving robot is controlled to move toward the base station 1.

[0073] Alternatively, the self-moving robot can use a combination of navigation and infrared guidance to move toward the base station 1. In one implementation, the self-moving robot can establish an environmental map through the laser radar 203 and obtain the position of the base station 1 in the environmental map. The self-moving robot can determine a transfer point in front of the base station 1 according to the environmental map, and then the self-moving robot can navigate the self-moving robot to the transfer point according to the transfer point in the environmental map. Then, the self-moving robot is guided by the infrared guidance signal received by the first infrared receiving tube 204 to control the self-moving robot to move toward the base station 1.

[0074] Step 502, when at least one sensing detection element senses the sensing element during the moving process, and two sensing detection elements do not sense the sensing element at the same time, control the self-moving robot to stop entering the base station in the current front-rear axis direction.

[0075] In the embodiment of the present application, if the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is outside the set range, the left sensing detection element and the right sensing detection element of the self-moving robot will not sense the sensing element at the same time.

[0076] For example, Figure 3 and 4 As shown in FIG. 1 , the horizontal deviation angle A between the front and rear axes of the self-moving robot and the front and rear axes of the base station is outside the set range, and the self-moving robot moves in a straight line toward the base station with its head leading, as shown in FIG. Figure 2 As shown, the right sensing detection element 2022 of the self-moving robot senses the sensing element, while the left sensing detection element 2021 fails to sense the sensing element. Afterwards, the self-moving robot continues to move straight. During the straight-moving process, the right sensing detection element 2022 fails to sense the sensing element, and then the left sensing detection element 2021 senses the sensing detection element.

[0077] When at least one sensing detection element senses the sensing element during the movement, and the two sensing detection elements do not sense the sensing element at the same time, for example, the left sensing detection element senses the sensing element and the right sensing detection element does not sense the sensing element, or the right sensing detection element senses the sensing element and the left sensing detection element does not sense the sensing element, it indicates that the horizontal deviation angle between the front and rear axis of the self-moving robot and the front and rear axis of the base station is outside the set range. In this case, controlling the self-moving robot to stop moving in the current front and rear axis direction to the docking position with the base station can reduce the risk of a more serious collision in the process of the self-moving robot retreating back to the base station.

[0078] Optionally, when two sensing detection elements simultaneously sense the sensing element during the moving process, the self-moving robot is controlled to enter the base station in the current front-rear axis direction.

[0079] In an embodiment of the present application, when two sensing detection elements simultaneously sense the sensing element during the march, the self-moving robot can enter the base station in the current front-rear axis direction with its head facing the base station. Alternatively, when two sensing detection elements simultaneously sense the sensing element during the march, the self-moving robot can enter the base station in the current front-rear axis direction with its tail facing the base station. For example, the self-moving robot can turn around, and after the turn around, retreat into the base station (i.e., enter the base station with its tail facing the base station). The U-turn can be a 180-degree clockwise rotation or a 180-degree counterclockwise rotation.

[0080] Optionally, when at least one sensing detection element senses the sensing element during the moving process, and the two sensing detection elements do not sense the sensing element at the same time, the self-moving robot is controlled to adjust the direction, and enter the base station after adjusting the direction.

[0081] In the embodiment of the present application, the direction of the self-moving robot can be adjusted so that the head faces the base station, and the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is within a set range. Alternatively, the direction of the self-moving robot can be adjusted so that the tail faces the base station, and the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is within a set range.

[0082] There are various ways to control the direction of the self-moving robot so that its head faces the base station and the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is within a set range. The present application embodiment lists the following two ways:

[0083] Method 1: Under the condition that one sensing detection element senses the sensing element, the steering direction and rotation speed of the left and right driving wheels are adjusted until the other sensing element also senses the sensing element.

[0084] Method 2: If the left sensing detection element senses the sensing element, the self-moving robot is controlled to rotate leftward at a horizontal deviation angle; if the right sensing detection element senses the sensing element, the self-moving robot is controlled to rotate rightward at a horizontal deviation angle. The horizontal deviation angle is the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station. The calculation method can be referred to in the subsequent embodiments, and the embodiments of this application will not be repeated here.

[0085] There are various ways to control the direction of the self-moving robot to adjust the tail to face the base station, and to make the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station within a set range. The present application embodiment lists the following two ways:

[0086] Method 1: Under the condition that one sensing detection element senses the sensing element, the steering and rotation speed of the left and right driving wheels are adjusted until the other sensing element also senses the sensing element; then, the self-moving robot is controlled to rotate 180 degrees.

[0087] Method 2: If the left sensing detection element senses the sensing element, the self-moving robot is controlled to rotate leftward at a horizontal deviation angle of +180 degrees, or rightward at 180 degrees - the horizontal deviation angle; if the right sensing detection element senses the sensing element, the self-moving robot is controlled to rotate rightward at a horizontal deviation angle of +180 degrees, or leftward at 180 degrees - the horizontal deviation angle. The horizontal deviation angle is the horizontal deviation angle between the front and rear axis of the self-moving robot and the front and rear axis of the base station. The calculation method can be referred to in the subsequent embodiments, and the embodiments of this application will not be repeated here.

[0088] like Figure 6 As shown, the embodiment of the present application also provides a method for a mobile robot to return to a base station, and the specific steps are as follows:

[0089] Step 601, control the mobile robot to move toward the base station.

[0090] The specific implementation of step 601 can refer to step 501, and the embodiment of the present application will not be repeated here.

[0091] Step 602, when at least one sensing detection element senses the sensing element during the movement, and two sensing detection elements do not sense the sensing element at the same time, determine the order information of at least two sensing detection elements sensing the sensing element, the order information including the order and the distance between the two sensing detection elements.

[0092] The sequential walking distance may be: the distance traveled by the self-moving robot from when one sensing detection element senses the sensing element to when another sensing detection element also senses the sensing element.

[0093] For example, Figure 3 and 4 As shown, the horizontal deviation angle A between the front and rear axes of the self-moving robot and the front and rear axes of the base station is outside the set range, and the self-moving robot moves in a straight line toward the base station with its head facing forward, as shown in FIG. Figure 2 As shown, the right sensing detection element 2022 of the self-moving robot senses the sensing element, while the left sensing detection element 2021 fails to sense the sensing element. After that, the self-moving robot continues to move straight. During the straight movement, the right sensing detection element 2022 fails to sense the sensing element, and then the left sensing detection element 2021 senses the sensing detection element. The distance between the two movements is S, the line connecting the two sensing detection elements is perpendicular to the front-rear axis of the self-moving robot, and the magnetic strip is perpendicular to the front-rear axis of the base station.

[0094] The calculation method of the distance between the previous and next steps can be: determine the time difference t between when one sensing detection element senses the sensing element and when another sensing detection element also senses the sensing element, determine the travel speed V of the self-moving robot within this time difference, and the distance between the previous and next steps S = V*t.

[0095] Step 603, determine the horizontal deviation direction of the front and rear axes of the self-moving robot and the front and rear axes of the base station according to the sequence, and determine the horizontal deviation angle of the front and rear axes of the self-moving robot and the front and rear axes of the base station according to the sequence of walking.

[0096] In the embodiment of the present application, the self-moving robot can determine the horizontal deviation direction of the front-rear axis of the self-moving robot and the front-rear axis of the base station according to the sequence. The specific processing process can be: if the sensing detection element located on the left side detects the sensing element first, it is determined that the front-rear axis of the self-moving robot is right-biased to the front-rear axis of the base station; if the sensing detection element located on the right side detects the sensing element first, it is determined that the front-rear axis of the self-moving robot is left-biased to the front-rear axis of the base station.

[0097] For example, Figure 3 and Figure 4 As shown, the sensing detection element located on the right side detects the sensing element first, and determines that the front-rear axis of the self-moving robot is biased to the left of the front-rear axis of the base station.

[0098] In the embodiment of the present application, the self-moving robot can determine the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station according to the sequential walking distance. The horizontal deviation angle is positively correlated with the sequential walking distance.

[0099] In one implementation, the self-moving robot can roughly calculate the horizontal deviation angle according to the distance between the previous and next steps. For example, a coefficient K is preset, and the horizontal deviation angle A=K*S, where S is the distance between the previous and next steps.

[0100] In another implementation, the self-propelled robot can accurately calculate the horizontal deviation angle according to the distance between the previous and subsequent walks, such as Figure 4 As shown, the horizontal deviation angle A between the front and rear axes of the self-moving robot and the front and rear axes of the base station is arctan (S / L), where S is the distance between the front and rear walking, and L is the preset distance between the two sensing detection elements.

[0101] Step 604, adjusting the direction of the self-moving robot according to the horizontal deviation angle direction and the horizontal deviation angle, so that the horizontal deviation angle between the front and rear axes of the self-moving robot and the front and rear axes of the base station is within a set range.

[0102] Step 605, controlling the self-moving robot to move in the current front-rear axis direction to a docking position with the base station.

[0103] In an embodiment of the present application, the direction of the self-moving robot is adjusted according to the horizontal deviation angle direction and the horizontal deviation angle so that the horizontal deviation angle between the front and rear axis of the self-moving robot and the front and rear axis of the base station is within a set range. After that, the self-moving robot moves toward the base station to move to the docking position with the base station.

[0104] In one implementation, Figure 4 As shown, the self-moving robot rotates clockwise by the following angle: A+N*360+β, where A is the horizontal deviation angle, N is a positive integer (such as 0, 1, 2, etc.), and β is the allowable error value, which can be greater than -5 degrees and less than 5 degrees. Alternatively, the self-moving robot rotates counterclockwise by the following angle: 360-A+N*360+β, where A is the horizontal deviation angle, N is a positive integer (such as 0, 1, 2, etc.), and β is the allowable error value. After the rotation, the head of the self-moving robot faces the base station, and the self-moving robot can move toward the base station with its head facing forward to move to the docking position with the base station.

[0105] In another implementation, Figure 4 As shown, the self-moving robot rotates clockwise by the following angle: A+180+N*360+β, where A is the horizontal deviation angle, N is a positive integer (such as 0, 1, 2, etc.), and β is the allowable error value, which can be greater than -5 degrees and less than 5 degrees. Alternatively, the self-moving robot rotates counterclockwise by the following angle: 180-A+N*360+β, where A is the horizontal deviation angle, N is a positive integer (such as 0, 1, 2, etc.), and β is the allowable error value. After the rotation, the tail of the self-moving robot faces the base station, and the self-moving robot can move toward the base station with its tail facing forward to move to the docking position with the base station.

[0106] The present application also provides a method for a mobile robot to return to a base station, and the specific steps are as follows:

[0107] Step 701, control the mobile robot to move toward the base station.

[0108] The specific implementation of step 701 can refer to step 501, and the embodiment of the present application will not be repeated here.

[0109] Step 702, when at least one sensing detection element senses the sensing element during the moving process and the two sensing detection elements do not sense the sensing element at the same time, adjust the direction of the self-moving robot until both sensing detection elements sense the sensing element.

[0110] In the embodiment of the present application, the self-moving robot can be tentatively adjusted in various directions until both sensing detection elements sense the sensing element.

[0111] like Figure 3 As shown, after the left sensing detection element of the self-moving robot senses the sensing element first, the self-moving robot can adjust the driving wheel to move forward and backward while keeping the sensing signal of the left sensing detection element not released, so that the right sensing detection element can also sense the sensing element.

[0112] Step 703, controlling the self-moving robot to move in the current front-rear axis direction to a docking position with the base station.

[0113] In the embodiment of the present application, the self-moving robot can move to a docking position with the base station with its head facing forward or its tail facing forward and in the direction of the current front-to-back axis.

[0114] Optionally, in order to prevent the self-moving robot from mistakenly entering the base station when working along the wall, the method also includes: when the self-moving robot is in the wall walking mode, when the sensing element is sensed by the sensing detection element, controlling the self-moving robot to shift to the side of the sensing element away from the base station.

[0115] In the embodiment of the present application, the self-moving robot may be provided with a wall sensor, and the self-moving robot may walk along the wall through the wall sensor. Figure 7 When the self-moving robot walks along the wall to the entrance of the base station 1, the self-moving robot can sense the sensing element 101 through the left sensing detection element 2021. When the sensing element 101 is sensed by the left sensing detection element 2021, the self-moving robot is controlled to shift to the side of the sensing element 101 away from the base station 1, so that the sensing element 101 can also act as a virtual wall to prevent the self-moving robot from entering the base station 1 when cleaning along the wall.

[0116] Optionally, a sensing element is disposed at the entrance of the base station, and guide plates are provided on both sides of the entrance of the base station. When the two sensing detection elements fail to sense the sensing element at the same time and adjust the direction, the guide plates on both sides can limit the self-moving robot to limit the horizontal distance between the front and rear axes of the self-moving robot and the horizontal axis of the base station within a set range.

[0117] The present application also provides a self-moving robot, such as Figure 8 As shown, it includes a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804, and the memory 803 is used to store computer programs; the processor 801 is used to implement the above-mentioned method steps of returning the mobile robot to the base station when executing the program stored in the memory 803.

[0118] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0119] The communication interface is used for communication between the above electronic device and other devices.

[0120] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0121] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0122] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods for returning a mobile robot to a base station are implemented.

[0123] In another embodiment provided by the present application, a computer program product comprising instructions is also provided, which, when executed on a computer, enables the computer to execute any step of the method for returning a mobile robot to a base station in the above-mentioned embodiments.

[0124] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0125] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0126] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the self-propelled robot, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0127] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for a mobile robot to return to a base station, characterized in that: The self-propelled robot is provided with at least two sensing detection elements, and the two sensing detection elements are respectively arranged on the left and right sides of the self-propelled robot; The base station is provided with a sensing element corresponding to the sensing detection element; When the horizontal deviation angle between the front and rear axis of the self-moving robot and the front and rear axis of the base station is within a set range, the two sensing detection elements will sense the sensing elements at the same time; When the horizontal deviation angle between the front-rear axis of the self-moving robot and the front-rear axis of the base station is outside the set range, the two sensing detection elements will not sense the sensing elements at the same time; The method comprises: Controlling the self-moving robot to move toward a base station; When at least one sensing detection element senses the sensing element during the moving process, and the two sensing detection elements do not sense the sensing element at the same time, controlling the self-moving robot to stop entering the base station in the current front-rear axis direction; Determine the sequence information of the at least two sensing detection elements sensing the sensing element, wherein the sequence information includes a sequence order and a sequence distance; Determine the horizontal deviation direction of the front-rear axis of the self-propelled robot and the front-rear axis of the base station according to the sequence, and determine the horizontal deviation angle of the front-rear axis of the self-propelled robot and the front-rear axis of the base station according to the sequence; According to the horizontal deviation angle direction and the horizontal deviation angle, the direction of the self-propelled robot is adjusted so that the horizontal deviation angle between the front and rear axis of the self-propelled robot and the front and rear axis of the base station is within a set range; The self-moving robot is controlled to move in the current front-rear axis direction to a docking position with a base station.

2. The method according to claim 1, characterized in that The determining the horizontal deviation direction of the front-rear axis of the self-moving robot and the front-rear axis of the base station according to the sequence includes: If the sensing detection element located on the left side detects the sensing element first, it is determined that the front-rear axis of the self-moving robot is biased to the right relative to the front-rear axis of the base station; If the sensing detection element located on the right side detects the sensing element first, it is determined that the front-rear axis of the self-moving robot is biased to the left of the front-rear axis of the base station.

3. The method according to claim 1, characterized in that The horizontal deviation angle is positively correlated with the sequential walking distance.

4. The method according to claim 1, characterized in that: The inductive detection element is a Hall sensor, and the inductive element is a magnetic strip; Alternatively, the inductive detection element is a reed switch, and the inductive element is a magnetic strip; Alternatively, the sensing detection element is an infrared receiving tube, and the sensing element is an infrared transmitting tube.

5. The method according to claim 1, characterized in that The sensing element is arranged at the entrance of the base station.

6. The method according to claim 5, characterized in that Guide plates are arranged on both sides of the entrance of the base station.

7. The method according to claim 1, characterized in that The method further comprises: When the self-moving robot is in a wall-walking mode, when the sensing element is sensed by the sensing detection element, the self-moving robot is controlled to deviate to a side of the sensing element away from the base station.

8. The method according to claim 1, characterized in that The self-moving robot is provided with a mopping assembly at the bottom, and the base station is provided with a cleaning component for cleaning the mopping assembly; the self-moving robot is provided with a first charging electrode for receiving electric energy, and the base station is provided with a second charging electrode corresponding to the first charging electrode for supplying electric energy.

9. A cleaning robot, characterized in that: The method comprises a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor is prompted by the machine-executable instructions to implement the method described in any one of claims 1 to 8.

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