Method and device for directing a sweeping robot to a charging station based on a LoRa signal, and medium

Abstract

The application relates to the field of floor sweeping machines, in particular to a floor sweeping machine directional charging method and device based on a LoRa signal, equipment and a medium. The method comprises the following steps: if a floor sweeping machine receives a LoRa guiding signal sent by a charging base; calculating the relative distance between the floor sweeping machine and the charging base according to the LoRa guiding signal; determining the optimal walking route of the floor sweeping machine to the charging base based on the relative distance; controlling the floor sweeping machine to walk according to the optimal walking route, reach a position at a preset distance from the charging base, and acquire a first infrared signal; walking around a virtual wall within the preset distance according to the first infrared signal to acquire a second infrared signal, adjusting the charging posture of the floor sweeping machine according to the second infrared signal, and charging on the charging base based on the charging posture. The application realizes directional charging of the floor sweeping machine based on the LoRa signal, so that the floor sweeping machine can quickly return to the charging base in a large space environment and timely supplement the power.

Claims

1. A method for directional recharging of a robotic vacuum cleaner based on LoRa signals, characterized in that, The method includes: If the robot vacuum receives the LoRa guidance signal sent by the charging dock; The relative distance between the sweeper and the charging dock is calculated based on the LoRa guidance signal; Based on the relative distance, the optimal travel route for the sweeping machine to reach the charging dock is determined; The sweeper is controlled to travel along the optimal route, reach a position at a preset distance from the charging dock, and acquire a first infrared signal; Based on the first infrared signal, the robot walks around the virtual wall within the preset distance to obtain the second infrared signal. Based on the second infrared signal, the robot adjusts its recharge posture and recharges on the recharge dock based on the recharge posture. The process of controlling the sweeper to travel according to the optimal route, reach a position at a preset distance from the charging dock, and acquire a first infrared signal includes: The sweeper is controlled to walk according to the optimal walking route. It receives the LoRa guidance signal sent by the charging dock at a preset time interval, compares whether the received LoRa guidance signal has signal enhancement, and then determines whether the walking route has deviated. If so, continue moving forward according to the optimal walking route and determine whether a collision occurs in the direction of movement; If not, it will walk in a straight line to a position at a preset distance from the charging dock and acquire the first infrared signal; The step of calculating the relative distance between the sweeper and the charging dock based on the LoRa guidance signal includes: The relative distance between the robot vacuum and the charging dock is calculated based on the formula and the LoRa guidance signal. The formula is as follows: ;in, This indicates the antenna gain at the transmitting end; Indicates the antenna gain at the receiving end; This indicates the received power at the receiving end; This indicates the transmit power of the transmitting end; λ represents the signal wavelength; d represents the distance between the two nodes.

2. The method for directional recharging of a robotic vacuum cleaner based on LoRa signals according to claim 1, characterized in that, Determining the optimal route for the sweeper to reach the charging dock based on the relative distance includes: Using the current position as the center, rotate 360° in the first direction. Each time the first preset angle is rotated, the signal strength and corresponding direction are recorded once, resulting in multiple first angle data. Select the strongest first angle from multiple first angle data, and rotate to the corresponding direction corresponding to the strongest first angle; Based on the corresponding direction, rotate a second preset angle in the first direction and the second direction respectively. The second preset angle is divided into a third preset angle. When rotating the third preset angle, record its specific signal strength and specific corresponding direction to obtain multiple third angle data. The strongest third angle is selected from multiple third angle data, and the specific corresponding direction corresponding to the strongest third angle is taken as the optimal direction; The optimal walking route is generated based on the optimal direction and the relative distance.

3. The method for directional recharging of a robotic vacuum cleaner based on LoRa signals according to claim 1, characterized in that, After continuing to move forward according to the optimal walking route and determining whether a collision has occurred in the direction of movement, the method further includes: If a collision occurs in the direction of travel, obtain the information of the nearest wall and determine the best route to reach the wall; Navigate to the wall according to the optimal route and adjust to the preset posture, then walk along the wall towards the charging dock in the preset posture; Continuously obtain the distance between yourself and the wall while walking along it; The distance is compared with a second preset distance to determine whether there is any deviation from the wall when walking along the wall; If the distance is less than the second preset distance, it is determined that there is no deviation from the wall when walking along the wall. Then, the vehicle walks along the wall and combines the optimal walking route to reach a position at a preset distance from the charging seat, and obtains the first infrared signal.

4. The method for directional recharging of a robotic vacuum cleaner based on LoRa signals according to claim 3, characterized in that, After comparing the distance with the second preset distance to determine whether there is a deviation from the wall when walking along the wall, the method further includes: If the distance is greater than the second preset distance, it is determined that there is a deviation from the wall when walking along the wall, and the first position information of the initial deviation from the wall is obtained; Get the current location information; The shortest distance to return along the wall is determined based on the first location information and the current location information; Navigate to the wall based on the shortest distance, and follow the wall along the optimal walking route to a position at a preset distance from the charging dock, and acquire the first infrared signal.

5. The method for directional recharging of a robotic vacuum cleaner based on LoRa signals according to claim 1, characterized in that, The step of walking around a virtual wall within a preset distance based on the first infrared signal to obtain a second infrared signal, adjusting the robot vacuum's recharging posture based on the second infrared signal, and recharging on the recharging dock based on the recharging posture includes: Using the charging dock as the center and the preset distance as the radius, the vehicle moves around the virtual wall within the preset distance according to the guidance of the first infrared signal to approach the charging dock in order to obtain the second infrared signal; The sweeper adjusts its recharge posture based on the second infrared signal. Based on the recharging posture and contact with the contacts of the recharging socket, the device enters the charging mode.

6. A LoRa signal-based directional recharging device for a robotic vacuum cleaner, used to implement the LoRa signal-based directional recharging method for a robotic vacuum cleaner as described in any one of claims 1-5, characterized in that, The device includes: The receiving module is used to detect if the robot vacuum receives a LoRa guidance signal sent by the charging dock; The calculation module is used to calculate the relative distance between the sweeper and the charging dock based on the LoRa guidance signal; The determining module is used to determine the optimal walking route for the sweeper to reach the charging dock based on the relative distance; The walking module is used to control the sweeper to walk according to the optimal walking route, reach a position at a preset distance from the charging dock, and acquire a first infrared signal; The recharge module is used to walk around a virtual wall within a preset distance based on the first infrared signal to obtain a second infrared signal, adjust the recharge posture of the sweeping robot based on the second infrared signal, and recharge on the recharge base based on the recharge posture. The walking module controls the sweeper to walk according to the optimal walking route, receives the LoRa guidance signal sent by the charging dock at a preset time interval, compares whether the received LoRa guidance signal has signal enhancement, and then determines whether the walking route has deviated. If so, continue moving forward according to the optimal walking route and determine whether a collision occurs in the direction of movement; If not, it will walk in a straight line to a position at a preset distance from the charging dock and acquire the first infrared signal.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the LoRa signal-based directional recharging method for a sweeping robot as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the LoRa signal-based directional recharging method for a sweeping robot as described in any one of claims 1 to 5.

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