Device movement method, apparatus, storage medium, and electronic device

Abstract

Embodiments of the present application provide a device moving method and device, a storage medium and an electronic device. The method comprises: controlling a target device to receive a signal transmitted by a base station; in a case where the signal is received and the signal strength of the signal meets a preset condition, generating a first target signal point cloud according to the position at which the signal is received by the target device and the signal strength of the signal; and in a case where a return base station instruction is received and the position of the base station cannot be directly found, controlling the target device to move along a target path according to the first target signal point cloud. The present application can solve the problem of low efficiency of the target device finding the base station in the related art.

Description

Technical Field

[0001] This application relates to the field of computers, and more specifically, to a method, apparatus, storage medium, and electronic device for moving a device. Background Technology

[0002] In recent years, with the development and application of intelligent mobile robots such as robotic vacuum cleaners, mobile robots are increasingly penetrating people's daily lives. Currently, most intelligent mobile devices on the market are rechargeable. For example, when a robotic vacuum cleaner runs out of power during cleaning, it needs to move to a charging station to recharge, or it needs to move to a charging station to change its mop pads. However, when the robotic vacuum cleaner is far from the charging station and cannot receive a signal, it may perform non-return-to-charge operations, resulting in aimless searching throughout the house. This inevitably leads to higher power consumption. In large houses, the robot may run out of power and become stranded before a signal can be received, resulting in a low success rate for returning to the charging station.

[0003] There is currently no effective solution to the problem of low efficiency in target equipment finding base stations in related technologies. Summary of the Invention

[0004] This application provides a method, apparatus, storage medium, and electronic device for moving a device, in order to at least solve the problem of low efficiency in target devices finding base stations in related technologies.

[0005] According to one embodiment of this application, a method for moving a device is provided, comprising: controlling a target device to receive a signal sent by a base station, wherein the signal is configured to be sent by the base station at a preset time interval; when the signal is received and the signal strength of the signal meets a preset condition, generating a first target signal point cloud based on the location where the target device receives the signal and the signal strength of the signal, wherein the location represents the position where the target device is when it receives the signal, the first target signal point cloud includes a correspondence between the location and the signal strength, and the signal strength is negatively correlated with the distance between the target device and the base station; when a return-to-base station instruction is received and the location of the base station cannot be directly located, controlling the target device to move along a target path based on the first target signal point cloud, wherein the target path represents the path from the location where the target device receives the return-to-base station instruction to a first target location, the first target location corresponds to a first target signal strength, and the first target signal is the signal with the strongest signal strength in the first target signal point cloud.

[0006] According to another embodiment of this application, a mobile device is provided, comprising: a receiving module, configured to control a target device to receive a signal sent by a base station, wherein the signal is configured to be sent by the base station at a preset time interval; a generating module, configured to, upon receiving the signal and the signal strength of the signal satisfying a preset condition, generate a first target signal point cloud based on the location of the target device receiving the signal and the signal strength of the signal, wherein the location represents the position of the target device when receiving the signal, the first target signal point cloud includes a correspondence between the location and the signal strength, and the signal strength is negatively correlated with the distance between the target device and the base station; and a processing module, configured to, upon receiving a return-to-base station instruction and unable to directly locate the location of the base station, control the target device to move along a target path based on the first target signal point cloud, wherein the target path represents the path from the location of the target device receiving the return-to-base station instruction to a first target location, the first target location corresponding to a first target signal strength, and the first target signal being the signal with the strongest signal strength in the first target signal point cloud.

[0007] Optionally, the device is further configured to: when the target device has received the second signal and the second signal strength of the second signal is determined, acquire the first signal strength of the first signal received before the preset time interval; calculate the signal strength difference between the first signal strength and the second signal strength; and when the signal strength difference is greater than or equal to the preset difference, add the second position and the second signal strength to the first target signal point cloud, wherein the second position is the position of the target device when the second signal is received.

[0008] Optionally, the device is further configured to: when the signal is received and the signal strength of the signal meets a preset condition, generate a first target signal point cloud based on the location of the target device receiving the signal and the signal strength of the signal, including: when multiple signals are received, sort the multiple signals according to their signal strengths to obtain the first target signal point cloud; when a return to base station instruction is received and the location of the base station cannot be directly found, control the target device to move along a target path based on the first target signal point cloud, including: when a return to base station instruction is received and the location of the base station cannot be directly found, find the first target signal with the strongest signal strength from the first target signal point cloud, set the first target location as the end point of the target path, and set the current location of the target device as the start point of the target path.

[0009] Optionally, the device is further configured to: when the target device moves to the first target position and the first target signal strength is less than or equal to a preset signal strength threshold, control the target device to determine an updated second target signal from a second target signal point cloud, wherein the second target signal point cloud represents the signal point cloud updated when the target device moves to the first target position, and the second target signal is the signal with the strongest signal strength in the second target signal point cloud; control the target device to move along a first path, wherein the first path represents the path from the first target position to the second target position, and the second target position corresponds to the second target signal strength.

[0010] Optionally, the device is further configured to: add the location where the signal first disappears to the first target signal point cloud when the target device does not receive the signal for the first time within the preset time interval, wherein the location where the signal first disappears represents the location where the target device first does not receive the signal; control the target device to move along a second path according to the first target signal point cloud when a return-to-base station instruction is received and the signal is not received again, wherein the second path represents the path from the location where the target device receives the return-to-base station instruction to the location where the signal first disappears; and control the target device to move along a target path according to the first target signal point cloud when the target device moves to the location where the signal first disappears and the location of the base station cannot be directly located.

[0011] Optionally, the device is further configured to: receive a target task, wherein the target task is configured to control the target device to start moving, and the base station is configured to send the signal according to the preset time interval when the target task exists; and in response to the target task, control the target device to receive the signal sent by the base station.

[0012] Optionally, the device is further configured to: determine that the target device has received the return-to-base station instruction when it is determined that the current battery power of the target device is insufficient to complete the target task; determine that the target device has received the return-to-base station instruction when it is determined that the current battery power of the target device is lower than a preset battery threshold; and determine that the target device has received the return-to-base station instruction when it is determined that the control terminal of the target device triggers a return interaction operation.

[0013] According to yet another embodiment of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, and the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0014] According to yet another embodiment of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0015] This application employs a method of controlling a target device to receive signals sent by a base station. When the signal is received and its signal strength meets preset conditions, a first target signal point cloud is generated based on the location of the target device receiving the signal and the signal strength. When a return-to-base station instruction is received, and the location of the base station cannot be directly located, the target device is controlled to move along a target path based on the first target signal point cloud. This method solves the problem of low efficiency in the return-to-base station process and achieves the technical effects of reducing power consumption and increasing the speed of the return-to-base station. Attached Figure Description

[0016] Figure 1 This is a hardware structure block diagram of a mobile terminal for a device moving method according to an embodiment of this application;

[0017] Figure 2 This is a flowchart of a device moving method according to an embodiment of this application;

[0018] Figure 3 This is a schematic diagram illustrating a specific example of a device moving method according to an embodiment of this application;

[0019] Figure 4 This is a flowchart of another method for moving a device according to an embodiment of this application;

[0020] Figure 5 This is a flowchart of another method for moving a device according to an embodiment of this application;

[0021] Figure 6 This is a structural block diagram of a mobile device according to an embodiment of the present application. Detailed Implementation

[0022] The embodiments of this application will be described in detail below with reference to the accompanying drawings and examples.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0024] The methods and embodiments provided in this application can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1This is a hardware structure block diagram of a mobile terminal according to an embodiment of the present application's device mobility method. For example... Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0025] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device mobility method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the aforementioned method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0026] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0027] This embodiment provides a method for moving a device. Figure 2 This is a flowchart of a device moving method according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0028] S202, Control the target device to receive signals sent by the base station, wherein the signals are configured to be sent by the base station at preset time intervals;

[0029] S204, when a signal is received and the signal strength meets the preset conditions, a first target signal point cloud is generated based on the location of the target device receiving the signal and the signal strength. Here, the location represents the location of the target device when it receives the signal. The first target signal point cloud includes the correspondence between the location and the signal strength. The signal strength is negatively correlated with the distance between the target device and the base station.

[0030] S206, when a return to base station instruction is received and the location of the base station cannot be directly located, the target device is controlled to move along the target path according to the first target signal point cloud. The target path represents the path from the location where the target device receives the return to base station instruction to the first target location. The first target location corresponds to the first target signal strength, and the first target signal is the signal with the strongest signal strength in the first target signal point cloud.

[0031] Optionally, in this embodiment, the target device may include, but is not limited to, devices with self-moving functions such as intelligent sweeping robots, hotel welcoming robots, and food delivery robots.

[0032] Optionally, in this embodiment, the base station may include, but is not limited to, charging piles, cleaning stations, and other base stations that can provide charging, cleaning, and other services for smart mobile devices. It should be noted that the base station may send signals outward at preset time intervals.

[0033] Optionally, in this embodiment, the preset time interval may include, but is not limited to, 0.1 seconds, 0.5 seconds, 1 second, etc., which are time intervals set by relevant technical personnel based on prior experience and modified according to actual application scenarios.

[0034] It should be noted that the aforementioned signals may include, but are not limited to, infrared, Bluetooth, and WIFI signals. These signals may be used, but are not limited to, to send the base station's own coordinates to the target device, to determine whether the base station and the target device are in a normal binding state, and to send relevant instructions to the target device.

[0035] Optionally, in this embodiment, the above-mentioned preset conditions may include, but are not limited to, the signal strength of the signal being greater than or equal to a preset value, the signal strength of the currently received signal being different from the signal strength of the previously received signal, and the strength difference between the signal strength of the currently received signal and the signal strength of the previously received signal being greater than or equal to a preset difference.

[0036] It should be noted that the above-mentioned generation of the first target signal point cloud based on the location and signal strength of the target device receiving the signal, under the condition that the signal is received and the signal strength meets the preset conditions, can be understood as follows:

[0037] (1) Under the aforementioned preset condition that the signal strength is greater than or equal to a preset value, if the preset value is 100 dBm (Decibel relative to one milliwatt), the signal is only recorded in the first target signal point cloud when the signal strength received by the target device is greater than or equal to 100 dBm. The first target signal point cloud records the signal strength of all received signals that meet the preset condition and the corresponding relationship between the target device's location when these signals are received; or

[0038] (2) If the signal strength of the currently received signal differs from that of the previously received signal, and the signal strength of the currently received signal is different from that of the previously received signal, then a first target signal point cloud is generated based on the location and signal strength of the signal received by the target device; or

[0039] (3) If the signal strength difference between the current received signal and the previous received signal is greater than or equal to the preset difference, and if the preset difference is 1, then the first target signal point cloud can be generated based on the location of the target device receiving the current signal and the strength of the current signal when the signal strength difference between the current received signal and the previous received signal is greater than or equal to the preset difference.

[0040] Optionally, in this embodiment, the first target signal point cloud may include, but is not limited to, the coordinate position of the target device when the signal strength received during the movement of the target device meets the preset conditions, the signal strength corresponding to the coordinate position, and the time when the signal strength meets the preset conditions is received, etc., wherein the first target signal point cloud records the correspondence between the signal strength and the position where the target device receives the signal.

[0041] It should be noted that the above-mentioned negative correlation between signal strength and the distance between the target device and the base station can be understood as follows: the closer the target device is to the base station, the stronger the signal strength, and the farther the target device is from the base station, the weaker the signal strength.

[0042] Optionally, in this embodiment, the aforementioned return-to-base-station instruction may include, but is not limited to, being received when the target device's power is insufficient to complete the current task, being received when the target device's power is below a preset power threshold, or being received when the control terminal triggers the return-to-base-station operation.

[0043] Optionally, in this embodiment, the first target signal is the signal with the strongest signal strength in the first target signal point cloud. In other words, the first target signal is the signal in the first target signal point cloud that is closest to the base station. The first target location may include, but is not limited to, the location of the signal with the strongest signal strength in the first target signal point cloud. In other words, the first target location is the location of the signal in the first target signal point cloud that is closest to the base station.

[0044] It should be noted that the aforementioned target path may include, but is not limited to, the minimum distance path from the current location of the target device to the first target location, or the path with the least energy consumption, planned after querying the location of the first target signal. The path with the least energy consumption may include, but is not limited to, the path with the fewest obstacles from the current location of the target device to the first target location, or the path with the least slope (least terrain undulation) from the current location of the target device to the first target location.

[0045] Through the embodiments of this application, a method is adopted to control the target device to receive signals sent by the base station. When the signal is received and the signal strength meets the preset conditions, a first target signal point cloud is generated based on the location of the signal received by the target device and the signal strength. When a return to the base station instruction is received and the location of the base station cannot be directly found, the target device is controlled to move along the target path based on the first target signal point cloud. This method solves the problem of low efficiency in the target device finding the base station in related technologies and achieves the technical effects of reducing power consumption and increasing the speed of returning to the base station.

[0046] As an optional embodiment, when a signal is received and the signal strength meets a preset condition, a first target signal point cloud is generated based on the location of the signal received by the target device and the signal strength. This includes: when the target device has received a second signal and the second signal strength of the second signal is determined, obtaining the first signal strength of the first signal received before a preset time interval; calculating the signal strength difference between the first signal strength and the second signal strength; and adding the second location and the second signal strength to the first target signal point cloud when the signal strength difference is greater than or equal to a preset difference, wherein the second location is the location of the target device when the second signal is received.

[0047] Optionally, in this embodiment, the second signal is the signal received by the target device after a preset time interval following the receipt of the first signal. The strength of the second signal may include, but is not limited to, the signal used to indicate the distance between the target device and the base station when the second signal is received. The greater the strength of the second signal, the closer the target device is to the base station when it receives the second signal; conversely, the smaller the strength of the second signal, the farther the target device is from the base station when it receives the second signal.

[0048] Optionally, in this embodiment, the first signal is a signal received by the target device before the second signal is received by a preset time interval. The strength of the first signal may include, but is not limited to, a signal used to indicate the distance between the target device and the base station when the first signal is received. The greater the strength of the first signal, the closer the target device is to the base station when the first signal is received; conversely, the smaller the strength of the first signal, the farther the target device is from the base station when the first signal is received.

[0049] It should be noted that the first signal mentioned above can be a signal recorded in the first target signal point cloud, or it can be a signal not recorded in the first target signal point cloud. That is, it can be understood that if the signal strength of the first signal meets the above preset conditions, then the first signal is a signal recorded in the first target signal point cloud; if the signal strength of the first signal does not meet the above preset conditions, then the first signal is not a signal in the first target signal point cloud.

[0050] Optionally, in this embodiment, the aforementioned preset difference may include, but is not limited to, differences such as 1 and 10, which are preset by relevant technical personnel based on prior experience and can be adjusted according to actual needs.

[0051] It should be noted that when the signal strength difference is greater than or equal to the preset difference, adding the second position and the second signal strength to the first target signal point cloud can be understood as the above preset condition being "the signal strength difference is greater than or equal to the preset difference". The signal strength difference being greater than or equal to the preset difference is equivalent to the above "the signal strength meets the preset condition".

[0052] Optionally, in this embodiment, the second position may include, but is not limited to, the two-dimensional or three-dimensional coordinate position of the target device when it receives the second signal.

[0053] Through the embodiments of this application, when the target device has received the second signal and determined the second signal strength of the second signal, the first signal strength of the first signal received before the preset time interval is obtained, and then the signal strength difference between the first signal strength and the second signal strength is calculated. If the signal strength difference is greater than or equal to the preset difference, the second position and the second signal strength are added to the first target signal point cloud. The signal strength points are recorded in real time, and the first target signal point cloud is established. This provides a basis for target path planning when the target device receives the return to base station instruction, thereby achieving the technical effect of reducing power consumption and increasing the speed of return to base station.

[0054] As an optional embodiment, the above method further includes: when a signal is received and the signal strength of the signal meets a preset condition, generating a first target signal point cloud based on the location of the signal received by the target device and the signal strength of the signal, including: when multiple signals are received, sorting the multiple signals according to their signal strengths to obtain the first target signal point cloud; when a return to base station instruction is received and the location of the base station cannot be directly found, controlling the target device to move along a target path based on the first target signal point cloud, including: when a return to base station instruction is received and the location of the base station cannot be directly found, searching for the first target signal with the strongest signal strength from the first target signal point cloud, setting the first target location as the end point of the target path, and setting the current location of the target device as the start point of the target path.

[0055] Optionally, in this embodiment, the above-mentioned sorting of the signal strengths of multiple signals to obtain the first target signal point cloud when multiple signals are received can be understood as sorting the signal strengths that meet the preset conditions when two or more signals are received to obtain the first target signal point cloud.

[0056] For example, such as Figure 3 As shown, when signal 3 is received, including the previously received signal 1 and signal 2, three signals that meet the preset conditions have been received. The three received signals are sorted according to their strength to obtain the first target signal point cloud.

[0057] The above is merely an example, and this application does not impose any specific limitations.

[0058] It should be noted that when the target device starts executing the task from the base station, the location of the base station will be marked. When the target device receives the command to return to the base station, it will directly query the marked base station location and then plan the target path based on the current location and the base station location. When the target device does not start executing the task from the base station, the location of the base station is not marked, and when the target device receives the command to return to the base station, it cannot directly find the location of the base station.

[0059] Optionally, in this embodiment, the situation described above, where a return-to-base station instruction is received but the location of the base station cannot be directly located, can be understood as the target device not starting its task from the base station. In this case, the location of the base station is not marked, and the target device cannot directly locate the base station when it receives the return-to-base station instruction.

[0060] Optionally, in this embodiment, the first target signal is the signal with the strongest signal strength in the first target signal point cloud, which can be understood as the target device being closest to the base station when receiving the first target signal in the first target signal point cloud.

[0061] It should be noted that the starting point of the target path mentioned above is the current location of the target device. This can be understood as the starting point of the target path being the location of the target device when it receives the return to base station instruction.

[0062] For example, if the signal intensity order in the first target signal point cloud is as follows: Figure 3 As shown, signal 2 is the first target signal mentioned above. The starting point of the target path is the location of the target device when it receives the return to base station instruction, and the ending point of the target path is the location of the target device when it receives signal 2.

[0063] As an optional embodiment, when a return to base station instruction is received and the location of the base station cannot be directly located, after controlling the target device to move along the target path based on the first target signal point cloud, the method further includes: when the target device moves to the first target location and the first target signal strength is less than or equal to a preset signal strength threshold, controlling the target device to determine the updated second target signal from the second target signal point cloud, wherein the second target signal point cloud represents the signal point cloud updated by the target device moving to the first target location, and the second target signal is the signal with the strongest signal strength in the second target signal point cloud; controlling the target device to move along the first path, wherein the first path represents the path from the first target location to the second target location, and the second target location corresponds to the second target signal strength.

[0064] Optionally, in this embodiment, the aforementioned preset signal strength threshold may include, but is not limited to, a value preset by relevant technical personnel based on the signal transmission and reception status within the target device's working area.

[0065] Optionally, in this embodiment, the second target signal point cloud may include, but is not limited to, a signal point cloud obtained by sorting the signal strengths of the signals received in real time during the process of the target device moving to the location of the signal with the strongest signal strength in the first target signal point cloud.

[0066] It should be noted that the target device continuously receives signals sent by the base station from its location where it receives the return base station instruction to the first target location. The path from the location where the target device receives the return base station instruction to the first target location may include, but is not limited to, a path planned based on the shortest path. Therefore, the movement path of the target device when performing the task may be different from the path from the location where the target device receives the return base station instruction to the first target location. Consequently, the target device may receive signals that do not exist in the first target signal point cloud and whose signal strength meets preset conditions during the process from the location where the target device receives the return base station instruction to the first target location. Therefore, the second target signal point cloud may be different from the first signal point cloud.

[0067] Optionally, in this embodiment, the second target signal may include, but is not limited to, signals that exist in both the first and second target signal point clouds, or signals that exist in the second target signal point cloud but not in the first target signal point cloud. The second target location is the location of the target device when it receives the second target signal. This second target location may be the same as, or different from, the first target location. It should be noted that if the second target location is the same as the first target location (i.e., the first target signal and the second target signal are the same), no signal with a signal strength greater than a preset signal strength threshold will be found in the target signal point cloud, resulting in a failed return to the base station operation.

[0068] Optionally, in this embodiment, the first path may include, but is not limited to, a path from the first target location to the second target location, and the first path may be different from the target path.

[0069] In this embodiment, when the target device moves to the first target location and the first target signal strength is less than or equal to a preset signal strength threshold, the target device is controlled to determine the updated second target signal from the second target signal point cloud and move along the first path. During the return to the base station, the target signal point cloud is continuously updated, and the signal with the strongest signal strength is continuously searched until a signal with a signal strength greater than the preset signal strength threshold is found. This reduces the power consumption used by the target device during the return to the base station when the base station location cannot be found, and improves the efficiency of returning to the base station.

[0070] As an optional embodiment, the above method further includes: when the target device does not receive a signal for the first time within a preset time interval, adding the location where the signal first disappears to the first target signal point cloud, wherein the location where the signal first disappears represents the location where the target device first does not receive a signal; when a return-to-base station instruction is received and no signal is received again, controlling the target device to move along a second path according to the first target signal point cloud, wherein the second path represents the path from the location where the target device receives the return-to-base station instruction to the location where the signal first disappears; when the target device moves to the location where the signal first disappears and the location of the base station cannot be directly found, controlling the target device to move along the target path according to the first target signal point cloud.

[0071] Optionally, in this embodiment, the above-mentioned addition of the first signal disappearance position to the first target signal point cloud when the target device does not receive a signal for the first time within the preset time interval can be understood as follows: for example, if the preset time interval is 1 second, the target device receives signal 1 at 12:00 am, and the target device does not receive any signal at 12:01 am, then the position of the target device at 12:01 am is determined as the first signal disappearance position and added to the first target signal point cloud.

[0072] Optionally, in this embodiment, the second path refers to the path from the location where the target device receives the return base station instruction to the location where the signal first disappears.

[0073] Optionally, in this embodiment, the above-mentioned method of controlling the target device to move along the target path according to the first target signal point cloud when the target device moves to the location where the signal first disappears and the location of the base station cannot be directly found can be understood as: when the target device moves to the location where the signal first disappears and the location of the base station cannot be found, query the signal with the strongest signal strength in the first target signal point cloud, move to the location of the signal with the strongest signal strength, and then find the path back to the base station according to the method described above after controlling the target device to move along the target path according to the first target signal point cloud.

[0074] As an optional embodiment, controlling the target device to receive signals sent by the base station includes: receiving a target task, wherein the target task is used to control the target device to start moving, and the base station is configured to send signals at preset time intervals when the target task exists; and controlling the target device to receive signals sent by the base station in response to the target task.

[0075] Optionally, in this embodiment, the target task may include, but is not limited to, cleaning tasks, food delivery tasks, or navigation tasks, which can be performed by the self-moving robot. The target task can be used to control the movement of the target device.

[0076] It should be noted that when the base station is set to have a target task, sending signals at preset time intervals can be understood as, but is not limited to, when the sensors deployed on the base station detect that the target device has left the base station, the base station starts sending signals at preset time intervals; or when the control terminal issues a target task instruction and the target device receives the target task instruction, the base station is set to have a target task.

[0077] It should be noted that the receiving frequency of the target device receiving the signal can be, but is not limited to, the same as or different from the frequency of the signal transmitted by the base station. The frequency of the target device receiving the signal can be set to be higher than the frequency of the signal transmitted by the base station, or the frequency of the target device receiving the signal can be set to be a multiple of the frequency of the signal transmitted by the base station. For example, the base station transmits a signal once every 1 second, and the target device receives a signal once every 0.5 seconds.

[0078] As an optional embodiment, the above method further includes at least one of the following: if it is determined that the current power of the target device is insufficient to complete the target task, determine that the target device has received a return to base station instruction; if it is determined that the current power of the target device is lower than a preset power threshold, determine that the target device has received a return to base station instruction; if it is determined that the control terminal of the target device triggers a return interaction operation, determine that the target device has received a return to base station instruction.

[0079] Optionally, in this embodiment, the aforementioned preset power threshold may include, but is not limited to, a threshold set by relevant technical personnel based on prior experience, such as 20% power or 100 mA power.

[0080] Optionally, in this embodiment, the above-mentioned return interaction operation may include, but is not limited to, interactive operations such as clicking, long-pressing, or dragging the return base station button, or the control terminal receiving a voice command, which is used to instruct the control terminal to control the target device to return to the base station.

[0081] The present application will be described in detail below with reference to specific embodiments:

[0082] This application proposes a novel method for a self-moving robot (corresponding to the aforementioned target device) to locate a base station (the target device is a robot vacuum cleaner, and the purpose of locating the base station is to recharge). This aims to solve the problem of low recharging efficiency in current applications. The application is described in detail below:

[0083] 1. When the base station detects the robot vacuum cleaner on the charging station, the base station stops sending signals, indicating that the charging station is already occupied (e.g., ...). Figure 4 (As shown).

[0084] 2. When the base station detects that the robot vacuum has left the charging station, it sends signals at certain frequency intervals. These signals can be infrared, Bluetooth, or Wi-Fi. During its self-movement, regardless of whether it is in the recharging phase, the robot vacuum receives base station signals at twice the base station's transmission frequency (Frecv = 2Fsnd). When the signal strength changes (the change value can be set, such as Delta), the current signal point's coordinates on the map are marked, forming a signal strength point cloud during the whole-house cleaning process. The monitoring service sorts the signal values ​​in real time. Theoretically, the stronger the signal, the closer it is to the base station. When the signal disappears, the point where the signal disappears is recorded. When recharging is triggered, if no signal is received, the robot vacuum will first plan to go to the nearest disappearance point.

[0085] 3. When the robot vacuum cleaner starts cleaning from the base station, it records the current location as the base station and plans to go to that point first after triggering the recharging process.

[0086] 4. When the robot vacuum starts cleaning from another location, there is no base station at this time. As mentioned above, the robot vacuum records signal strength points during its self-movement. When the recharging process is triggered and no base station can be found, the robot finds the point with the strongest signal from the historical cleaning map, plans to go to that point, and initiates the signal point recharging process. When the signal strength threshold of the planned point reaches the base station signal recharging setting, the base station signal recharging process is initiated, and then the recharging process continues based on the signal emitted by the base station.

[0087] The overall process of this application is as follows: Figure 5 As shown.

[0088] The above is merely an exemplary implementation method, and this application does not make any specific limitations.

[0089] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0090] This embodiment also provides a mobile device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0091] Figure 6 This is a structural block diagram of the moving device of the device according to an embodiment of this application, such as... Figure 6 As shown, the device includes:

[0092] The receiving module 602 is used to control the target device to receive signals sent by the base station, wherein the signals are configured to be sent by the base station at preset time intervals;

[0093] The generation module 604 is used to generate a first target signal point cloud based on the location of the target device receiving the signal and the signal strength when the signal is received and the signal strength meets the preset conditions. The location represents the location of the target device when the signal is received. The first target signal point cloud includes the correspondence between the location and the signal strength. The signal strength is negatively correlated with the distance between the target device and the base station.

[0094] The processing module 606 is used to control the target device to move along the target path according to the first target signal point cloud when it receives a return base station instruction and cannot directly find the location of the base station. The target path represents the path from the location where the target device receives the return base station instruction to the first target location. The first target location corresponds to the first target signal strength, and the first target signal is the signal with the strongest signal strength in the first target signal point cloud.

[0095] The above-mentioned device is further configured to: when the target device has received the second signal and the second signal strength of the second signal is determined, acquire the first signal strength of the first signal received before a preset time interval; calculate the signal strength difference between the first signal strength and the second signal strength; and add the second position and the second signal strength to the first target signal point cloud when the signal strength difference is greater than or equal to the preset difference, wherein the second position is the position of the target device when the second signal is received.

[0096] The aforementioned device is further configured to: when a signal is received and the signal strength meets preset conditions, generate a first target signal point cloud based on the location of the signal received by the target device and the signal strength, including: when multiple signals are received, sorting the multiple signals according to their signal strengths to obtain the first target signal point cloud; when a return-to-base station instruction is received and the location of the base station cannot be directly located, control the target device to move along a target path based on the first target signal point cloud, including: when a return-to-base station instruction is received and the location of the base station cannot be directly located, searching for the first target signal with the strongest signal strength from the first target signal point cloud, setting the first target location as the end point of the target path, and setting the current location of the target device as the start point of the target path.

[0097] The aforementioned device is further configured to: when the target device moves to the first target position and the first target signal strength is less than or equal to a preset signal strength threshold, control the target device to determine the updated second target signal from the second target signal point cloud, wherein the second target signal point cloud represents the signal point cloud updated when the target device moves to the first target position, and the second target signal is the signal with the strongest signal strength in the second target signal point cloud; control the target device to move along a first path, wherein the first path represents the path from the first target position to the second target position, and the second target position corresponds to the second target signal strength.

[0098] The aforementioned device is further configured to: add the location where the signal first disappears to the first target signal point cloud when the target device does not receive a signal for the first time within a preset time interval, wherein the location where the signal first disappears represents the location where the target device was when it first did not receive a signal; control the target device to move along a second path according to the first target signal point cloud when a return-to-base station instruction is received and no signal is received again, wherein the second path represents the path from the location where the target device receives the return-to-base station instruction to the location where the signal first disappears; and control the target device to move along a target path according to the first target signal point cloud when the target device moves to the location where the signal first disappears and the location of the base station cannot be directly located.

[0099] The aforementioned device is also used to: receive a target task, wherein the target task is used to control a target device to start moving, and the base station is configured to send signals at preset time intervals when a target task exists; and in response to the target task, control the target device to receive signals sent by the base station.

[0100] The aforementioned device is also used for at least one of the following: determining that the target device has received a return-to-base station instruction when it is determined that the current power of the target device is insufficient to complete the target task; determining that the target device has received a return-to-base station instruction when it is determined that the current power of the target device is lower than a preset power threshold; and determining that the target device has received a return-to-base station instruction when it is determined that the control terminal of the target device triggers a return interaction operation.

[0101] According to yet another embodiment of this application, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0102] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0103] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when run.

[0104] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0105] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0106] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0107] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0108] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular hardware and software combination.

[0109] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for moving a device, characterized in that, include: When a target device receives a signal sent by a base station at a preset time interval, and the signal strength of the signal meets a preset condition, a first target signal point cloud is generated based on the location of the target device receiving the signal and the signal strength of the signal. The first target signal point cloud includes the correspondence between the location and the signal strength, and the signal strength is negatively correlated with the distance between the target device and the base station. If the target device does not receive the signal for the first time within the preset time interval, the position where the signal first disappeared is added to the first target signal point cloud. If a return to base station instruction is received and the signal is not received again, the target device is controlled to move from the position where the return to base station instruction was received to the position where the signal first disappeared according to the first target signal point cloud. The position where the signal first disappeared represents the position where the target device was when it first did not receive the signal. When the target device moves to the location where the signal first disappears and the location of the base station cannot be directly located, the target device is controlled to move along the target path from the location where the return base station instruction was received to the first target location according to the first target signal point cloud. The first target location corresponds to the first target signal with the strongest signal strength in the first target signal point cloud. When the target device moves to the first target position and the first target signal strength is less than or equal to a preset signal strength threshold, the signal strength of the signals received in real time is sorted according to the process of the target device moving to the first target position to obtain a second target signal point cloud. The target device is then controlled to move from the first target position to the second target position along a first path. The second target position corresponds to the second target signal with the largest signal strength in the second target signal point cloud.

2. The method according to claim 1, characterized in that, The step of generating a first target signal point cloud based on the location of the target device receiving the signal and the signal strength of the signal, when the target device receives the signal at a preset time interval and the signal strength of the signal meets a preset condition, includes: If the target device has received the second signal and the second signal strength of the second signal is determined, the first signal strength of the first signal received before the preset time interval is obtained; Calculate the signal strength difference between the first signal strength and the second signal strength; If the signal strength difference is greater than or equal to a preset difference, the second position and the second signal strength are added to the first target signal point cloud, wherein the second position is the position of the target device when the second signal is received.

3. The method according to claim 1, characterized in that, When a target device receives a signal sent by a base station at a preset time interval, and the signal strength of the signal meets a preset condition, a first target signal point cloud is generated based on the location where the target device receives the signal and the signal strength of the signal, including: when multiple signals are received, sorting them according to the signal strength of the multiple signals to obtain the first target signal point cloud; The method further includes: when receiving a return base station instruction and the location of the base station cannot be directly located, searching for the first target signal with the strongest signal strength from the first target signal point cloud, setting the first target location as the end point of the target path, and setting the current location of the target device as the starting point of the target path.

4. The method according to any one of claims 1 to 3, characterized in that, The target device receives signals sent by the base station at preset time intervals, including: The base station receives a target task, wherein the target task is used to control the target device to start moving, and the base station is configured to send the signal according to the preset time interval when the target task exists; In response to the target task, the target device is controlled to receive the signal sent by the base station.

5. The method according to claim 1, characterized in that, The method further includes at least one of the following: If it is determined that the current power of the target device is insufficient to complete the target task, it is determined that the target device has received the return to base station instruction; If it is determined that the current battery level of the target device is lower than a preset battery threshold, it is determined that the target device has received the return to base station instruction; If it is determined that the control terminal of the target device triggers a return interaction operation, it is determined that the target device has received the return base station instruction.

6. A moving device for an apparatus, characterized in that, include: A generation module is configured to generate a first target signal point cloud based on the location of the target device receiving the signal and the signal strength of the signal when the target device receives the signal at a preset time interval and the signal strength of the signal meets a preset condition. The location represents the position of the target device when it receives the signal. The first target signal point cloud includes the correspondence between the location and the signal strength. The signal strength is negatively correlated with the distance between the target device and the base station. The device is further configured to: add the location where the signal first disappeared to the first target signal point cloud when the target device does not receive the signal for the first time within the preset time interval; and if a return to base station instruction is received and the signal is not received again, control the target device to move from the location where the return to base station instruction is received to the location where the signal first disappeared according to the first target signal point cloud, wherein the location where the signal first disappeared represents the location where the target device was when it first did not receive the signal; The device is further configured to: when the target device moves to the location where the signal first disappears and the location of the base station cannot be directly located, control the target device to move along the target path from the location where the return base station instruction was received to the first target location according to the first target signal point cloud, wherein the first target location corresponds to the first target signal with the strongest signal strength in the first target signal point cloud; The device is further configured to: when the target device moves to the first target position and the first target signal strength is less than or equal to a preset signal strength threshold, sort the signal strength of the signals received in real time during the process of the target device moving to the first target position to obtain a second target signal point cloud, and control the target device to move from the first target position to the second target position along a first path, wherein the second target position corresponds to the second target signal with the largest signal strength in the second target signal point cloud.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 5.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 5.

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