Charging method, self-moving device and storage medium

Abstract

The invention provides a charging method, a self-moving device and a storage medium. The method comprises the following steps: in response to a charging instruction, if it is determined that a charging station is located in a safe room according to obtained sensing information, determining a first position as a target position according to the area range of the safe room, and if the charging station is not located in the safe room, determining a second position as the target position; controlling a self-moving device to move to the target position; adjusting the posture of the self-moving equipment to enable a charging connecting piece of the self-moving equipment to be aligned with a charging interface of the charging station; and controlling the self-moving device to move from the target position to the charging station for charging. By using the method, the position for adjusting the posture can be flexibly selected according to the environmental condition that whether the charging station is located in the safe house or not, so that the problem that the self-moving equipment collides with the safe house can be avoided, and the charging safety and efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of self-moving equipment, and in particular to a charging method, a self-moving equipment and a storage medium. Background Art

[0002] With the continuous advancement of technology and the rapid development of artificial intelligence, the use of autonomous mobile devices (such as lawn mowers, cleaners, cruisers, etc.) can greatly improve work efficiency. In order to ensure that the autonomous mobile devices can continue to work, it is necessary to control them to go to the charging station to charge when the battery of the autonomous mobile device is too low.

[0003] In order to make the charging components of the self-moving device face the charging station, the self-moving device often needs to rotate near the charging station. However, the self-rotation is often performed at a fixed position. If the user privately sets up a safe house outside the charging station, it may cause the self-moving device to collide with the safe house during rotation, which not only affects the charging of the self-moving device, but also poses certain safety hazards. Summary of the invention

[0004] In view of the above, it is necessary to provide a charging method, a self-moving device and a storage medium, which can solve the technical problem that the self-moving device collides with the safe house due to self-rotation at a fixed position.

[0005] On the one hand, the present application provides a charging method, which includes: responding to a charging instruction, if it is determined that the charging station is in a safe house based on the acquired perception information, determining a first position as a target position based on the area range of the safe house, if the charging station is not in the safe house, determining a second position as the target position, controlling a self-mobile device to move to the target position, adjusting the posture of the self-mobile device so that the charging contact of the self-mobile device is aligned with the charging interface of the charging station, and controlling the self-mobile device to move from the target position to the charging station for charging.

[0006] On the other hand, the present application provides a self-moving device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-moving device implements the charging method.

[0007] On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the charging method when executed by a processor in a mobile device.

[0008] In the charging method of this embodiment, when the charging station is inside a safe house, a position where the posture can be safely adjusted can be determined as the first position according to the area range of the safe house, thereby preventing the self-moving device from colliding with the safe house when adjusting its posture. When the charging station is not in the safe house, a position closer to the charging station can be determined as the second position for posture adjustment, thereby shortening the time for the self-moving device to keep the charging contact aligned with the charging interface. When the charging contact of the self-moving device is located behind the self-moving device, by shortening the time for the self-moving device to keep the charging contact aligned with the charging interface, the distance the self-moving device travels backward can be shortened, thereby reducing driving errors and further improving charging efficiency. By distinguishing whether the charging station is in a safe house, the position for adjusting the posture can be flexibly selected, thereby improving the safety and efficiency of charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of a self-moving device provided by an embodiment of the present application.

[0010] Figure 2 It is a flow chart of a charging method provided in one embodiment of the present application.

[0011] Figure 3 This is a schematic diagram of charging a mobile device provided by an embodiment of the present application.

[0012] Figure 4 It is a structural schematic diagram of a self-moving device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0013] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0014] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0015] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0016] The present application provides a charging method that can flexibly select the position of the posture adjustment according to the environmental condition of whether the charging station is in a safe house, thereby avoiding the problem of collision between the mobile device and the safe house, and further improving the safety and efficiency of charging.

[0017] The charging method provided in the embodiment of the present application can be applied to one or more self-moving devices. The self-moving devices can be lawn mowers, cleaners, harvesters, loading and unloading forklifts, and automated guided vehicles (AGVs), etc. The present application does not limit the specific types of self-moving devices.

[0018] For example, Figure 1 , which is a schematic diagram of a self-moving device provided in one embodiment of the present application. Figure 1 The self-moving device is a lawn mower, which can travel on a lawn and perform mowing tasks according to a preset mowing path. When it is detected that the power is less than a first preset value, the lawn mower can generate a charging instruction. In response to the charging instruction, the lawn mower can stop mowing and go to a charging station for charging.

[0019] Figure 1 The lawn mower in the figure is only an example of an autonomous mobile device. In actual applications, the autonomous mobile device may also be a cleaning machine, an automatic guided vehicle, or other equipment.

[0020] like Figure 2 , which is a flow chart of a charging method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The method is applied to a self-moving device.

[0021] S11, in response to a charging instruction, obtaining perception information.

[0022] In some embodiments of the present application, the self-moving device may include a sensor. The sensor includes but is not limited to: a camera, a camera, and a radar. For example, the camera may be a monocular camera or a multi-camera (such as a binocular camera), and the radar may be a laser radar or a millimeter wave radar.

[0023] In some embodiments of the present application, the method for obtaining perception information includes: determining the distance between the mobile device and the charging station, if the distance between the mobile device and the charging station is less than or equal to a second preset value, controlling the mobile device to rotate at the current position, or, if the distance between the mobile device and the charging station is greater than the second preset value, in order to obtain more accurate perception information, the mobile device is moved to a preset position and then rotated, so that the sensor of the mobile device faces the direction of the charging station, and the sensor is controlled to perform detection according to the direction of the charging station to obtain perception information.

[0024] Among them, the distance between the self-mobile device and the charging station can be obtained by sensors such as radar, and the second preset value can be customized, which is not limited in this application. The self-mobile device can determine the current position through real-time dynamic positioning technology (Real-Time Kinematic, RTK). The self-mobile device can store an operation map, which may include various information required by the self-mobile device in the working area, such as the location of objects such as roads, buildings, obstacles, safe houses, charging stations and maintenance stations. The self-mobile device can determine the location of the charging station by parsing the operation map, and the direction of the charging station can be determined based on the location of the charging station.

[0025] The preset position can be pre-stored in the operation map, and the self-moving device can obtain the preset position by parsing the operation map. For example, the preset position can be a position 5 meters directly in front of the charging station in the operation map. Alternatively, the preset position can be determined based on the current position of the self-moving device and the central axis of the charging station. The central axis extends from the charging interface of the charging station to a position at a preset distance from the charging station. The preset distance can be customized, and this application does not limit this. For example, the preset distance can be 5 meters. For example, the preset position can be the position on the central axis that is closest to the current position.

[0026] The perception information corresponds to the sensor. For example, if the sensor is a radar, the perception information may be a point cloud; if the sensor is a camera or a monocular camera, the perception information may be an image; if the sensor is a multi-camera, the perception information may include an image and / or depth information.

[0027] The sensor can be rotated according to its orientation. For example, taking a lawn mower as an example, if the sensor is a camera, and the camera is facing the direction of the head of the lawn mower, the lawn mower can obtain the location of the charging station from the operation map, determine the direction of the charging station according to the location of the charging station, and rotate according to a preset angle so that the head of the lawn mower is facing the direction of the charging station, and control the camera to shoot and obtain an image.

[0028] S12, determining whether the charging station is located in a safe house based on the perception information.

[0029] In some embodiments of the present application, a mobile device can input perception information into a model to obtain an object category corresponding to the perception information, wherein the model is trained based on the perception information with corresponding category labels, and determines whether the charging station is in a safe house based on the object category.

[0030] Among them, the perception information corresponds to the model. Exemplarily, if the perception information is an image, the model can be trained based on an image with a corresponding category label, and the model can be a convolutional neural network model such as LeNet-5, AlexNet, VGGNet, ResNet, Inception, or a supervised learning model such as a support vector machine, and this application does not limit this; if the perception information is a point cloud, the model can be trained based on a point cloud with a corresponding category label, and the model can be a PointNet, PointNet++, KPConv, or other model. The above examples of models are only examples and are not limited to this in actual applications. Category labels may include charging stations, safe houses, and the like.

[0031] The model may include a feature extraction module and a classification module. The feature extraction module may be used to extract features from the perception information, and the classification module may be used to classify the extracted features to obtain the object category. The feature extraction module may include network layers such as convolutional layers and activation function layers, and the classification module may include network layers such as fully connected layers and classification functions. The classification function may be functions such as sigmoid and softmax.

[0032] The object category can be used to quickly determine whether the charging station is located in a safe house. For example, if the object category includes a safe house, it can be determined that the charging station is in a safe house, and if the object category does not include a safe house, it can be determined that the charging station is not in a safe house.

[0033] In this embodiment, if the charging station is in a safe house, step S13 is executed, and if the charging station is not in a safe house, step S14 is executed.

[0034] S13, determining the first position as the target position according to the area range of the safe house.

[0035] In some embodiments of the present application, the distance between the first position and the boundary of the area range of the safe house is greater than or equal to a preset threshold. The preset threshold can be set by a user, or can be determined by the length of the self-moving device. Exemplarily, the distance between the first position and the boundary of the area range can be greater than or equal to the length of at least one self-moving device. For example, if the length of the self-moving device is 30 centimeters, the distance between the first position and the boundary of the area range can be greater than or equal to 30 centimeters.

[0036] Exemplarily, the self-mobile device may determine a position on the central axis whose distance from the boundary of the area range is greater than or equal to a preset threshold, and select the first position from the determined positions.

[0037] The method of selecting the first position from the determined positions may be random selection, so that the self-moving device can adjust its posture at different positions, thereby avoiding the problem of wheels wearing the lawn due to posture adjustment at the same position. The above examples of the selection method of the first position are only examples, and are not limited to this in actual applications.

[0038] The target position is the position where the self-mobile device performs posture adjustment. Taking into account the misalignment between the charging connector of the self-mobile device and the charging interface of the charging station, the self-mobile device often needs to perform posture adjustment so that the charging connector faces / aligns with the direction of the charging interface of the charging station. For example, when the charging connector of the self-mobile device is located at the rear of the self-mobile device, the self-mobile device needs to perform posture adjustment so that the charging connector at the rear faces or aligns with the charging interface of the charging station. When the charging station is in a safe house, if the posture adjustment is performed at a position close to the safe house, it may cause the self-mobile device to collide with the safe house when performing the posture adjustment.

[0039] In this embodiment, a position whose distance from the boundary of the area range is greater than or equal to the length of at least one self-moving device is determined as the first position, and the first position is determined as the target position, which can ensure that the self-moving device will not collide with the safe house when adjusting its posture at the target position, thereby improving the safety of charging.

[0040] S14, determining the second position as the target position.

[0041] In some embodiments, the mobile device may randomly select a position on the central axis of the charging station as the second position.

[0042] In other embodiments, the second position may be obtained by analyzing the operation map, and the second position may be a preset position located on the central axis of the charging station.

[0043] In this embodiment, when the charging station is not in the safe house, there is no risk of collision between the self-moving device and the safe house, so a position closer to the charging station can be selected as the second position. By determining the second position as the target position and adjusting the posture at the target position, the time for which the self-moving device keeps the charging contact aligned with the charging interface can be shortened. When the charging contact of the self-moving device is located behind the self-moving device and the self-moving device needs to be moved to the charging station by driving in reverse, by shortening the time for which the self-moving device keeps the charging contact aligned with the charging interface, the distance that the self-moving device drives in reverse can be shortened, thereby reducing driving errors and improving charging efficiency.

[0044] S15, controlling the mobile device to move to the target location.

[0045] In this embodiment, if the self-moving device has not moved to the preset position, the self-moving device can be controlled to move from the current position to the target position; if the self-moving device is at the preset position, the self-moving device can be controlled to move from the preset position to the target position.

[0046] S16, adjusting the posture of the mobile device so that the charging contact of the mobile device is aligned with the charging interface of the charging station.

[0047] In some embodiments of the present application, the charging contact may be a metal contact, and the charging contact may be located at the rear of the self-mobile device. When the charging contact contacts the charging interface, a signal of successful docking, such as an electrical signal, is generated. The self-mobile device may include a signal receiver, and the charging station may include a signal transmitter. The signals transmitted by the signal transmitter include, but are not limited to: infrared (IR) signals, Bluetooth (BT) signals, and ultra-wideband (UWB) signals. The signal receiver corresponds to the signal transmitter. Exemplarily, if the signal transmitter is an infrared transmitter, the signal receiver may be an infrared receiver.

[0048] In some embodiments of the present application, the posture adjustment method includes: receiving a signal transmitted by a signal transmitter through a signal receiver, determining the relative position information between the mobile device and the charging station based on the received signal, and controlling the mobile device to adjust the posture based on the relative position information so that the charging contact of the mobile device is aligned with the charging interface of the charging station.

[0049] The relative position information may include the distance between the mobile device and the charging station, the direction, angle, phase difference, etc. of the mobile device relative to the charging station.

[0050] S17, controlling the mobile device to move from the target location to the charging station for charging.

[0051] In some embodiments of the present application, controlling the mobile device to move from the target location to the charging station for charging includes: controlling the mobile device to move from the target location toward the charging station until a signal indicating successful docking between the charging connector and the charging interface is received, and then controlling the mobile device to stop moving.

[0052] Among them, when the charging station is located in a safe house, you can enter the safe house through the entrance of the safe house and drive to the charging station for charging.

[0053] like Figure 3 , which is a schematic diagram of charging a mobile device provided by an embodiment of the present application. Figure 3 The lawn mower 10 includes a lawn mower 10, a charging station 20 and a safe house 30. The lawn mower 10 is located on the central axis L. The rear of the lawn mower 10 includes a charging contact 10a and a charging contact 10b. The charging station 20 includes a charging interface 20a, a charging interface 20b and a signal transmitter 20c. The lawn mower 10 is controlled to adjust its posture by receiving a signal from the signal transmitter 20c, so that the charging contact 10a located at the rear of the lawn mower 10 is aligned with the charging interface 20a of the charging station 20, and the charging contact 10b is aligned with the charging interface 20b of the charging station 20. The lawn mower 10 is controlled to move toward the entrance of the safe house 30 in a backward driving manner, enter the safe house 30 through the entrance of the safe house 30, and drive to the charging station 20 until a successful docking signal generated by the charging contact 10a contacting the charging interface 20b and the charging contact 10b contacting the charging station 20b is detected, and the lawn mower 10 is controlled to stop driving.

[0054] In the charging method of this embodiment, when the charging station is inside a safe house, a position where the posture can be safely adjusted can be determined as the first position according to the area range of the safe house, thereby preventing the self-moving device from colliding with the safe house when adjusting its posture. When the charging station is not in the safe house, a position closer to the charging station can be determined as the second position for posture adjustment, thereby shortening the time for the self-moving device to keep the charging contact aligned with the charging interface. When the charging contact of the self-moving device is located behind the self-moving device, by shortening the time for the self-moving device to keep the charging contact aligned with the charging interface, the distance the self-moving device travels backward can be shortened, thereby reducing driving errors and further improving charging efficiency. By distinguishing whether the charging station is in a safe house, the position for adjusting the posture can be flexibly selected, thereby improving the safety and efficiency of charging.

[0055] like Figure 4 , which is a schematic diagram of the structure of a self-moving device provided by an embodiment of the present application. Figure 4In the figure, the self-moving device 10 includes a body and a memory 101, a processor 102, a power supply 103, a sensor 104, an operating mechanism 105, a communication module 106, a positioning module 107, a driving wheel 108 and a bus 109 arranged on the body. The processor 102 is coupled to the memory 101, the power supply 103, the sensor 104, the operating mechanism 105, the communication module 106, the positioning module 107, and the driving wheel 108 through the bus 109.

[0056] The memory 101 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 102, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0057] The non-volatile memory may also store executable programs and user and application data, etc., and may be loaded into the random access memory in advance for direct reading and writing by the processor 102. The non-volatile memory may include a disk storage device and a flash memory.

[0058] The memory 101 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 102. The one or more computer programs include a plurality of instructions, and when the plurality of instructions are executed by the processor 103, the charging method executed on the mobile device 10 can be implemented.

[0059] In other embodiments, the self-mobile device 10 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the self-mobile device 10 .

[0060] The processor 102 may include one or more processing units, for example, the processor 102 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0061] The processor 102 provides computing and control capabilities. For example, the processor 102 is used to execute a computer program stored in the memory 101 to implement the above-mentioned charging method.

[0062] The power supply 103 is used to supply power to the mobile device. In some embodiments of the present application, the power supply 103 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0063] The sensor 104 is used to obtain information from the mobile device 10, such as obtaining environmental information and movement information of the mobile device 10. In some embodiments of the present application, the sensor 104 may include one or more sensors such as a laser radar, a camera, an infrared sensor, and an encoder.

[0064] The operating mechanism 105 is used to perform corresponding operating tasks, such as mowing, patrolling, sweeping and spraying pesticides. In some embodiments of the present application, the operating mechanism 105 may include a motor, a transmission mechanism, a cutter disc and a grass collecting box. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area. The grass collecting box can be used to collect fallen leaves and cut grass.

[0065] The communication module 106 is used to realize communication between the mobile device and other devices. In one embodiment of the present application, the communication module 106 can exchange data with other devices based on wired communication and / or wireless communication. The above wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0066] The positioning module 107 is used to determine the position of the mobile device. In some embodiments of the present application, the positioning module 107 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0067] The driving wheel 108 is used to realize the movement of the self-moving device. In some embodiments of the present application, the driving wheel 108 can realize the movement function of the self-moving device according to the control of the processor 102. In some embodiments of the present application, the driving wheel 108 may include a left driving wheel and a right driving wheel.

[0068] The bus 109 is at least used to provide a channel for mutual communication between the memory 101 , the processor 102 , the power supply 103 , the sensor 104 , the operating mechanism 105 , the communication module 106 , the positioning module 107 , and the driving wheel 108 in the mobile device 10 .

[0069] In other embodiments of the present application, the self-moving device 10 may further include an anti-collision unit and a steering assembly. The anti-collision unit may be used to prevent the driving wheel 108 from colliding with an obstacle in front of the self-moving device. The steering assembly may be used to enable the driving wheel 108 to adjust the driving direction.

[0070] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the self-moving device 10. In other embodiments of the present application, the self-moving device 10 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0071] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0072] The computer-readable storage medium may be the internal memory of the mobile device described in the above embodiment, for example, the hard disk or memory of the mobile device. The computer-readable storage medium may also be an external storage device of the mobile device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the mobile device.

[0073] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created based on the use of the mobile device, etc.

[0074] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0076] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A charging method, characterized in that: The method comprises: In response to the charging instruction, if it is determined according to the acquired sensing information that the charging station is in a safe house, a first position is determined as a target position according to the area range of the safe house, and if the charging station is not in the safe house, a second position is determined as the target position; Controlling the mobile device to move to the target location; Adjusting the posture of the self-moving device so that the charging contact of the self-moving device is aligned with the charging interface of the charging station; The self-moving device is controlled to move from the target location to the charging station for charging.

2. The charging method according to claim 1, characterized in that: The method for acquiring the perception information includes: Control the self-moving device to rotate at the current position, or to rotate after moving to a preset position, so that the sensor of the self-moving device faces the direction of the charging station; The sensor is controlled to perform detection according to the direction of the charging station to obtain the perception information.

3. The charging method according to claim 1, characterized in that: The safe house is determined by: Inputting the perception information into a model to obtain an object category corresponding to the perception information, wherein the model is trained based on the perception information with corresponding category labels; According to the object category, it is determined whether the charging station is in the safe house.

4. The charging method according to claim 1, characterized in that: The second position is determined by: The pre-stored second position is acquired, where the second position is located on a central axis of the charging station, wherein the central axis extends from a charging interface of the charging station to a position at a preset distance from the charging station.

5. The charging method according to claim 4, characterized in that: The distance between the first position and the boundary of the area range is greater than or equal to a preset threshold.

6. The charging method according to claim 5, characterized in that: The method of determining the first position includes: A position on the central axis whose distance from the boundary is greater than or equal to the preset threshold is determined, and the first position is selected from the determined positions.

7. The charging method according to claim 1, characterized in that: The self-mobile device includes a signal receiver, the charging station includes a signal transmitter, and the posture adjustment method includes: Receiving, by means of the signal receiver, a signal transmitted by the signal transmitter; Determine the relative position information between the mobile device and the charging station according to the received signal; According to the relative position information, the self-moving device is controlled to adjust its posture so that the charging contact of the self-moving device is aligned with the charging interface of the charging station.

8. The charging method according to claim 1, characterized in that: The controlling the mobile device to move from the target location to the charging station for charging comprises: The self-moving device is controlled to travel from the target position toward the direction where the charging station is located until a signal is received indicating that the charging contact piece is successfully docked with the charging interface, and the self-moving device is controlled to stop traveling.

9. A self-propelled device, characterized in that: The self-mobile device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the self-mobile device implements the charging method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor in a mobile device, the charging method according to any one of claims 1 to 8 is implemented.

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