Autonomous charging system, autonomous mobile device and charging pile

Abstract

The invention relates to an autonomous charging system, an autonomous mobile device and a charging pile. The autonomous mobile system comprises the charging pile and the autonomous mobile device. The charging pile comprises a near-field infrared transmitting device and a radio frequency transmitting device, the near-field infrared transmitting device transmits a near-field infrared signal, and the radio frequency transmitting device transmits a radio frequency signal; the autonomous mobile equipment comprises an infrared receiving device, a radio frequency receiving device and a controller, and the controller can control the autonomous mobile equipment to search near-field infrared signals near a corresponding emission source according to radio frequency signals received by the radio frequency receiving device when controlling the autonomous mobile equipment to be recharged; the controller can guide the autonomous mobile device to be in butt joint with the charging pile for charging according to the near-field infrared signal when the infrared receiving device receives the near-field infrared signal. According to the technical scheme, accurate butt joint of the autonomous mobile device and the charging pile can be achieved, the autonomous mobile device is prevented from colliding with the charging pile, and the service life of the autonomous mobile device and the service life of the charging pile can be prolonged.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics technology, and in particular to an autonomous charging system, an autonomous mobile device, and a charging pile. Background Art

[0002] Currently, when an autonomous mobile device is recharged, it is guided to the near-field radiation area by far-field infrared signals, and then the near-field infrared signals in the near-field radiation area guide it to dock with the charging pile for charging. However, since infrared signals are easily affected by the external environment, such as dust and obstacles, it is difficult to achieve accurate docking between the autonomous mobile device and the charging pile, which causes continuous collisions between the autonomous mobile device and the charging pile, causing damage to the autonomous mobile device and the charging pile, and affecting the service life. Summary of the invention

[0003] The present disclosure provides an autonomous charging system, an autonomous mobile device and a charging pile to solve the deficiencies in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided an autonomous charging system, comprising: a charging pile and an autonomous mobile device;

[0005] The charging pile includes a near-field infrared transmitting device and a radio frequency transmitting device, wherein the near-field infrared transmitting device is used to transmit a near-field infrared signal, and the radio frequency transmitting device is used to transmit a radio frequency signal;

[0006] The autonomous mobile device includes an infrared receiving device, a radio frequency receiving device and a controller. When controlling the autonomous mobile device to recharge, the controller can control the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal according to the radio frequency signal received by the radio frequency receiving device; and when the infrared receiving device receives the near-field infrared signal, the controller can guide the autonomous mobile device to dock and charge with the charging pile according to the near-field infrared signal.

[0007] Optionally, the autonomous mobile device further includes a storage device, and the storage device is used to store the location information of the charging pile;

[0008] The controller may control the autonomous mobile device to recharge according to the location information when the power level of the autonomous mobile device is lower than a preset power threshold.

[0009] Optionally, the location information of the charging pile includes at least one of the following:

[0010] Recording the location information of the charging pile when the autonomous mobile device last left the charging pile;

[0011] The autonomous mobile device records the location information of the charging pile when it was last docked with the charging pile for charging;

[0012] The location information of the charging pile detected by the autonomous mobile device during walking.

[0013] Optionally, the charging pile further includes a far-field infrared transmitting device, and the far-field infrared transmitting device is used to transmit a far-field infrared signal;

[0014] When the infrared receiving device receives the far-field infrared signal, the controller may guide the autonomous mobile device to move toward the charging pile according to the far-field infrared signal.

[0015] Optionally, the controller controls the autonomous mobile device to move in a circular motion around the emission source of the radio frequency signal in a preset direction with a first preset distance as a radius, so as to search for the near-field infrared signal near the emission source of the radio frequency signal; wherein the first preset distance is not greater than the target radiation distance of the near-field infrared signal.

[0016] Optionally, the controller determines the interval distance between the autonomous mobile device and the emission source of the radio frequency signal according to the signal strength of the radio frequency signal received by the radio frequency receiving device, and the signal strength is negatively correlated with the interval distance.

[0017] Optionally, the radio frequency transmitting device includes an active radio frequency tag; and the radio frequency receiving device includes a radio frequency reader for receiving the radio frequency signal transmitted by the active radio frequency tag.

[0018] Optionally, the radio frequency receiving device includes a radio frequency reader; the radio frequency transmitting device includes a passive radio frequency tag, and the passive radio frequency tag can transmit the radio frequency signal in response to the stimulation of radio frequency energy generated by the radio frequency reader when the interval distance between the autonomous mobile device and the charging pile is less than a second preset distance, and the radio frequency signal transmitted by the passive radio frequency tag is received by the radio frequency reader.

[0019] Optionally, the autonomous mobile device includes: an autonomous cleaning robot.

[0020] According to a second aspect of an embodiment of the present disclosure, an autonomous mobile device is provided, including:

[0021] An infrared receiving device, a radio frequency receiving device and a controller, wherein the infrared receiving device is used to receive a near-field infrared signal emitted by a near-field infrared transmitting device on the charging pile, and the radio frequency receiving device is used to receive a radio frequency signal emitted by a radio frequency transmitting device on the charging pile;

[0022] When controlling the autonomous mobile device to recharge, the controller may control the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal according to the radio frequency signal received by the radio frequency receiving device; and when the infrared receiving device receives the near-field infrared signal, the controller may guide the autonomous mobile device to dock and charge with the charging pile according to the near-field infrared signal.

[0023] Optionally, the autonomous mobile device further includes a storage device, and the storage device is used to store the location information of the charging pile;

[0024] The controller may control the autonomous mobile device to recharge according to the location information when the power level of the autonomous mobile device is lower than a preset power threshold.

[0025] Optionally, the location information of the charging pile includes at least one of the following:

[0026] Recording the location information of the charging pile when the autonomous mobile device last left the charging pile;

[0027] The autonomous mobile device records the location information of the charging pile when it starts docking and charging with the charging pile for the last time;

[0028] The autonomous mobile device detects the location information of the charging pile during walking.

[0029] Optionally, when the power level of the autonomous mobile device is lower than a threshold, the controller may control the autonomous mobile device to move toward the charging pile according to the far-field infrared signal emitted by the charging pile and received by the infrared receiving device.

[0030] Optionally, the controller controls the autonomous mobile device to move in a circular motion around the emission source of the radio frequency signal in a preset direction with a first preset distance as a radius, so as to search for the near-field infrared signal near the emission source of the radio frequency signal; wherein the first preset distance is not greater than the target radiation distance of the near-field infrared signal.

[0031] Optionally, the controller determines the interval distance between the autonomous mobile device and the emission source of the radio frequency signal according to the signal strength of the radio frequency signal received by the radio frequency receiving device, and the signal strength is negatively correlated with the interval distance.

[0032] Optionally, the radio frequency receiving device includes a radio frequency reader, and the radio frequency reader can generate radio frequency energy;

[0033] When the radio frequency transmitting device is an active radio frequency tag, the radio frequency reader receives the radio frequency signal transmitted by the active radio frequency tag;

[0034] When the radio frequency transmitting device is a passive radio frequency tag, the radio frequency energy is used to stimulate the passive radio frequency tag to transmit the radio frequency signal when the interval distance between the autonomous mobile device and the charging pile is less than a second preset distance, and the radio frequency signal transmitted by the passive radio frequency tag is received by the radio frequency reader.

[0035] Optionally, the autonomous mobile device includes: an autonomous cleaning robot.

[0036] According to a third aspect of an embodiment of the present disclosure, a charging pile is provided, including:

[0037] A near-field infrared transmitting device and a radio frequency transmitting device, wherein the near-field infrared transmitting device is used to transmit a near-field infrared signal, and the radio frequency transmitting device is used to transmit a radio frequency signal, wherein the radio frequency signal is used to instruct an autonomous mobile device in a recharging state to search for the near-field infrared signal near the emission source of the radio frequency signal, so that the autonomous mobile device can dock with the charging pile and charge according to the received near-field infrared signal.

[0038] Optionally, the charging pile further comprises a far-field infrared transmitting device for transmitting a far-field infrared signal, wherein the far-field infrared signal is used to guide an autonomous mobile device whose power level is lower than a preset power threshold to recharge, so that the autonomous mobile device moves towards the charging pile.

[0039] Optionally, the radio frequency transmitting device includes an active radio frequency tag, and the active radio frequency tag actively transmits the radio frequency signal.

[0040] Optionally, the radio frequency transmitting device includes a passive radio frequency tag, which can transmit the radio frequency signal in response to the stimulation of radio frequency energy generated by the autonomous mobile device when the interval distance between the charging pile and the autonomous mobile device is less than a preset distance.

[0041] According to a fourth aspect of an embodiment of the present disclosure, there is provided an autonomous charging system, comprising:

[0042] A charging pile and an autonomous mobile device; the charging pile comprises a radio frequency transmitting device and an infrared transmitting device, the radio frequency transmitting device is used to transmit radio frequency signals, and the infrared transmitting device is used to transmit infrared signals; wherein, either the radio frequency signal or the infrared signal is a far-field signal and forms a far-field target radiation range, and the other is a near-field signal and forms a near-field target radiation range;

[0043] The autonomous mobile device includes a radio frequency receiving device, an infrared receiving device and a controller. When controlling the autonomous mobile device to recharge, the controller can guide the autonomous mobile device to move to the near-field target radiation range according to the far-field signal received by the autonomous mobile device within the far-field target radiation range; and the controller can guide the autonomous mobile device to dock with the charging pile for charging according to the near-field signal received by the autonomous mobile device within the near-field target radiation range.

[0044] According to a fifth aspect of an embodiment of the present disclosure, an autonomous mobile device is provided, including:

[0045] A radio frequency receiving device, an infrared receiving device and a controller; the radio frequency receiving device is used to receive the radio frequency signal transmitted by the radio frequency transmitting device on the charging pile, and the infrared receiving device is used to receive the infrared signal transmitted by the infrared transmitting device on the charging pile; wherein, either the radio frequency signal or the infrared signal is a far-field signal and forms a far-field target radiation range, and the other is a near-field signal and forms a near-field target radiation range;

[0046] When controlling the autonomous mobile device to recharge, the controller may guide the autonomous mobile device to move to the near-field target radiation range according to the far-field signal received by the autonomous mobile device within the far-field target radiation range; and the controller may guide the autonomous mobile device to dock with the charging pile for charging according to the near-field signal received by the autonomous mobile device within the near-field target radiation range.

[0047] According to a sixth aspect of an embodiment of the present disclosure, a charging pile is provided, including:

[0048] A radio frequency transmitting device and an infrared transmitting device, wherein the radio frequency transmitting device is used to transmit radio frequency signals, and the infrared transmitting device is used to transmit infrared signals; either the radio frequency signal or the infrared signal is a far-field signal and forms a far-field target radiation range, and the other is a near-field signal and forms a near-field target radiation range; wherein the far-field signal is used to guide an autonomous mobile device in the far-field target radiation range and in a recharging state to walk to the near-field target radiation range, and the near-field signal is used to guide the autonomous mobile device in the near-field target radiation range and in a recharging state to dock with the charging pile for charging.

[0049] It can be seen from the above embodiments that the present invention can ensure that the autonomous mobile device receives the radio frequency signal from the charging pile during the recharging process by transmitting and receiving radio frequency signals between the charging pile and the autonomous mobile device without being blocked or affected by dust, obstacles, etc., which helps to improve the accuracy of the docking and recharging between the autonomous mobile device and the charging pile, reduce the probability of collision, and help to extend the service life of the autonomous mobile device and the charging pile.

[0050] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0052] Figure 1 is a block diagram of an autonomous charging system according to an exemplary embodiment.

[0053] Figure 2 The figure is an application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0054] Figure 3 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0055] Figure 4 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0056] Figure 5 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0057] Figure 6 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0058] Figure 7 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0059] Figure 8 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0060] Fig. 9 is a block diagram of another autonomous charging system according to an exemplary embodiment.

[0061] Fig.10 The figure is an application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0062] Fig.11 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0063] Fig.12 is a block diagram of another autonomous charging system according to an exemplary embodiment.

[0064] Fig.13 The figure is an application scenario diagram of an autonomous charging system according to an exemplary embodiment.

[0065] Fig.14 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment. DETAILED DESCRIPTION

[0066] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0067] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0068] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0069] Figure 1 is a schematic diagram of an autonomous charging system according to an exemplary embodiment. Figure 1 As shown, the autonomous mobile system 100 includes an autonomous mobile device 1 and a charging post 2 . The charging post 2 can be connected to the autonomous mobile device 1 to charge the autonomous mobile device 1 .

[0070] Among them, the charging pile 2 may include a near-field infrared transmitter 21 and a radio frequency transmitter 22; the radio frequency transmitter 22 may be used to transmit a radio frequency signal, which may instruct the autonomous mobile device 1 in the recharging state to search for a near-field infrared signal near the emission source of the radio frequency signal (i.e., the radio frequency transmitter 22). The near-field infrared signal is emitted by the infrared transmitter 21 on the charging pile 2 to guide the autonomous mobile device 1 to dock the charging port to the charging electrode of the charging pile 2 and realize docking charging.

[0071] The autonomous mobile device 1 may include an infrared receiving device 11, a radio frequency receiving device 12 and a controller 13. The controller 13 may control the autonomous mobile device 1 to recharge toward the charging pile 2; and when the autonomous mobile device 1 is in the recharging state, the radio frequency receiving device 12 is in the working state, so as to receive the radio frequency signal emitted by the radio frequency transmitting device 22 on the charging pile 2; when the autonomous mobile device 1 receives the radio frequency signal through the radio frequency receiving device 12, the emission source of the radio frequency signal (i.e., the radio frequency transmitting device 22, i.e., the charging pile 2 itself) may be determined, and near-field infrared signals may be searched near the emission source under the control of the controller 13; the near-field infrared signal may be received by the infrared receiving device 11, and further, under the guidance of the received near-field infrared signal, the controller 13 may control the autonomous mobile device 1 to dock and charge with the charging pile 2.

[0072] In the above embodiment, by sending out radio frequency signals from the charging pile 2, dust, obstacles, etc. around the charging pile 2 can be avoided from blocking the radio frequency signals, ensuring that the autonomous mobile device 1 can receive the radio frequency signals and determine that it is located near the charging pile 2, thereby accurately positioning the position of the charging pile 2. At the same time, after receiving the radio frequency signal, the autonomous mobile device 1 can further search for near-field infrared signals, and can achieve docking and recharging between the autonomous mobile device 1 and the charging pile 2 under the guidance of the near-field infrared signals, which can not only improve the accuracy of docking and recharging between the autonomous mobile device 1 and the charging pile 2 and reduce collisions, but also help to extend the service life of the autonomous mobile device 1 and the charging pile 2.

[0073] For ease of understanding, the autonomous mobile device 1 and the charging station 2 can be abstracted as points on the travel plane. Figure 2-9 The schematic diagram shown above Figure 1 The autonomous charging process of the autonomous charging system shown is described in detail.

[0074] like Figure 2As shown, assuming that the RF signal radiation radius is R1, and the RF signal radiation area M1 is formed accordingly; assuming that the target radiation distance of the infrared signal is R2, and the radiation area M2 is formed accordingly, which is basically fan-shaped. Then, when the autonomous mobile device 1 in the recharging state is in motion, if the RF receiving device 12 does not receive the RF signal, it means that the distance between the autonomous mobile device 1 and the charging pile 2 is far, and the autonomous mobile device 1 can continue to move (towards the charging pile 2).

[0075] Assuming that the autonomous mobile device 1 continues to move, when the RF receiving device 12 receives the RF signal, it indicates that the RF receiving device 12 is located in the above-mentioned radiation area M1, so it can be determined that the autonomous mobile device 1 has reached the vicinity of the charging pile 2. At this time, the autonomous mobile device 1 can try to receive the near-field infrared signal through the infrared receiving device 11; if the near-field infrared signal can be received, it indicates that the autonomous mobile device 1 has entered and is located in the above-mentioned radiation area M2, and can further dock and charge with the charging pile 2 based on the near-field infrared signal; if the near-field infrared signal cannot be received, it indicates that the autonomous mobile device 1 is not in the radiation area M2, and can enter the radiation area M2 in the following way:

[0076] like Figure 3 As shown, the autonomous mobile device 1 is located near the charging pile 2, and the radiation area M1 of the radio frequency signal has covered the autonomous mobile device 1. At this time, the controller 13 controls the autonomous mobile device 1 to make a circular motion around the radio frequency signal transmitting source (i.e., the charging pile 2, or specifically the radio frequency transmitting device 22 inside the charging pile 2) in a preset direction with a first preset distance as a radius to search for near-field infrared signals; wherein, the first preset distance should not be greater than the target radiation distance R2 of the near-field infrared signal to ensure that the autonomous mobile device 1 can search for the near-field infrared signal.

[0077] For example, the controller 13 can determine the distance L1 between the autonomous mobile device 1 and the charging pile 2 according to the signal strength of the received radio frequency signal. Then, when L1≤R2, the autonomous mobile device 1 can directly move in a circle around the radio frequency signal emission source along a preset direction with L1 as the radius to search for near-field infrared signals near the radio frequency signal emission source. Figure 3-5 In the embodiment shown, it is assumed that the autonomous mobile device 1 is Figure 3 Starting from the position shown, follow Figure 4 The counterclockwise direction A shown in the figure makes a circular motion around the charging pile 2 until it reaches Figure 5 The position shown enables the autonomous mobile device 1 to enter the radiation area M2 of the near-field infrared signal, thereby docking with the charging pile 2 for recharging; the preset direction can also be clockwise, which is not limited in the present disclosure.

[0078] When L1>R2, Figure 6 As shown, if the autonomous mobile device 1 still moves in a circle around the RF signal emission source with L1 as the radius, it cannot enter the radiation area M2 of the near-field infrared signal, and thus the autonomous mobile device 1 cannot search for the near-field infrared signal. Therefore, the controller 13 can first control the autonomous mobile device 1 to continue to move toward the charging pile 2, wherein the signal strength of the RF signal received by the RF receiving device 12 is negatively correlated with the interval distance L1, that is, the closer the interval distance between the autonomous mobile device 1 and the charging pile 2, the stronger the signal strength of the RF signal.

[0079] Assume that the distance that the autonomous mobile device 1 continues to move is Figure 7 The distance L2 shown shortens the interval between the autonomous mobile device 1 and the charging pile 2 from L1 to (L1-L2), and the above-mentioned first preset distance is changed to (L1-L2); wherein, it should be ensured that (L1-L2)≤R2, so that when the autonomous mobile device 1 moves in a circle around the emission source of the radio frequency signal along a preset direction with (L1-L2) as the radius, the near-field infrared signal can be searched near the emission source of the radio frequency signal.

[0080] In fact, the infrared receiving device 11 and the radio frequency receiving device 12 on the autonomous mobile device 1 may not be arranged at the same or close positions; similarly, the infrared transmitting device 21 and the radio frequency transmitting device 22 on the charging pile 2 may not be arranged at the same or close positions. Figure 8 As shown, it is assumed that the spacing distance between the infrared receiving device 11 and the radio frequency receiving device 12 is determined to be S1 based on the relative position relationship; similarly, the spacing distance between the infrared transmitting device 21 and the radio frequency transmitting device 22 is determined to be S2; and, assuming that the autonomous mobile device 1 has entered the radiation area M1 of the radio frequency signal, based on the strength of the radio frequency signal received by the radio frequency receiving device 12, it can be determined that the spacing distance between the radio frequency receiving device 12 and the radio frequency transmitting device 22 is L4.

[0081] Then, when the autonomous mobile device 1 makes a circular motion around the radio frequency transmitting device 22 with the first preset distance as the radius, in order to ensure that it can search for the infrared signal emitted by the infrared transmitting device 21, the spacing distance L5≤R2 between the infrared receiving device 11 and the infrared transmitting device 21 should be satisfied; and the spacing distance L5 not only changes with the change of the spacing distance L4, but is also affected by the spacing distances S1 and S2; therefore, according to the change law of the spacing distance L5, it can be known that when the infrared receiving device 11, the radio frequency receiving device 12, the infrared transmitting device 21 and the radio frequency transmitting device 22 are located on the same straight line, the spacing distance L5 reaches the maximum value, and L5=L4+S1+S2, so that when L4+S1+S2≤R2, that is, when the spacing distance L4≤R2-S2-S2, it can be ensured that the autonomous mobile device 1 can enter the radiation area M2 of the infrared signal when it moves around the charging pile 2 with the spacing distance L4 as the first preset distance, so that the infrared receiving device 11 can receive the infrared signal in the infrared radiation area M2.

[0082] In the above embodiments, when the power of the autonomous mobile device 1 is lower than the preset power threshold, it can be recharged toward the charging pile 2 under the control of the controller 13, for example:

[0083] In one embodiment, the autonomous mobile device 1 further includes a storage device 14, which stores the location information of the charging pile 2, so that the controller 13 can control the autonomous mobile device 1 to walk to the charging pile 2 for recharging according to the location information. The location information can be recorded and saved by the autonomous mobile device 1, for example, when the autonomous mobile device 1 last leaves the charging pile 2, the location information of the charging pile 2 is recorded, or when the autonomous mobile device 1 last docks with the charging pile 2 for charging, the location information of the charging pile 2 is recorded, or when the autonomous mobile device 1 detects the location information of the charging pile 2 during walking; of course, the location information can also be recorded and saved by the autonomous mobile device 1 in the above-mentioned multiple scenarios, and the present disclosure does not limit this.

[0084] In another embodiment, if Fig. 9 As shown, the charging pile 2 also includes a far-field infrared transmitting device 23, which can be used to transmit a far-field infrared signal, and the far-field infrared signal can be received by the infrared receiving device 11 of the autonomous mobile device 1, so that the controller 13 can control the autonomous mobile device 1 to walk toward the charging pile 2 for recharging based on the received far-field infrared signal.

[0085] Based on the above-mentioned embodiments, the radiation area M1 of the radio frequency signal emitted on the charging pile 2 can be specifically formed by the radio frequency tag 221 in the radio frequency transmitting device 22; in one embodiment, the radio frequency tag 221 can include an active radio frequency tag, so that the above-mentioned radiation area M1 can be autonomously formed on the charging pile 2, and when the radiation area M1 covers the autonomous mobile device 1, the radio frequency signal can be received by the radio frequency reader 121 in the radio frequency receiving device 12 to determine that the autonomous mobile device 1 is already located near the charging pile 2, thereby realizing accurate positioning marking of the position of the charging pile 2.

[0086] In another embodiment, the RF tag 221 may include a passive RF tag, which may emit a RF signal under the stimulation of the RF energy generated by the RF reader 121 and form the above-mentioned radiation area M1; specifically, Fig.10 As shown, it is assumed that the radiation radius of the radio frequency energy generated by the radio frequency reader 121 is R3, and accordingly a radiation area M3, a spacing distance L3 between the autonomous mobile device 1 and the radio frequency transmitting device 22 on the charging pile 2 is formed.

[0087] Then, when L3>R3, the radiation area M3 will not cover the passive RFID tag, so the autonomous mobile device 1 can continue to move toward the charging pile 2 until L3≤R3, such as Fig.11 As shown, the radiation area M3 can cover the passive RFID tag. At this time, the passive RFID tag can emit a RF signal in response to the stimulation of RF energy and form the radiation area M1 in the above embodiment to mark the position of the charging pile 2, so that the autonomous mobile device 1 can determine that it is located near the charging pile 2 when receiving the RF signal.

[0088] The present disclosure also provides another technical solution for an autonomous charging system, such as Fig.12 As shown, the autonomous charging system may include an autonomous mobile device 1 and a charging pile 2. The charging pile 2 may include a radio frequency transmitter 24 and an infrared transmitter 25. The infrared transmitter 25 may be used to transmit infrared signals, and the radio frequency transmitter 24 may be used to transmit radio frequency signals. When either the radio frequency signal or the infrared signal is a far-field signal and forms a far-field target radiation range, the other is a near-field signal and forms a near-field target radiation range. Furthermore, the far-field signal may be used to guide the autonomous mobile device 1 in the far-field target radiation range and in the recharging state to walk to the near-field target radiation range, and the near-field signal may be used to guide the autonomous mobile device 1 in the near-field target radiation range and in the recharging state to dock with the charging pile 2 for charging.

[0089] In one embodiment, if Fig.13As shown, the radio frequency signal emitted by the radio frequency transmitting device 24 on the charging pile 2 is used as a near-field signal, and forms a near-field radiation range N1 accordingly, and the infrared signal emitted by the infrared transmitting device 25 is used as a far-field signal, and forms a far-field radiation range N2 accordingly. Then, the infrared receiving device 16 on the autonomous mobile device 1 can receive the far-field signal (i.e., infrared signal) from the far-field radiation range N2, so that the controller 17 on the autonomous mobile device 1 can move to the near-field radiation range N1 according to the guidance of the received far-field signal when controlling its recharging; and the controller 17 can guide the charging port of the autonomous mobile device 1 to dock and charge with the charging electrode on the charging pile 2 based on the near-field signal (i.e., radio frequency signal) in the near-field radiation area N1 received by the radio frequency receiving device 15 on the autonomous mobile device 1.

[0090] In another embodiment, if Fig.14 As shown, the radio frequency signal emitted by the radio frequency transmitting device 24 on the charging pile 2 is used as a far-field signal, and accordingly forms a far-field radiation range N3, and the infrared signal emitted by the infrared transmitting device 25 is used as a near-field signal, and accordingly forms a near-field radiation range N4. Then, the radio frequency receiving device 15 on the autonomous mobile device 1 can receive the far-field signal (i.e., radio frequency signal) from the far-field radiation range N3, so that the controller 17 on the autonomous mobile device 1 can move to the near-field radiation range N4 according to the guidance of the received far-field signal when controlling its recharging; and the controller 17 can guide the charging port of the autonomous mobile device 1 to dock and charge with the charging electrode on the charging pile 2 based on the near-field signal (i.e., infrared signal) in the near-field radiation area N4 received by the infrared receiving device 16 on the autonomous mobile device 1.

[0091] Based on the above embodiments, the autonomous mobile device 1 in the present disclosure may include an autonomous cleaning robot, such as a sweeping robot, etc., and the present disclosure is not limited to this.

[0092] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0093] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An autonomous charging system, characterized in that: Including charging stations and autonomous mobile equipment; The charging pile includes a near-field infrared transmitting device and a radio frequency transmitting device, wherein the near-field infrared transmitting device is used to transmit a near-field infrared signal, and the radio frequency transmitting device is used to transmit a radio frequency signal; The autonomous mobile device comprises an infrared receiving device, a radio frequency receiving device and a controller. The controller can control the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal according to the radio frequency signal received by the radio frequency receiving device when controlling the autonomous mobile device to recharge; and the controller can guide the autonomous mobile device to dock and charge with the charging pile according to the near-field infrared signal when the infrared receiving device receives the near-field infrared signal; The controlling the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal includes: controlling the autonomous mobile device to perform a circular motion around the emission source of the radio frequency signal along a preset direction with a first preset distance as a radius.

2. The autonomous charging system according to claim 1, characterized in that: The autonomous mobile device further comprises a storage device, wherein the storage device is used to store the location information of the charging pile; The controller may control the autonomous mobile device to recharge according to the location information when the power level of the autonomous mobile device is lower than a preset power threshold.

3. The autonomous charging system according to claim 2, characterized in that: The location information of the charging pile includes at least one of the following: Recording the location information of the charging pile when the autonomous mobile device last left the charging pile; The autonomous mobile device records the location information of the charging pile when it was last docked with the charging pile for charging; The location information of the charging pile detected by the autonomous mobile device during walking.

4. The autonomous charging system according to claim 1, characterized in that: The charging pile further comprises a far-field infrared transmitting device, which is used to transmit a far-field infrared signal; When the infrared receiving device receives the far-field infrared signal, the controller may guide the autonomous mobile device to move toward the charging pile according to the far-field infrared signal.

5. The autonomous charging system according to claim 1, characterized in that: The controller determines the interval distance between the autonomous mobile device and the emission source of the radio frequency signal according to the signal strength of the radio frequency signal received by the radio frequency receiving device, and the signal strength is negatively correlated with the interval distance.

6. The autonomous charging system according to claim 1, characterized in that: The radio frequency transmitting device includes an active radio frequency tag; the radio frequency receiving device includes a radio frequency reader for receiving the radio frequency signal transmitted by the active radio frequency tag.

7. The autonomous charging system according to claim 1, characterized in that: The radio frequency receiving device includes a radio frequency reader; the radio frequency transmitting device includes a passive radio frequency tag, which can transmit the radio frequency signal in response to the stimulation of radio frequency energy generated by the radio frequency reader when the interval distance between the autonomous mobile device and the charging pile is less than a second preset distance, and the radio frequency signal transmitted by the passive radio frequency tag is received by the radio frequency reader.

8. The autonomous charging system according to claim 1, characterized in that: The autonomous mobile device includes: an autonomous cleaning robot.

9. An autonomous mobile device, characterized in that: It includes an infrared receiving device, a radio frequency receiving device and a controller, wherein the infrared receiving device is used to receive a near-field infrared signal emitted by a near-field infrared transmitting device on the charging pile, and the radio frequency receiving device is used to receive a radio frequency signal emitted by a radio frequency transmitting device on the charging pile; The controller may control the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal according to the radio frequency signal received by the radio frequency receiving device when controlling the autonomous mobile device to recharge; and the controller may guide the autonomous mobile device to dock and charge with the charging pile according to the near-field infrared signal when the infrared receiving device receives the near-field infrared signal; The controlling the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal includes: controlling the autonomous mobile device to make a circular motion around the emission source of the radio frequency signal along a preset direction with a first preset distance as a radius, so as to search for the near-field infrared signal near the emission source of the radio frequency signal.

10. A charging pile, characterized in that: It includes a near-field infrared transmitting device and a radio frequency transmitting device, wherein the near-field infrared transmitting device is used to transmit a near-field infrared signal, and the radio frequency transmitting device is used to transmit a radio frequency signal, wherein the radio frequency signal is used to instruct an autonomous mobile device in a recharging state to search for the near-field infrared signal near the transmitting source of the radio frequency signal, so that the autonomous mobile device can dock with the charging pile for charging according to the received near-field infrared signal; The radio frequency signal is used to instruct the autonomous mobile device in the recharging state to search for the near-field infrared signal near the emission source of the radio frequency signal, including: the radio frequency signal is used to instruct the autonomous mobile device in the recharging state to make a circular motion around the emission source of the radio frequency signal along a preset direction with a first preset distance as a radius, so as to search for the near-field infrared signal near the emission source of the radio frequency signal.

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