Method and device for returning from mobile equipment to charging base station, and medium

Abstract

The invention discloses a method and device for returning to a charging base station from mobile equipment and a medium, and is applied to the field of automatic control. In the method, after the self-moving equipment is triggered to return to a preset condition of a charging base station, a controller of the self-moving equipment controls the orientation of the self-moving equipment to be opposite to a first direction, and then controls the self-moving equipment to move, so that the self-moving equipment moves to a boundary line of a working area. And finally, controlling the self-moving equipment to move to the charging base station along the boundary line of the working area. Wherein clockwise or anticlockwise movement of the self-moving equipment is determined according to the first direction, so that the self-moving equipment is ensured to be in the first direction when entering the charging base station. By controlling the direction of the self-mobile device returning to the charging base station, the self-mobile device can return to the charging base station in a shorter distance, the time for the self-mobile device to return to the charging base station is saved, and the returning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automatic control, and in particular to a method, device and medium for returning a mobile device to a charging base station. Background Art

[0002] The mobile device cannot know its current specific location. When the mobile device returns to the charging base station from a random location, it keeps the current direction and goes straight to the boundary line of the working area, and returns to the charging base station along the boundary line.

[0003] However, when the direction of the mobile device when returning to the charging base station is not within the acute angle range from the entrance of the charging base station to the direction opposite to the first direction (the direction when the mobile device enters the charging base station is the first direction), the above solution will cause the distance for the mobile device to return to the charging base station to be longer. This method will increase useless battery energy loss, waste time, and reduce efficiency.

[0004] It can be seen that how to save the time used to return a mobile device to a charging base station and improve the efficiency of the return is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present application is to provide a method, device and medium for returning a mobile device to a charging base station, so as to save the time used for returning the mobile device to the charging base station and improve the efficiency of the return.

[0006] In order to solve the above technical problems, the present application provides a method for returning a mobile device to a charging base station, wherein the charging base station is located on a boundary line of a working area of ​​the mobile device, and the direction in which the mobile device enters the charging base station is referred to as a first direction, and the first direction is parallel to the boundary line where the charging base station is located; the method comprises:

[0007] After a preset condition for the self-moving device to return to the charging base station is triggered, controlling the self-moving device to face in the opposite direction to the first direction;

[0008] Controlling the self-moving device to move so that the self-moving device moves to the boundary line of the working area;

[0009] Control the self-moving device to move to the charging base station along the boundary line of the working area; wherein, the self-moving device moves clockwise or counterclockwise according to the first direction to ensure that the self-moving device's direction is the first direction when entering the charging base station.

[0010] Preferably, controlling the self-moving device to move so that the self-moving device moves to the boundary line of the working area includes:

[0011] Controlling the self-moving device to move forward;

[0012] Compare the distance moved forward by the self-moving device with the first distance, and determine whether the self-moving device has reached the boundary line of the working area; wherein the first distance is set according to the second distance, and the first distance is not less than the second distance, and the second distance is the distance between the point on the boundary line of the working area that is located in the first direction of the charging base station and is farthest from the baseline and the baseline; the baseline passes through the charging base station and is perpendicular to the first direction;

[0013] If the self-moving device reaches the boundary line of the working area, the step of controlling the self-moving device to move along the boundary line of the working area to the charging base station is entered;

[0014] If the distance the self-moving device moves forward is greater than the first distance, the self-moving device is controlled to rotate a first angle toward the charging base station, and then the self-moving device is controlled to continue moving forward to the boundary line of the working area; and the step of controlling the self-moving device to move along the boundary line of the working area to the charging base station is entered; wherein the first angle is not greater than the angle threshold.

[0015] Preferably, controlling the self-moving device to move so that the self-moving device moves to the boundary line of the working area includes:

[0016] The self-moving device is controlled to move forward to the boundary line of the working area.

[0017] Preferably, the length of a straight line in the boundary line where the charging base station is located in the direction opposite to the first direction is greater than a preset distance.

[0018] Preferably, a conductor is provided at the boundary line of the working area and surrounds the working area to form a power-on loop. The charging base station provides a pulse current to the conductor to generate a magnetic field, and the self-moving device determines the boundary line of the working area according to the magnetic field.

[0019] Preferably, the self-moving device is provided with a direction sensor for measuring its own direction; the direction sensor specifically includes a gyroscope and / or an electronic compass; when the self-moving device enters the charging base station, the self-moving device uses the direction sensor to record its own direction as the first direction.

[0020] Preferably, the preset condition includes at least one of the following: the power level of the self-moving device is less than a power threshold; the self-moving device receives an instruction to return to the charging base station; the working task of the self-moving device is completed; the self-moving device fails.

[0021] In order to solve the above technical problems, the present application also provides a device for returning a mobile device to a charging base station, wherein the charging base station is located on a boundary line of a working area of ​​the mobile device, and the direction in which the mobile device enters the charging base station is referred to as a first direction, and the first direction is parallel to the boundary line where the charging base station is located; the device comprises:

[0022] A steering module, configured to control the direction of the self-moving device to be opposite to the first direction after a preset condition for the self-moving device to return to the charging base station is triggered;

[0023] A first moving module, used for controlling the movement of the self-moving device so that the self-moving device moves to the boundary line of the working area;

[0024] The second moving module is used to control the self-moving device to move along the boundary line of the working area to the charging base station; wherein, the self-moving device moves clockwise or counterclockwise according to the first direction to ensure that the direction of the self-moving device is the first direction when entering the charging base station.

[0025] In order to solve the above technical problems, the present application also provides a device for returning a mobile device to a charging base station, comprising: a memory for storing a computer program;

[0026] The processor is used to implement the steps of the method for returning the mobile device to the charging base station when executing the computer program.

[0027] In order to solve the above technical problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for returning a mobile device to a charging base station are implemented.

[0028] The present application provides a method for returning a mobile device to a charging base station, where the charging base station is located on the boundary line of the working area of ​​the mobile device, and the direction in which the mobile device enters the charging base station is recorded as a first direction, and the first direction is parallel to the boundary line where the charging base station is located. The method includes: after triggering a preset condition for the mobile device to return to the charging base station, the controller of the mobile device controls the direction of the mobile device to be opposite to the first direction, and then controls the movement of the mobile device so that the mobile device moves to the boundary line of the working area. Finally, the mobile device is controlled to move along the boundary line of the working area to the charging base station; wherein, whether the mobile device moves clockwise or counterclockwise is determined according to the first direction to ensure that the direction of the mobile device is the first direction when it enters the charging base station. At this time, when the direction of the self-mobile device when returning to the charging base station is not within the acute angle range from the entrance of the charging base station to the direction opposite to the first direction, compared with the traditional solution of going straight when returning to the charging base station, the present application can return to the charging base station in a shorter distance by controlling the direction of the self-mobile device when returning to the charging base station. In actual work, the probability that the direction of the self-mobile device when returning to the charging base station is within this acute angle range is lower than the probability of being at other angles. Therefore, in long-term work, this solution can save the time used for the self-mobile device to return to the charging base station and improve the efficiency of the return.

[0029] The present application also provides a device and a computer-readable storage medium for returning a mobile device to a charging base station, which correspond to the above method and thus have the same beneficial effects as the above method. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A flowchart of a method for returning a mobile device to a charging base station provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of internal equipment of a self-equipped device provided in an embodiment of the present application;

[0033] Figure 3 An actual scene diagram of a mobile device and a charging base station is provided for an embodiment of the present application;

[0034] Figure 4 Schematic diagram of the traditional solution for returning the smart lawn mower to the charging base station;

[0035] Figure 5A schematic diagram of a solution for a smart lawn mower to return to a charging base station provided in an embodiment of the present application;

[0036] Figure 6 Another schematic diagram of a solution for a smart lawn mower to return to a charging base station provided in an embodiment of the present application;

[0037] Figure 7 A schematic diagram of a solution for a smart lawn mower to return to a charging base station in an irregular boundary area provided by an embodiment of the present application;

[0038] Figure 8 A structural diagram of a device for returning a mobile device to a charging base station provided in an embodiment of the present application;

[0039] Fig. 9 A structural diagram of an apparatus for returning a mobile device to a charging base station provided in another embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The core of the present application is to provide a method, device and medium for returning a mobile device to a charging base station, so as to save the time used for returning the mobile device to the charging base station and improve the efficiency of the return.

[0042] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] At present, the self-mobile device moves randomly and performs work tasks autonomously in the working area. When the battery is low or it rains, the self-mobile device will automatically return to the charging station to charge or standby. When the current self-mobile device (such as a smart lawn mower) needs to return to the charging base station based on the state of the device itself, it will stop mowing, keep the current direction of the vehicle head, and look for the boundary line of the working area; until it hits the boundary line, it will walk along the boundary line until it reaches the charging station. When looking for the boundary line, the position and direction of the vehicle head of the self-mobile device in the working area are random, that is, it may be at any point and in any direction within the working area; this makes the distance that the self-mobile device walks along the boundary line back to the base station each time random; the unfavorable situation is that the self-mobile device walks to a point on the boundary line far away from the charging base station, and walks along the boundary line from this point until it reaches the charging station. In fact, when the direction of the self-mobile device when returning to the charging base station is not within the acute angle range from the entrance of the charging base station to the direction opposite to the first direction (the direction when the self-mobile device enters the charging base station is the first direction), the above schemes will result in a long distance for the self-mobile device to return to the charging base station. In order to ensure the safety of the mobile device walking along the boundary line and the accuracy of docking with the charging station, the speed of the mobile device walking along the boundary line is generally set to be lower than the walking speed in the working area, which makes it take longer to return to the base station. This often increases useless battery energy loss, wastes time, and reduces efficiency. In addition, since the return position on the boundary line found is random and may be far away from the charging base station, the mobile device will need to retain more power to ensure that it can return to the charging base station, resulting in energy waste.

[0044] To solve the above technical problems, an embodiment of the present application provides a method for returning a mobile device to a charging base station, wherein the charging base station is located on the boundary line of the working area of ​​the mobile device, and the direction in which the mobile device enters the charging base station is referred to as a first direction, and the first direction is parallel to the boundary line where the charging base station is located. Figure 1 A flowchart of a method for returning a mobile device to a charging base station provided in an embodiment of the present application; Figure 1 As shown, the method comprises the following steps:

[0045] S10: After a preset condition for the mobile device to return to the charging base station is triggered, the direction of the mobile device is controlled to be opposite to the first direction.

[0046] S11: Control the movement of the self-moving device so that the self-moving device moves to the boundary line of the working area.

[0047] S12: Control the mobile device to move along the boundary line of the working area to the charging base station.

[0048] It should be noted that the present application does not limit the working route of the self-mobile device, the size and shape of the working area, the specific location of the charging base station at the boundary line, the exit and entrance direction of the charging base station, etc. For example, the self-mobile device can walk randomly in the working area, the working area can be set to a square, and the exit and entrance of the charging base station can be located in opposite directions or in the same direction. When the exit and entrance of the charging base station are in the same direction, the self-mobile device enters the charging pile from the entrance and exits the charging pile from the entrance after charging. In addition, the specific content of the preset conditions for triggering the self-mobile device to return to the charging base station is not required, and can be set according to actual conditions. Relevant sensors can be set on the self-mobile device to record information such as direction and distance. Since the specific location of the charging base station is different from the direction of its own entrance, the direction of the self-mobile device returning to the charging base station is also different. The specific clockwise or counterclockwise movement is determined according to the first direction to ensure that the self-mobile device enters the charging base station in the first direction. Here, clockwise and counterclockwise can also be expressed according to the direction in which the self-moving device turns. Because the self-moving device is located inside the boundary line, when the self-moving device touches the boundary line, if the front of the vehicle turns right, it moves clockwise, and if the front of the vehicle turns left, it moves counterclockwise.

[0049] A specific implementation method is provided here. It should be noted that this example is only used as an example of an implementation method and does not limit other solutions. Figure 2 A schematic diagram of internal equipment of a self-equipped device provided in an embodiment of the present application; Figure 2 As shown, the self-moving device in this example includes a walking and control module 1, a controller 2, and a sensor 3; the controller 2 receives data from the sensor 3, and then sends a control signal to the walking and control module 1. The sensor 3 may specifically include a gyroscope, an electronic compass, an odometer, a satellite positioning module, an inertial measurement unit (IMU), etc., or a combination of several of them, which can be used to obtain information such as the direction, position, and mileage of the self-moving device. The sensor 3 may also include a boundary line detection module for detecting the boundary line of the working area, determining whether it is within the boundary line, and determining the specific direction in which the self-moving device moves along the boundary line. The walking and control module 1 specifically includes a walking wheel, a driving motor for the walking wheel, and a corresponding driving circuit, which is used to move automatically according to relevant rules. In the application, the set working area includes a charging base station and a closed boundary line with the charging base station as the origin.

[0050] Figure 3 An actual scene diagram of a mobile device and a charging base station is provided for the embodiment of the present application; Figure 3As shown, it includes a charging base station 4 and a self-moving device 5; the position of the charging base station 4 is defined as the origin e, the exit and entrance of the charging base station 4 are located in opposite directions, and the direction in which the self-moving device walks out of the charging base station 4 (origin e) along the boundary line is defined as the initial direction (i.e., the first direction). In this example, the direction from the exit of the charging base station to the return entrance of the self-moving device 5 is clockwise. When the self-moving device 5 is charging at the charging base station 4, the initial direction is measured by an electronic compass and stored in a memory. The self-moving device 5 starts from the origin e, walks along the boundary line for a circle and finally returns to the charging base station 4; at the same time, the controller 2 of the self-moving device 5 obtains the maximum projection distance S1 (i.e., the second distance) in the initial direction according to the measurement and calculation of the gyroscope, electronic compass, odometer, etc. and stores it in the memory. Then the self-moving device 5 enters the working area for normal operation.

[0051] Specifically, before the initial starting point, the self-mobile device measures and records the direction of the vehicle head through the relevant direction sensor (gyroscope / electronic compass, etc.), such as measuring the angle between the vehicle head and the earth's magnetic field line, or the initial direction angle of the gyroscope, and sets it as the initial direction. Before entering work, the self-mobile device starts from the charging base station, walks along the boundary line for a circle and finally returns to the charging base station, and records the direction of returning to the charging base station (clockwise or counterclockwise) through the relevant sensors arranged by itself (gyroscope / electronic compass, odometer, global positioning system (GPS) module, etc.), and records the maximum projection distance S1 of the self-mobile device 5 moving in the initial direction.

[0052] When the self-mobile device needs to return to the charging base station at any point within the boundary line (return point), first compare the difference between its own direction and the initial direction at the return point through its own attitude sensor (gyroscope, electronic compass, etc.), adjust the direction of the front of the vehicle to the opposite direction of the initial direction, record it as the return direction, and then start moving forward. During the movement, the self-mobile device calculates the travel distance in the opposite direction of the initial direction from the return point through its own attitude sensor (gyroscope, electronic compass, odometer, etc.), and compares the distance moved forward by the self-mobile device with the size of S1, and at the same time determines whether the self-mobile device has reached the boundary line of the working area. When the self-mobile device detects that the travel distance is greater than S1 and does not touch the boundary line, adjust the front of the self-mobile device to turn 90 degrees in the direction of the charging base station and then go straight until the boundary line is detected, and return to the charging base station along the boundary line. When it is detected that the travel distance is less than S1 but the boundary line has been touched, the self-mobile device returns to the charging base station along the boundary line. Since the movement route of the self-mobile device starting from the exit of the charging base station, walking along the boundary line for a week and then returning to the entrance has been recorded before work, it only needs to move clockwise or counterclockwise according to this movement route. Through the above scheme, when the self-mobile device triggers the regression task, the self-mobile device can find the boundary line more quickly, and the location where the boundary line is found is closer to the charging base station (origin e) compared to the traditional method, so that the self-mobile device can return to the charging base station with less energy consumption.

[0053] Here, we take an intelligent lawn mower (self-mobile device) as an example to compare two different regression routes. Figure 4 Schematic diagram of the traditional solution for returning the smart lawn mower to the charging base station; Figure 4 As shown in the figure, the smart lawn mower walks along a random path, and the command to return to the charging base station is triggered at point K01. The smart lawn mower stops mowing and then searches for the boundary line along K01-->K02. After reaching the boundary line at K02, it walks along K02-->K03-->K04-->K05-->K06-->origin e under the guidance of the boundary line until it reaches the origin e. The entire route back to the charging station is long, and due to the slow speed along the route, the time to return to the charging station is too long, which is inefficient and wastes electricity.

[0054] Figure 5 A schematic diagram of a solution for a smart lawn mower to return to a charging base station provided in an embodiment of the present application; Figure 5As shown, the smart lawn mower stops mowing at K11, then adjusts the front of the vehicle to the return direction (180° (+30° / -0°) from the initial direction), and then searches for the boundary line along K12-->K13. At this time, the execution path length is set to S3. S3 (K12-->K13) is less than S1, but the lawn mower has already touched the boundary line, so the lawn mower reaches the boundary line at K13, and then walks along K13-->K14-->origin e under the guidance of the boundary line until it reaches the origin e. In this route back to the charging station, K12-->K13 is in the working area and the vehicle speed is faster; K13-->K14-->origin e is a shorter path. Therefore, the lawn mower can return to the base station quickly and efficiently.

[0055] Figure 6 Another schematic diagram of a solution for a smart lawn mower to return to a charging base station provided in an embodiment of the present application; Figure 6 As shown, the smart lawn mower stops mowing at K21, then adjusts the front of the vehicle to the return direction (180° (+30° / -0°) to the initial direction), and then searches for the boundary line along K22-->K23; at this time, the odometer calculates the straight path as S2, and S2 (K21-->K22) is already greater than S1. The front of the vehicle turns clockwise until it is 90° (+ / -15°) to the initial direction, and then continues to walk in a straight line along K23-->K24 to find the boundary line. After K24 is online, guided by the boundary line, it walks along K24-->origin e until it reaches origin e. In this route back to the charging station, K22-->K23-->K24 is in the working area, the vehicle speed is fast, and the path K24-->origin e is short, so the lawn mower can return to the base station quickly and efficiently.

[0056] The above example improves the efficiency of finding the boundary line by proposing the parameter S1. IMU and odometer are used to determine S1 when walking along the boundary line for the first time. IMU and odometer are used to calculate S2 and S3 when looking for the boundary line. When the machine is mowing in the work area, there is no need to use IMU and odometer to calculate the real-time position of the smart lawn mower. Compared with the solution that requires the use of IMU and odometer throughout the process to estimate the real-time position of the smart lawn mower, and then returns to the charging base station based on the real-time position, this application saves resources. And due to the cumulative error of IMU and odometer, the accuracy of the real-time position calculated throughout the scheme of calculating the real-time position is low, and the calculation error makes the position data deviation too large, so its feasibility is not strong. However, this scheme only needs to remember the initial direction, and the measurement and calculation of S1, S2, and S3 are all performed in segments, so that the time and distance of the measurement and calculation are limited, and the cumulative error is very small, so this scheme is more feasible.

[0057] In the method for returning a mobile device to a charging base station provided in an embodiment of the present application, the charging base station is located on the boundary line of the working area of ​​the mobile device, and the direction in which the mobile device enters the charging base station is recorded as the first direction, and the first direction is parallel to the boundary line where the charging base station is located. The method includes: after triggering the preset condition for the mobile device to return to the charging base station, the controller of the mobile device controls the direction of the mobile device to be opposite to the first direction, and then controls the movement of the mobile device so that the mobile device moves to the boundary line of the working area. Finally, the mobile device is controlled to move along the boundary line of the working area to the charging base station; wherein, whether the mobile device moves clockwise or counterclockwise is determined according to the first direction to ensure that the direction of the mobile device is the first direction when it enters the charging base station. At this time, when the direction of the self-mobile device when returning to the charging base station is not within the acute angle range from the entrance of the charging base station to the direction opposite to the first direction, compared with the traditional solution of going straight when returning to the charging base station, the present application can return to the charging base station in a shorter distance by controlling the direction of the self-mobile device when returning to the charging base station. In actual work, the probability that the direction of the self-mobile device when returning to the charging base station is within this acute angle range is lower than the probability of being at other angles. Therefore, in long-term work, this solution can save the time used for the self-mobile device to return to the charging base station and improve the efficiency of the return.

[0058] The above embodiment does not limit how to control the movement of the mobile device to the boundary line of the working area. Two specific implementation methods are provided here, but the actual application is not limited to these two solutions.

[0059] The first method is to control the mobile device to move forward to the boundary line of the working area. This method has simple logic and only needs to determine whether it has reached the boundary line. After reaching the boundary line, it returns to the charging base station along the boundary line.

[0060] The second method is to control the self-moving device to move forward, and compare the distance moved forward by the self-moving device with the size of the first distance, and at the same time determine whether the self-moving device has reached the boundary line of the working area. If the self-moving device reaches the boundary line of the working area first, then enter the step of controlling the self-moving device to move along the boundary line of the working area to the charging base station. If the distance moved forward by the self-moving device is greater than the first distance first, then control the self-moving device to rotate the first angle in the direction of the charging base station, and then control the self-moving device to continue to move forward to the boundary line of the working area; and enter the step of controlling the self-moving device to move along the boundary line of the working area to the charging base station. Here, the moving distance and the first distance are continuously compared during movement, and it is determined whether the boundary line is reached. Whichever condition is met first, the step corresponding to the condition is performed. In the above example, the first distance is set according to the second distance, and the first distance is not less than the second distance. The second distance is specifically the distance between the point on the boundary line of the working area that is located in the first direction of the charging base station and the farthest from the baseline and the baseline, and the baseline passes through the charging base station and is perpendicular to the first direction. The first distance can be equal to the second distance (S1), but in general, a distance needs to be reserved for the mobile device to adjust its direction when returning to the charging base station, so the first distance is generally set to be greater than the second distance. In addition, it is mentioned in the above example that it is necessary to control the mobile device to rotate a first angle toward the charging base station. Here, the mobile device does not need to find the specific location of the charging base station, because the direction of the mobile device is first controlled to be opposite to the first direction, and the charging base station is located on the boundary line. At this time, the charging base station is specifically located to the left or right of the mobile device. The specific size of the first angle mentioned above is not limited. The first angle cannot be too large, so the first angle is set not to be greater than the angle threshold. The angle threshold can be set to 90 degrees, and the first angle can also be set to 90 degrees.

[0061] It should be noted that the specific orientation of the first direction in the above example and the shape of the working area have no effect on the above solution. The only limiting condition here is that the distance moved forward for the first time when the self-mobile device returns to the base station is greater than the first distance, and the first distance is not less than the second distance, where the second distance is the distance between the farthest point on the boundary line of the working area located in the first direction of the charging base station and the baseline and the baseline, in order to ensure that the straight-line distance moved by the self-mobile device from the farthest point is at least greater than the second distance. Figure 7 A schematic diagram of a solution for a smart lawn mower to return to a charging base station in an irregular boundary area provided in an embodiment of the present application; Figure 7 As shown in the figure, the smart lawn mower stops mowing at K31, adjusts the front of the vehicle to the return direction, and then searches for the boundary line along K32-->K33-->K34. After reaching the line at K34, it moves along K34-->origin e under the guidance of the boundary line until it reaches the origin e. Figure 7It can be seen that the second distance S1 is specifically the distance between the point on the boundary line of the working area that is located in the first direction of the charging base station and the farthest point from the baseline and the baseline, and the baseline passes through the charging base station and is perpendicular to the first direction. It can be seen that if the self-mobile device starts to move from the farthest point and the moving distance is less than the second distance, the position of the self-mobile device reaching the boundary line does not exceed the charging base station, and the self-mobile device needs to walk around the entire boundary line to reach the entrance of the charging base station. Through the solution provided in the embodiment of the present application, the distance for the self-mobile device to return to the charging base station can be further reduced, the time used by the self-mobile device to return to the charging base station can be saved, and the efficiency of the return can be improved.

[0062] In actual application, when a self-moving device enters a charging base station, its direction needs to be consistent with the entrance direction of the charging base station to ensure safe entry into the charging base station. Therefore, before the self-moving device returns to the charging base station, it needs a certain distance to adjust its own posture. The self-moving device returns to the charging base station along the boundary line. Therefore, in the solution provided in this embodiment, the length of the straight line in the boundary line where the charging base station is located in the opposite direction of the first direction is greater than the preset distance, so as to ensure that the self-moving device has a normal posture when entering the charging base station. The specific length of the preset distance here is not limited, and it is sufficient to ensure that the self-moving device adjusts its posture. In addition, if the exit direction of the charging base station is opposite to the entrance direction, the self-moving device also needs to move a straight distance when exiting the station, so a straight distance should also be set on the boundary line in the exit direction.

[0063] In a specific implementation, there are no requirements for the size and shape of the self-moving working area, that is, the shape of the boundary line is not limited, and the self-moving device needs to determine whether it has reached the boundary line when it is working normally and returning to the charging base station. Therefore, the embodiment of the present application provides a specific scheme for the self-moving device to find the boundary line. Conductors are arranged on the boundary line of the working area in the embodiment of the present application. These conductors surround the working area to form a power-on circuit. The charging base station provides a pulse current to the conductor to generate a magnetic field, and the self-moving device determines the boundary line of the working area based on the magnetic field. In actual application, the boundary line can also be set by other means.

[0064] The self-moving device in this application does not know its own position and direction when working, but it is mentioned in the above embodiment that after the preset condition for the self-moving device to return to the charging base station is triggered, the controller of the self-moving device needs to control the direction of the self-moving device to be opposite to the first direction. Therefore, a direction sensor for measuring its own direction needs to be provided in the self-moving device; the direction sensor can be a gyroscope and / or an electronic compass, which is not limited here. When the self-moving device enters the charging base station, the direction sensor is used to record its own direction, and this direction is recorded as the first direction. After the preset condition for the self-moving device to return to the charging base station is triggered, the controller of the self-moving device can adjust the direction of the self-moving device according to the recorded first direction.

[0065] It is mentioned in the above embodiment that the mobile device is controlled to return to the charging base station only after the preset condition for the mobile device to return to the charging base station is triggered. The specific content of the preset condition is not limited. For example, when the mobile device is low on power and needs to be charged, or when the work site is outdoors and the weather conditions are bad, the controller can control the mobile device to return to the charging base station. The embodiments of the present application provide some specific solutions, and the preset conditions include at least one of the following: the power of the mobile device is less than the power threshold; the mobile device receives an instruction to return to the charging base station; the working task of the mobile device is completed; the mobile device fails, etc.

[0066] In the above embodiments, the method for returning the mobile device to the charging base station is described in detail, and the present application also provides an embodiment corresponding to the device for returning the mobile device to the charging base station. It should be noted that the present application describes the embodiments of the device part from two perspectives, one is based on the functional module perspective, and the other is based on the hardware perspective.

[0067] From the perspective of functional modules, this embodiment provides a device for returning a mobile device to a charging base station. The charging base station is located on the boundary line of the working area of ​​the mobile device. The direction in which the mobile device enters the charging base station is referred to as a first direction, and the first direction is parallel to the boundary line where the charging base station is located. Figure 8 A structural diagram of an apparatus for returning a mobile device to a charging base station provided in an embodiment of the present application, such as Figure 8 As shown, the device comprises:

[0068] A steering module 10, configured to control the direction of the self-mobile device to be opposite to the first direction after a preset condition for the self-mobile device to return to the charging base station is triggered;

[0069] The first moving module 11 is used to control the movement of the self-moving device so that the self-moving device moves to the boundary line of the working area;

[0070] The second moving module 12 is used to control the mobile device to move along the boundary line of the working area to the charging base station; wherein, the mobile device moves clockwise or counterclockwise according to the first direction to ensure that the direction of the mobile device is the first direction when entering the charging base station.

[0071] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0072] The device for returning a mobile device to a charging base station provided in this embodiment corresponds to the above method and thus has the same beneficial effects as the above method.

[0073] From the perspective of hardware, this embodiment provides another device for returning a mobile device to a charging base station. Fig. 9 A structural diagram of an apparatus for returning a mobile device to a charging base station provided in another embodiment of the present application, such as Fig. 9 As shown, the device for returning from a mobile device to a charging base station includes: a memory 20 for storing a computer program;

[0074] The processor 21 is configured to implement the steps of the method for returning a mobile device to a charging base station as mentioned in the above embodiment when executing a computer program.

[0075] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0076] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the method of returning the mobile device to the charging base station disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. Data 203 may include but is not limited to data related to the method of returning the mobile device to the charging base station, etc.

[0077] In some embodiments, the device for returning the mobile device to the charging base station may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power source 25 , and a communication bus 26 .

[0078] Those skilled in the art will appreciate that the structure shown in the figure does not constitute a limitation on the device for returning a mobile device to a charging base station, and may include more or fewer components than those shown in the figure.

[0079] The device for returning a mobile device to a charging base station provided in an embodiment of the present application includes a memory and a processor. When the processor executes a program stored in the memory, it can implement the following method: a method for returning a mobile device to a charging base station.

[0080] The device for returning a mobile device to a charging base station provided in this embodiment corresponds to the above method and thus has the same beneficial effects as the above method.

[0081] Finally, the present application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps recorded in the above method embodiment are implemented.

[0082] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0083] The computer-readable storage medium provided in this embodiment corresponds to the above method and thus has the same beneficial effects as the above method.

[0084] The above is a detailed introduction to a method, device and medium for returning a mobile device to a charging base station provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can refer to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

[0085] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method, article or device including the above elements.

Claims

1. A method for returning a mobile device to a charging base station, characterized in that: The charging base station is located on the boundary line of the working area of ​​the self-moving device, and the direction in which the self-moving device enters the charging base station is recorded as a first direction, and the first direction is parallel to the boundary line where the charging base station is located; the method includes: After a preset condition for the self-moving device to return to the charging base station is triggered, controlling the self-moving device to face in the opposite direction to the first direction; Controlling the self-moving device to move so that the self-moving device moves to the boundary line of the working area; Control the self-moving device to move to the charging base station along the boundary line of the working area; wherein, the self-moving device moves clockwise or counterclockwise according to the first direction to ensure that the self-moving device's direction is the first direction when entering the charging base station.

2. The method for returning a mobile device to a charging base station according to claim 1, characterized in that: The controlling the self-moving device to move so that the self-moving device moves to the boundary line of the working area includes: Controlling the self-moving device to move forward; Compare the distance moved forward by the self-moving device with the first distance, and determine whether the self-moving device has reached the boundary line of the working area; wherein the first distance is set according to the second distance, and the first distance is not less than the second distance, and the second distance is the distance between the point on the boundary line of the working area that is located in the first direction of the charging base station and is farthest from the baseline and the baseline; the baseline passes through the charging base station and is perpendicular to the first direction; If the self-moving device reaches the boundary line of the working area, the step of controlling the self-moving device to move along the boundary line of the working area to the charging base station is entered; If the distance the self-moving device moves forward is greater than the first distance, the self-moving device is controlled to rotate a first angle toward the charging base station, and then the self-moving device is controlled to continue moving forward to the boundary line of the working area; and the step of controlling the self-moving device to move along the boundary line of the working area to the charging base station is entered; wherein the first angle is not greater than the angle threshold.

3. The method for returning a mobile device to a charging base station according to claim 1, characterized in that: The controlling the self-moving device to move so that the self-moving device moves to the boundary line of the working area includes: The self-moving device is controlled to move forward to the boundary line of the working area.

4. The method for returning a mobile device to a charging base station according to any one of claims 1 to 3, characterized in that: The length of a straight line in the boundary line where the charging base station is located in the direction opposite to the first direction is greater than a preset distance.

5. The method for returning a mobile device to a charging base station according to claim 4, characterized in that: The boundary line of the working area is provided with a conductor, and surrounds the working area to form a power-on loop. The charging base station provides a pulse current to the conductor to generate a magnetic field, and the self-moving device determines the boundary line of the working area according to the magnetic field.

6. The method for returning a mobile device to a charging base station according to claim 5, characterized in that: The self-moving device is provided with a direction sensor for measuring its own direction; the direction sensor specifically includes a gyroscope and / or an electronic compass; when the self-moving device enters the charging base station, the direction sensor is used to record its own direction as the first direction.

7. The method for returning a mobile device to a charging base station according to claim 6, characterized in that: The preset condition includes at least one of the following: the power level of the self-mobile device is less than a power threshold; the self-mobile device receives an instruction to return to the charging base station; the working task of the self-mobile device is completed; the self-mobile device fails.

8. A device for returning a mobile device to a charging base station, characterized in that: The charging base station is located on the boundary line of the working area of ​​the self-moving device, and the direction in which the self-moving device enters the charging base station is recorded as a first direction, and the first direction is parallel to the boundary line where the charging base station is located; the device includes: A steering module, configured to control the direction of the self-moving device to be opposite to the first direction after a preset condition for the self-moving device to return to the charging base station is triggered; A first moving module, used for controlling the movement of the self-moving device so that the self-moving device moves to the boundary line of the working area; The second moving module is used to control the self-moving device to move along the boundary line of the working area to the charging base station; wherein, the self-moving device moves clockwise or counterclockwise according to the first direction to ensure that the direction of the self-moving device is the first direction when entering the charging base station.

9. A device for returning a mobile device to a charging base station, characterized in that: comprising a memory for storing a computer program; A processor, configured to implement the steps of the method for returning a mobile device to a charging base station as described in any one of claims 1 to 7 when executing the computer program.

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, the steps of the method for returning a mobile device to a charging base station as described in any one of claims 1 to 7 are implemented.

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