Recharging method and device, equipment and storage medium

Abstract

The invention provides a recharging method, device and equipment and a storage medium, and the method comprises the steps: controlling the mobile equipment to move to a central recharging alignment region of a charging pile based on a recharging signal received by the mobile equipment; the central recharging alignment area is determined based on a recharging signal coverage angle of the mobile equipment and a relative distance between the mobile equipment and the charging pile, and the recharging signal coverage angle is a maximum one-way rotation angle corresponding to a recharging signal which can be continuously received by the mobile equipment when the mobile equipment rotates in situ; and the mobile equipment is controlled to execute pile loading operation until the mobile equipment is aligned with the charging pile for recharging. According to the invention, it can be ensured that the mobile device is more effectively navigated to the charging pile and aligned recharging is carried out, and the success rate of the whole recharging process is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile device control, and in particular to a recharging method, device, equipment and storage medium. Background Art

[0002] Mobile device backcharging refers to the process of a mobile device automatically returning to a charging station for charging. Mobile devices are usually equipped with a built-in battery. When the battery power drops to a certain level, the mobile device will automatically find a charging station for charging.

[0003] At present, when a mobile device needs to be moved to a charging pile for recharging, the mobile device usually searches for the charging pile for recharging according to the guidance of the recharging signal received from the charging pile. However, when the mobile device is guided to the charging pile according to the signal, when it moves to some extreme positions of the charging pile (such as the side edge of the charging port of the charging pile), there is not enough space for necessary adjustments and movement, resulting in failure to recharge. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a recharging method, device, equipment and storage medium.

[0005] The present invention provides a recharging method, the method comprising: Based on the recharging signal received by the mobile device, the mobile device is controlled to move to the central recharging alignment area of ​​the charging pile; the central recharging alignment area is determined based on the recharging signal coverage angle of the mobile device and the relative distance between the mobile device and the charging pile, and the recharging signal coverage angle is the maximum unidirectional rotation angle corresponding to the recharging signal that the mobile device can continuously receive when rotating in situ; The mobile device is controlled to perform a charging operation until the mobile device is aligned with the charging pile for recharging.

[0006] According to a recharging method provided by the present invention, based on the recharging signal received by the mobile device, controlling the mobile device to move to the central recharging alignment area of ​​the charging pile includes: Based on the recharging signal received by the mobile device, determining the recharging signal coverage area where the mobile device is located and the recharging signal coverage angle of the mobile device; Based on the back-charging signal coverage area and the back-charging signal coverage angle, the mobile device is controlled to move to a central back-charging alignment area of ​​the charging pile.

[0007] According to a recharging method provided by the present invention, the mobile device is controlled to move to the central recharging alignment area of ​​the charging pile based on the recharging signal coverage area and the recharging signal coverage angle, comprising: Determining a lateral movement direction of the mobile device based on the recharging signal coverage area; Determining a relative distance between the mobile device and the charging pile based on a coverage angle of a recharging signal of the mobile device and a rotation radius of the mobile device; Determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile; The mobile device is controlled to move along the lateral movement direction and the longitudinal movement direction until the recharging signal coverage angle of the mobile device is within the recharging signal coverage angle range corresponding to the central recharging alignment area of ​​the charging pile.

[0008] According to a recharging method provided by the present invention, determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile includes: When the relative distance is greater than the maximum relative distance corresponding to the central recharging alignment area of ​​the charging pile, it is determined that the mobile device moves forward longitudinally relative to the charging pile.

[0009] According to a recharging method provided by the present invention, determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile includes: When the relative distance is smaller than the minimum relative distance corresponding to the central recharging alignment area of ​​the charging pile, it is determined that the mobile device moves longitudinally backward relative to the charging pile.

[0010] According to a recharging method provided by the present invention, based on a recharging signal received by a mobile device, determining a recharging signal coverage area where the mobile device is located, comprises: Controlling the mobile device to rotate at least one circle in situ to determine the recharging signal received by the mobile device; When the recharging signal is a recharging signal transmitted by a first signal transmitter of the charging pile, determining that the mobile device is in a single recharging signal coverage area corresponding to the first signal transmitter; When the back-charging signal is a back-charging signal transmitted by a first signal transmitter of the charging pile and a back-charging signal transmitted by a second signal transmitter of the charging pile, it is determined that the mobile device is in a dual back-charging signal coverage area corresponding to the first signal transmitter and the second signal transmitter.

[0011] According to a recharging method provided by the present invention, the method further includes: Determining, based on a rotation radius of the mobile device, a nonlinear function between a back-charging signal coverage angle of the mobile device and a relative distance of the mobile device; Determining a function interval of the nonlinear function that meets a preset linearity requirement; Determine the maximum recharging signal coverage angle, the maximum relative distance, the minimum recharging signal coverage angle and the minimum relative distance in the function interval; Based on the maximum recharging signal coverage angle, the maximum relative distance, the minimum recharging signal coverage angle and the minimum relative distance, a central recharging alignment area of ​​the charging pile is determined.

[0012] According to a recharging method provided by the present invention, determining a recharging signal coverage area where the mobile device is located includes: Controlling the mobile device to rotate at least one circle in situ to determine the recharging signal received by the mobile device; When the recharging signal is a recharging signal transmitted by a first signal transmitter of the charging pile, determining that the mobile device is in a single recharging signal coverage area corresponding to the first signal transmitter; When the back-charging signal is a back-charging signal transmitted by a first signal transmitter of the charging pile and a back-charging signal transmitted by a second signal transmitter of the charging pile, it is determined that the mobile device is in a dual back-charging signal coverage area corresponding to the first signal transmitter and the second signal transmitter.

[0013] The present invention also provides a recharging device, the device comprising: A first recharging module, configured to control the mobile device to move to a central recharging alignment area of ​​the charging pile based on a recharging signal received by the mobile device; the central recharging alignment area is determined based on a recharging signal coverage angle of the mobile device and a relative distance between the mobile device and the charging pile, the recharging signal coverage angle being a maximum unidirectional rotation angle corresponding to a recharging signal that can be continuously received by the mobile device when rotating in situ; The second recharging module is used to control the mobile device to perform a charging operation until the mobile device is aligned with the charging pile for recharging.

[0014] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-described recharging methods is implemented.

[0015] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the recharging method as described above is implemented.

[0016] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any of the above-mentioned recharging methods.

[0017] The recharging method provided by the present invention determines a central recharging alignment area based on the coverage angle of the recharging signal of the mobile device and the relative distance between the mobile device and the charging pile, and then based on the recharging signal received by the mobile device, first controls the mobile device to move to the central recharging alignment area of ​​the charging pile, and then performs the charging pile operation from the central recharging alignment area until the mobile device is aligned with the charging pile for recharging. This ensures that the mobile device can navigate to the charging pile more effectively and align for recharging, avoids the mobile device moving to an extreme position for charging pile operation, and thus improves the success rate of the entire recharging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is one of the scenario schematic diagrams of the recharging method provided by the present invention.

[0020] Figure 2 This is the second scenario schematic diagram of the recharging method provided by the present invention.

[0021] Figure 3 It is a flow chart of the recharging method provided by the present invention.

[0022] Figure 4 This is the third scenario schematic diagram of the recharging method provided by the present invention.

[0023] Figure 5 This is the fourth scenario schematic diagram of the recharging method provided by the present invention.

[0024] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Mobile device recharging is a basic function currently available on many mobile devices. Figure 1As shown in the schematic diagram of the robot's recharging scenario, the robot is equipped with two signal receivers, such as infrared receiving tubes, each of which can receive infrared signals within a certain angle range. Figure 1 The infrared receiving tube on one side of the robot shown in the figure can receive infrared signals within the angle range of a, and the infrared receiving tube on the other side can receive infrared signals within the angle range of b. Two signal transmitters, such as infrared transmitting tubes, are deployed on the charging pile. The infrared signal emitted by each infrared transmitting tube covers a sector area of ​​a specific angle, such as Figure 1 The infrared signal emitted by the infrared emitting tube on one side of the transmitter shown in the figure covers a sector-shaped area of ​​angle A, and the infrared signal emitted by the infrared emitting tube on the other side covers a sector-shaped area of ​​angle C, and the infrared signals emitted by each infrared emitting tube are different.

[0027] In the related art, when a mobile device enters a recharging state, it first searches for a recharging signal emitted by the charging pile. After finding the recharging signal emitted by the charging pile, it further performs a recharging reverse action according to the guidance of the recharging signal emitted by the charging pile until it is loaded onto the pile.

[0028] refer to Figure 2 As shown in the figure, if the robot is currently in position ①, and both the left and right signal receivers of the robot receive signal A (i.e., the signal emitted by the infrared emitting tube on one side of the transmitter covers the signal in the fan-shaped area of ​​angle A), then it moves to the right front until a signal change is detected. If the left signal receiver receives signal A and the right signal receiver does not receive a signal, then it continues to move to the left front until the left signal receiver receives signal A and the right signal receiver receives signal C (i.e., the signal emitted by the infrared emitting tube on one side of the transmitter covers the signal in the fan-shaped area of ​​angle C), and finally goes straight to the pile.

[0029] If the robot is currently in position ② and neither the left nor right signal receivers receive a signal, it will start to rotate in place until the left signal receiver does not receive a signal and the right signal receiver receives a C signal. Then it will start to move forward to the left until the left signal receiver receives an A signal and the right signal receiver receives a C signal, and finally go straight onto the pile.

[0030] If the robot is currently in position ③ or ④, and both left and right signal receivers of the robot receive signal C, it will move forward to the left until the left signal receiver receives no signal and the right signal receiver receives signal C, and then start to move forward to the right until the left signal receiver receives signal A and the right signal receiver receives signal C, and finally go straight onto the pile.

[0031] However, when the mobile device is moved from position ①, ③ or ④ to the charging pile, it is easy to move to the extreme position of the charging pile (such as the leftmost edge or rightmost edge of the charging port of the charging pile). Therefore, there is not enough space for necessary adjustments and movements, which may lead to failure of charging, thereby reducing the success rate of recharging.

[0032] Figure 3 is a flow chart of the recharging method provided by the present invention, such as Figure 3 As shown, the method includes the following steps 310 and 320.

[0033] Step 310, based on the recharging signal received by the mobile device, control the mobile device to move to the central recharging alignment area of ​​the charging pile; the central recharging alignment area is determined based on the recharging signal coverage angle of the mobile device and the relative distance between the mobile device and the charging pile, and the recharging signal coverage angle is the rotation angle corresponding to the time when the mobile device rotates in situ from the beginning of receiving the recharging signal to the disappearance of the recharging signal; It should be understood that the mobile device is equipped with a signal receiver that can receive the recharging signal from the charging pile. These signals are used to guide the mobile device to locate the charging pile. The mobile device can adjust its moving direction and distance through the received recharging signal, with the goal of reaching a specific area of ​​the charging pile, namely the central recharging alignment area.

[0034] Here, the central charging alignment area is a specific area around the charging pile. When the mobile device is located in this area, it can effectively perform reverse charging with the charging pile, so as not to move to the extreme position of the charging pile.

[0035] In this embodiment, the central recharging alignment area is an area with a specific recharging signal coverage angle range and a specific relative distance range, that is, when the mobile device is in this central recharging alignment area, the recharging signal coverage angle of the mobile device should meet the recharging signal coverage angle requirement corresponding to the central recharging alignment area, and the relative distance between the mobile device and the charging pile should meet the relative distance requirement corresponding to the central recharging alignment area.

[0036] Here, the recharging signal coverage angle of a mobile device refers to the maximum one-way rotation angle corresponding to the recharging signal that can be continuously received when the mobile device rotates in place. For example, if the mobile device rotates clockwise in place, it has not received the recharging signal at this time. When the mobile device rotates to a certain angle M, it begins to receive the recharging signal from the charging pile. As the mobile device continues to rotate, it continues to receive the recharging signal. When the mobile device rotates to another angle N, it begins to not receive the recharging signal from the charging pile. The angle rotated from angle M to angle N is the recharging signal coverage angle of the current position of the mobile device.

[0037] The relative distance between the mobile device and the charging pile refers to the relative straight-line distance between the mobile device and the charging pile, which will not be described in detail here.

[0038] In this embodiment, the mobile device can determine the moving direction corresponding to the mobile device moving to the central recharging alignment area based on the received recharging signal, and then control it to move along this moving direction to the central recharging alignment area of ​​the charging pile.

[0039] Step 320, controlling the mobile device to perform a charging operation until the mobile device is aligned with the charging pile for recharging.

[0040] refer to Figure 4 As shown, the robot at the current position ①, ② or ③ moves to the target area (i.e., the central charging alignment area) based on the measured charging signal. After the mobile device enters the central charging alignment area, the mobile device can continue to perform the pile operation based on the received charging signal.

[0041] For example, in one example, the mobile device can continuously monitor the strength of the recharge signal received from the charging pile, and reverse the vehicle on the pile according to the strength of the recharge signal. For another example, the mobile device can continuously monitor the type of recharge signal received by at least two signal receivers deployed on the mobile device, and reverse the vehicle on the pile according to the type of recharge signal received. The specific implementation method of the pile operation can be the same as the implementation method of the pile operation in the prior art, and there is no limitation on this.

[0042] The recharging method provided by the present invention determines a central recharging alignment area based on the coverage angle of the recharging signal of the mobile device and the relative distance between the mobile device and the charging pile, and then based on the recharging signal received by the mobile device, first controls the mobile device to move to the central recharging alignment area of ​​the charging pile, and then performs the charging pile operation from the central recharging alignment area until the mobile device is aligned with the charging pile for recharging. This ensures that the mobile device can navigate to the charging pile more effectively and align for recharging, avoids the mobile device moving to an extreme position for charging pile operation, and thus improves the success rate of the entire recharging process.

[0043] In some embodiments, the controlling the mobile device to move to the central recharging alignment area of ​​the charging pile based on the recharging signal received by the mobile device includes: Based on the recharging signal received by the mobile device, determining the recharging signal coverage area where the mobile device is located and the recharging signal coverage angle of the mobile device; Based on the back-charging signal coverage area and the back-charging signal coverage angle, the mobile device is controlled to move to a central back-charging alignment area of ​​the charging pile.

[0044] Here, the recharging signal coverage area refers to the area that can be covered by the specific recharging signal emitted by the charging pile.

[0045] Specifically, according to the strength, type or other characteristics of the signal, the range of the recharging signal emitted by the charging pile can be divided into multiple recharging signal coverage areas, such as the left far field area (the area on the left side of the charging pile, when the mobile device is in this area, it will receive the signal from the left side of the charging pile), the right far field area (the area on the right side of the charging pile, when the mobile device is in this area, it will receive the signal from the right side of the charging pile), the middle far field area (the area directly in front of the charging pile, when the mobile device is in this area, it will receive the signal from the left and right sides of the charging pile), the near field area (the area close to the front of the charging pile, when the mobile device is in this area, it will receive the signal from the left and right sides of the charging pile, and the signal strength is relatively large), etc. Based on the recharging signal coverage area, the mobile device can determine its relative position to the charging pile.

[0046] refer to Figure 2 or Figure 4 As shown in FIG. 1 , with the charging pile as the center, the recharging signals emitted by the multiple signal transmitters installed on the charging pile will cover a sector-shaped area of ​​a specific angle. Since the recharging signals emitted by the signal transmitters are different, the sector-shaped area corresponding to the recharging signal of the charging pile (the sector-shaped area formed between the edge of the recharging signal area emitted by the edge signal transmitter on one side and the edge of the recharging signal area emitted by the edge signal transmitter on the other side, as shown in FIG. Figure 1 The fan-shaped area formed between the left side of the A signal area and the right side of the C signal area shown in the figure can be divided into multiple recharging signal coverage areas, and the signal characteristics of the recharging signal that can be received by the mobile device in each recharging signal coverage area are different.

[0047] Since the signal characteristics of the recharging signal that can be received by the mobile device in each recharging signal coverage area are different, in this embodiment, by determining the recharging signal coverage area where the mobile device is located, the orientation information of the current position of the mobile device relative to the charging pile can be accurately determined.

[0048] It should be understood that reference Figure 5 , Figure 5 The 2θ shown in is the coverage angle of the robot (i.e., mobile device) back-charging signal. Figure 5 The radius r shown in is the radius of the robot when it rotates in place (usually, it refers to the maximum distance from the robot's rotation center to the edge or periphery of the robot). By determining the coverage angle of the recharging signal at the current location of the mobile device, the relative distance of the current location of the mobile device to the charging pile can be accurately determined.

[0049] Once the recharging signal coverage area and recharging signal coverage angle are determined, the mobile device can use this information and combine it with the preset control strategy to control the mobile device to align with the charging pile for recharging. For example, the best path to the central recharging alignment area can be planned by combining the recharging signal coverage area and the recharging signal coverage angle, and the mobile device can be controlled to move along this best path to the central recharging alignment area.

[0050] The recharging method provided by the present invention can more accurately judge the orientation information and distance information of the mobile device relative to the central recharging alignment area by determining the recharging signal coverage area of ​​the mobile device and the recharging signal coverage angle of the mobile device, thereby enabling the mobile device to be accurately moved to the central recharging alignment area of ​​the charging pile.

[0051] In some embodiments, determining the backfill signal coverage area where the mobile device is located includes: Controlling the mobile device to rotate at least one circle in situ to determine the recharging signal received by the mobile device; When the recharging signal is a recharging signal transmitted by a first signal transmitter of the charging pile, determining that the mobile device is in a single recharging signal coverage area corresponding to the first signal transmitter; When the back-charging signal is a back-charging signal transmitted by a first signal transmitter of the charging pile and a back-charging signal transmitted by a second signal transmitter of the charging pile, it is determined that the mobile device is in a dual back-charging signal coverage area corresponding to the first signal transmitter and the second signal transmitter.

[0052] Specifically, the mobile device is controlled to rotate at least one circle in place. During this process, the mobile device will detect the recharging signal from the charging pile. If the mobile device only receives the signal from the first signal transmitter (such as the left transmitter or the right transmitter) of the charging pile during the rotation process, then it can be determined that the mobile device is in the single recharging signal coverage area corresponding to the first signal transmitter (such as the left transmitter or the right transmitter). If the mobile device receives signals from the first signal transmitter (such as the left transmitter) and the second signal transmitter (such as the right transmitter) of the charging pile at the same time during the rotation process, then it can be determined that the device is in the dual recharging signal coverage area. This area is the overlapping area of ​​the signal coverage range of the two transmitters.

[0053] For example Figure 1As shown, if both the left and right signal receivers of the robot receive the A signal, it is determined that the robot is currently in the single signal coverage area of ​​the signal transmitter corresponding to the A signal of the charging pile; if both the left and right signal receivers of the robot receive the C signal, it is determined that the robot is currently in the single signal coverage area of ​​the signal transmitter corresponding to the C signal of the charging pile; if the left signal receiver of the robot receives the A signal and the right signal receiver receives the C signal, it is determined that the robot is currently in the double signal coverage area formed by the signal transmitter corresponding to the A signal of the charging pile and the signal transmitter corresponding to the C signal of the charging pile (i.e. Figure 1 The area between the two sectors shown in ).

[0054] The recharging method provided by the present invention can accurately determine the recharging signal coverage area where the device is located by detecting the signal type of the recharging signal received when rotating in situ.

[0055] In some embodiments, controlling the mobile device to move to the central recharging alignment area of ​​the charging pile based on the recharging signal coverage area and the recharging signal coverage angle includes: Determining a lateral movement direction of the mobile device based on the recharging signal coverage area; Determining a relative distance between the mobile device and the charging pile based on a coverage angle of a recharging signal of the mobile device and a rotation radius of the mobile device; Determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile; The mobile device is controlled to move along the lateral movement direction and the longitudinal movement direction until the recharging signal coverage angle of the mobile device is within the recharging signal coverage angle range corresponding to the central recharging alignment area of ​​the charging pile.

[0056] Continue to refer Figure 5 As shown, Figure 5 The 2θ shown in is the coverage angle of the robot (i.e., mobile device) back-charging signal. Figure 5 The radius r shown in is the rotation radius of the robot when it rotates in place (usually, it refers to the maximum distance from the robot's rotation center to the edge or periphery of the robot). After determining the recharging signal coverage angle 2θ and the rotation radius r, the relative distance d between the mobile device and the charging pile can be calculated using the following formula: ; Once the relative distance and the recharging signal coverage area are determined, the mobile device will control its direction of movement according to the recharging signal coverage area and the relative distance. For example, if the mobile device is in a single-sided recharging signal coverage area, it needs to be controlled to move in the direction where it can receive the recharging signals emitted by the two transmitter signals, that is, the double-sided recharging signal coverage area. If the mobile device is already in the double-sided recharging signal coverage area, but its relative distance from the charging pile is too far, it needs to be controlled to move forward relative to the charging pile. If its relative distance from the charging pile is too close, it needs to be controlled to move backward relative to the charging pile until its recharging signal coverage angle falls within the target recharging signal coverage angle range.

[0057] It should be understood that in this embodiment, after determining the moving direction of the mobile device based on the backcharging signal coverage area and the relative distance, the mobile device can be controlled to move a preset distance in the moving direction, and then continue to return to execute the step of determining the backcharging signal coverage area where the mobile device is located, and the backcharging signal coverage angle of the mobile device, and continue to execute the step of controlling the mobile device to align with the charging pile for backcharging based on the backcharging signal coverage area and the backcharging signal coverage angle, until the mobile device moves to the central backcharging alignment area, that is, the backcharging signal coverage angle is in the target backcharging signal coverage angle range corresponding to the central backcharging alignment area of ​​the charging pile.

[0058] Specifically, the mobile device analyzes the recharging signal coverage area it detects, and based on the distribution position of the recharging signal coverage area relative to the entire recharging signal coverage range of the recharging signal emitted by the charging pile, the mobile device can determine the lateral movement direction.

[0059] As reference Figure 1 As shown, the charging pile's recharging signal coverage area includes three areas, area A on the left, area C on the right, and the middle area between area A and area C. If the mobile device is in area A, the mobile device can determine that it needs to move horizontally to the right. If the mobile device is in area C, the mobile device can determine that it needs to move horizontally to the left. If the mobile device detects that it is in the middle area, it can be determined that the current mobile device does not need to move horizontally.

[0060] In one example, determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile includes: When the relative distance is greater than the maximum relative distance corresponding to the central recharging alignment area of ​​the charging pile, determining that the mobile device moves forward longitudinally relative to the charging pile; When the relative distance is smaller than the minimum relative distance corresponding to the central recharging alignment area of ​​the charging pile, it is determined that the mobile device moves longitudinally backward relative to the charging pile.

[0061] Furthermore, the mobile device will also determine the longitudinal movement direction of the mobile device based on the relative distance from the charging pile. Specifically, if the relative distance of the mobile device is greater than the maximum relative distance corresponding to the central recharging alignment area, it is determined that the mobile device needs to move longitudinally in the direction close to the charging pile. If the relative distance of the mobile device is less than the minimum relative distance corresponding to the central recharging alignment area, it is determined that the mobile device needs to move longitudinally in the direction away from the charging pile. If the relative distance of the mobile device is not greater than the maximum relative distance and not less than the minimum relative distance, it is determined that the current mobile device does not need to move in the longitudinal direction.

[0062] After determining the lateral movement direction and the longitudinal movement direction, the mobile device combines the information of the lateral movement direction and the longitudinal movement direction to formulate a comprehensive movement strategy. According to this movement strategy, the mobile device starts to execute the movement operation and adjusts its position until the recharging signal coverage angle of the mobile device is within the recharging signal coverage angle range corresponding to the central recharging alignment area of ​​the charging pile.

[0063] The recharging method provided by the present invention enables the mobile device to accurately adjust its moving direction until it moves to the central recharging alignment area through the above manner.

[0064] In some embodiments, the method further comprises: Determining, based on a rotation radius of the mobile device, a nonlinear function between a back-charging signal coverage angle of the mobile device and a relative distance of the mobile device; Determining a function interval of the nonlinear function that meets a preset linearity requirement; Determine the maximum recharging signal coverage angle, the maximum relative distance, the minimum recharging signal coverage angle and the minimum relative distance in the function interval; Based on the maximum recharging signal coverage angle, the maximum relative distance, the minimum recharging signal coverage angle and the minimum relative distance, a central recharging alignment area of ​​the charging pile is determined.

[0065] Continue to refer Figure 5 , combined with the rotation radius r, a nonlinear function of the relationship between the mobile device's back-charging signal coverage angle (2θ) and its relative distance to the charging pile (d) can be established, referring to the following formula: ; It should be understood that the nonlinear function of the relationship between the recharging signal coverage angle (2θ) of the mobile device and its relative distance (d) from the charging pile means that the relative distance d is not proportional to the change in angle θ. Therefore, the greater the measurement error of angle θ, the greater the possibility of amplifying the error of d. Therefore, in this embodiment, the central recharging alignment area of ​​the charging pile is determined based on the function range with good linearity between angle θ and relative distance d.

[0066] In this embodiment, a nonlinear function of the relationship between the back-charging signal coverage angle (2θ) and the relative distance (d) from the charging pile is established, and a function interval that meets the preset linearity requirement is found. In other words, within the function interval, the relationship between the relative distance and the back-charging signal coverage angle is approximately linear.

[0067] Specifically, the linearity of the nonlinear function can be calculated to be quantified. For example, we can set a threshold a, such as the linearity is not less than a, to determine the function interval that meets the preset linearity requirement.

[0068] Within the function interval that meets the preset linearity requirements, the maximum and minimum values ​​of the recharging signal coverage angle (2θ) and relative distance (d) need to be determined respectively. Based on the maximum recharging signal coverage angle, maximum relative distance, minimum recharging signal coverage angle and minimum relative distance determined above, the central recharging alignment area of ​​the charging pile can be further determined.

[0069] The recharging method provided by the present invention can accurately determine the central recharging alignment area with a high recharging success rate according to the recharging signal coverage angle of the mobile device and the relative distance between the mobile device and the charging pile through the above method.

[0070] In some embodiments, determining the coverage angle of the recharging signal of the mobile device includes: Determining the coverage angle of the recharging signal of the mobile device includes: Controlling the mobile device to rotate forward in situ until the recharging signal of the charging pile received by the first signal receiver of the mobile device disappears, and determining a first angle value of an inertial measurement unit of the mobile device; Control the mobile device to rotate in reverse on the spot until the recharging signal of the charging pile received by the second signal receiver of the mobile device disappears, and determine the second angle value of the inertial measurement unit of the mobile device; the first signal receiver and the second signal receiver are signal receivers corresponding to the two outermost recharging signal receiving areas among multiple recharging signal receiving areas of the mobile device; Based on the first angle value, the second angle value, and an installation angle between the first signal receiver and the second signal receiver, a backcharging signal coverage angle of the mobile device is determined.

[0071] Here, rotation in place refers to the rotational movement of the mobile device itself around its vertical axis. Generally, for a mobile device, positive rotation usually refers to the rotation of the mobile device in the clockwise direction. This means that if you look down from the top of the mobile device, the front end of the mobile device (usually the part with the sensor) will turn to the right, while the back end will turn to the left. This rotation can be used to change the direction of the signal receiver of the mobile device. Correspondingly, reverse rotation refers to the rotation of the mobile device in the counterclockwise direction. Similarly, if you look down from the top of the mobile device, the front end of the mobile device will turn to the left, while the back end will turn to the right.

[0072] In this embodiment, the mobile device starts to rotate in the positive direction (for example, clockwise). During the rotation process, the first signal receiver of the mobile device will try to receive the recharge signal from the charging pile. When the first signal receiver cannot receive the signal when it rotates to a certain angle, the angle value of the inertial measurement unit at this time is recorded, and this angle value is called the first angle value.

[0073] Next, the mobile device rotates in the opposite direction (for example, counterclockwise). During the rotation, the second signal receiver of the mobile device will try to receive the recharging signal from the charging pile. When the second signal receiver cannot receive the signal after rotating to a certain angle, the angle value of the inertial measurement unit at this time is recorded. This angle value is called the second angle value.

[0074] It should be understood that the mobile device is provided with a plurality of charging signal receiving areas in different directions, so that the mobile device can receive the charging signal of the charging pile from different directions, and each charging signal receiving area corresponds to a signal receiver. And when the signal receivers are installed, the relative positions between them are fixed, and the angle between them is known and unchanged, so as to ensure that the two receivers can cover a certain range and can cooperate with each other to detect the signal.

[0075] In this embodiment, after measuring the first angle value, the second angle value and determining the installation angle between the two signal receivers, the recharging signal coverage angle of the mobile device can be calculated based on the measured first angle value, the second angle value and the installation angle between the first signal receiver and the second signal receiver.

[0076] In one example, the mobile device is equipped with a left signal receiver and a right signal receiver, and the two signal receivers are symmetrically arranged along the central axis of the mobile device. The mobile device is controlled to rotate counterclockwise (i.e., reverse rotation) in situ. The mobile device continues to rotate until its left signal receiver (i.e., the first signal receiver) can no longer receive the recharge signal from the charging pile. When the signal is lost, the inertial measurement unit (IMU) on the robot will record the current angle value, which is marked as α0. The mobile device is controlled to rotate clockwise (i.e., forward rotation) in situ. The mobile device continues to rotate until its right signal receiver (i.e., the second signal receiver) can no longer receive the recharge signal from the charging pile. When the signal is lost, the IMU records the current angle value again, which is marked as α1. The installation angle between the left signal receiver and the right signal receiver on the robot is α2. In the above process, the recharge signal coverage angle of the mobile device is: .

[0077] The recharging method provided by the present invention can accurately determine the recharging signal coverage angle of the mobile device through the above method, thereby providing accurate relative distance information.

[0078] Based on any of the above embodiments, the present invention further provides a recharging device, which includes a first recharging module and a second recharging module.

[0079] A first recharging module, configured to control the mobile device to move to a central recharging alignment area of ​​the charging pile based on a recharging signal received by the mobile device; the central recharging alignment area is determined based on a recharging signal coverage angle of the mobile device and a relative distance between the mobile device and the charging pile, the recharging signal coverage angle being a maximum unidirectional rotation angle corresponding to a recharging signal that can be continuously received by the mobile device when rotating in situ; The second recharging module is used to control the mobile device to perform a charging operation until the mobile device is aligned with the charging pile for recharging.

[0080] The recharging device provided by the present invention determines a central recharging alignment area based on the coverage angle of the recharging signal of the mobile device and the relative distance between the mobile device and the charging pile, and then based on the recharging signal received by the mobile device, first controls the mobile device to move to the central recharging alignment area of ​​the charging pile, and then performs the charging pile operation from the central recharging alignment area until the mobile device is aligned with the charging pile for recharging. This ensures that the mobile device can navigate to the charging pile more effectively and align for recharging, avoids the mobile device moving to an extreme position for charging pile operation, and thus improves the success rate of the entire recharging process.

[0081] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 may call the logic instructions in the memory 630 to execute the recharging method, and the method includes: When the mobile device is in a recharging state, determine the recharging signal coverage area where the mobile device is located and the recharging signal coverage angle of the mobile device; the recharging signal coverage angle is the angle that the mobile device rotates from the beginning of receiving the recharging signal from the charging pile to the disappearance of the recharging signal during the rotation of the mobile device in situ; Based on the recharging signal coverage area and the recharging signal coverage angle, the mobile device is controlled to align with the charging pile for recharging.

[0082] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the 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, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0083] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the recharging method provided by the above methods, the method includes: When the mobile device is in a recharging state, determine the recharging signal coverage area where the mobile device is located and the recharging signal coverage angle of the mobile device; the recharging signal coverage angle is the angle that the mobile device rotates from the beginning of receiving the recharging signal from the charging pile to the disappearance of the recharging signal during the rotation of the mobile device in situ; Based on the recharging signal coverage area and the recharging signal coverage angle, the mobile device is controlled to align with the charging pile for recharging.

[0084] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the recharging method provided by the above methods, the method comprising: When the mobile device is in a recharging state, determine the recharging signal coverage area where the mobile device is located and the recharging signal coverage angle of the mobile device; the recharging signal coverage angle is the angle that the mobile device rotates from the beginning of receiving the recharging signal from the charging pile to the disappearance of the recharging signal during the rotation of the mobile device in situ; Based on the recharging signal coverage area and the recharging signal coverage angle, the mobile device is controlled to align with the charging pile for recharging.

[0085] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0086] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A recharging method, characterized in that: The method comprises: Based on the recharging signal received by the mobile device, the mobile device is controlled to move to the central recharging alignment area of ​​the charging pile; the central recharging alignment area is determined based on the recharging signal coverage angle of the mobile device and the relative distance between the mobile device and the charging pile, and the recharging signal coverage angle is the maximum unidirectional rotation angle corresponding to the recharging signal that the mobile device can continuously receive when rotating in situ; The mobile device is controlled to perform a charging operation until the mobile device is aligned with the charging pile for recharging.

2. The recharging method according to claim 1, characterized in that: The step of controlling the mobile device to move to a central recharging alignment area of ​​the charging pile based on the recharging signal received by the mobile device includes: Based on the recharging signal received by the mobile device, determining the recharging signal coverage area where the mobile device is located and the recharging signal coverage angle of the mobile device; Based on the back-charging signal coverage area and the back-charging signal coverage angle, the mobile device is controlled to move to a central back-charging alignment area of ​​the charging pile.

3. The recharging method according to claim 2, characterized in that: The controlling the mobile device to move to the central recharging alignment area of ​​the charging pile based on the recharging signal coverage area and the recharging signal coverage angle includes: Determining a lateral movement direction of the mobile device based on the recharging signal coverage area; Determining a relative distance between the mobile device and the charging pile based on a coverage angle of a recharging signal of the mobile device and a rotation radius of the mobile device; Determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile; The mobile device is controlled to move along the lateral movement direction and the longitudinal movement direction until the recharging signal coverage angle of the mobile device is within the recharging signal coverage angle range corresponding to the central recharging alignment area of ​​the charging pile.

4. The recharging method according to claim 3, characterized in that: The determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile includes: When the relative distance is greater than the maximum relative distance corresponding to the central recharging alignment area of ​​the charging pile, it is determined that the mobile device moves forward longitudinally relative to the charging pile.

5. The recharging method according to claim 3, characterized in that: The determining the longitudinal moving direction of the mobile device based on the relative distance and the relative distance range corresponding to the central recharging alignment area of ​​the charging pile includes: When the relative distance is smaller than the minimum relative distance corresponding to the central recharging alignment area of ​​the charging pile, it is determined that the mobile device moves longitudinally backward relative to the charging pile.

6. The recharging method according to claim 2, characterized in that: Determining a recharging signal coverage area where the mobile device is located based on a recharging signal received by the mobile device includes: Controlling the mobile device to rotate at least one circle in situ to determine the recharging signal received by the mobile device; When the recharging signal is a recharging signal transmitted by a first signal transmitter of the charging pile, determining that the mobile device is in a single recharging signal coverage area corresponding to the first signal transmitter; When the back-charging signal is a back-charging signal transmitted by a first signal transmitter of the charging pile and a back-charging signal transmitted by a second signal transmitter of the charging pile, it is determined that the mobile device is in a dual back-charging signal coverage area corresponding to the first signal transmitter and the second signal transmitter.

7. The recharging method according to any one of claims 1 to 6, characterized in that: The method further comprises: Determining, based on a rotation radius of the mobile device, a nonlinear function between a back-charging signal coverage angle of the mobile device and a relative distance of the mobile device; Determining a function interval of the nonlinear function that meets a preset linearity requirement; Determine the maximum recharging signal coverage angle, the maximum relative distance, the minimum recharging signal coverage angle and the minimum relative distance in the function interval; Based on the maximum recharging signal coverage angle, the maximum relative distance, the minimum recharging signal coverage angle and the minimum relative distance, a central recharging alignment area of ​​the charging pile is determined.

8. A recharging device, characterized in that: The device comprises: A first recharging module, configured to control the mobile device to move to a central recharging alignment area of ​​the charging pile based on a recharging signal received by the mobile device; the central recharging alignment area is determined based on a recharging signal coverage angle of the mobile device and a relative distance between the mobile device and the charging pile, the recharging signal coverage angle being a maximum unidirectional rotation angle corresponding to a recharging signal that can be continuously received by the mobile device when rotating in situ; The second recharging module is used to control the mobile device to perform a charging operation until the mobile device is aligned with the charging pile for recharging.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the recharging method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the recharging method as described in any one of claims 1 to 7 is implemented.

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