Transmitting device, receiving device, pile returning method, self-walking equipment, maintenance station and cleaning system
By setting up two sets of emission components on the maintenance station to form a wide horizontal light field and a narrow vertical light field, the problem of large error in the robot's pile return is solved, and high-precision independent charging and cleaning functions are achieved.
Patent Information
- Application Number
- CN202311638837.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-01
- Publication Date
- 2025-06-03
AI Technical Summary
The existing robots' pile return scheme has a large error and cannot accurately adjust the behavior to the center to charge, resulting in charging failure, dust and air leakage.
A transmitting device is provided, through two sets of transmitting components, a wide divergence angle horizontal light field and a narrow divergence angle vertical light field are realized, and the self-traveling equipment can quickly locate the maintenance station orientation and then achieve high-precision pile return.
It realizes high-precision pile return of self-travel equipment in the maintenance station, avoids charging failure and dust leakage, and improves the accuracy of the robot's independent charging.
Smart Images
Figure CN120078323A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of robot technology, and in particular, to a transmitting device, a receiving device, a method for returning to a charging pile, a self-propelled device, a maintenance station, and a cleaning system. Background Art
[0002] With the development of technology, service robots are everywhere in life, such as cleaning robots, food delivery robots, and commercial robots. All types of robots involve the functional requirement of autonomous charging, and some cleaning robots also involve functions such as timed garbage collection, rag cleaning, and water replenishment. The above functions all require the robot to be able to accurately navigate and return to the position.
[0003] In the related art, the error of the robot's method for returning to the charging pile is relatively large, and the robot cannot accurately adjust its behavior to the center for charging according to the signal direction. Therefore, in actual situations, the robot often returns to the charging pile in an eccentric state, which may lead to problems such as charging failure and dust collection air leakage. Summary of the Invention
[0004] The purpose of the present disclosure is to provide a transmitting device, a receiving device, a method for returning to a charging pile, a self-propelled device, a maintenance station, and a cleaning system, which can solve at least one of the above-mentioned technical problems. The specific solutions are as follows:
[0005] According to a specific embodiment of the present disclosure, on the one hand, the present disclosure provides a transmitting device configured to be assembled on a maintenance station and transmit a radio frequency signal, including: a first transmitting component, the first transmitting component includes: a first transmitting source and a first optical component, the first optical component is configured to make the radio frequency signal of the first transmitting source have a first included angle on a first plane; a second transmitting component, the second transmitting component includes: a second transmitting source and a second optical component, the second optical component is configured to make the radio frequency signal of the second transmitting source have a second included angle on a second plane; wherein, the first plane and the second plane are substantially perpendicular.
[0006] In an optional embodiment, the first optical component includes: a first lens, the first lens has a first incident surface and a first exit surface, the first incident surface is the surface of the first lens close to the first transmitting source, and the first exit surface is the surface of the first lens far from the first transmitting source; the first lens is configured to increase the divergence angle of the radio frequency signal emitted by the first transmitting source on the first plane.
[0007] In an optional embodiment, the first incident surface has a first protrusion, the first protrusion is a strip structure, and the length direction of the strip structure is substantially perpendicular to the first plane.
[0008] In an alternative embodiment, the first protruding portion is a semi-cylindrical structure, and the height direction of the semi-cylindrical structure is consistent with the length direction of the strip structure.
[0009] In an alternative embodiment, there are a plurality of the first protruding portions, and the plurality of the first protruding portions are distributed substantially in parallel.
[0010] In an alternative embodiment, the first optical component further includes: a second lens, the second lens is disposed between the first emission source and the first lens, and the second lens is configured to focus the radio frequency signal emitted by the first emission source on the first incident surface.
[0011] In an alternative embodiment, the second lens is a focusing lens, and the focusing lens is configured to compress the divergence angle of the first emission component within a first angular range.
[0012] In an alternative embodiment, the second optical component includes: a third lens, the third lens has a second incident surface and a second exit surface, the second incident surface is the surface of the third lens close to the second emission source, and the second exit surface is the surface of the third lens away from the second emission source; the third lens is configured to increase the divergence angle of the radio frequency signal emitted by the second emission source on the second surface.
[0013] In an alternative embodiment, the second incident surface has a second protruding portion, the second protruding portion is a strip structure, and the length direction of the strip structure is substantially perpendicular to the second surface.
[0014] In an alternative embodiment, the second protruding portion is a semi-cylindrical structure, and the height direction of the semi-cylindrical structure is consistent with the length direction of the strip structure.
[0015] In an alternative embodiment, there are a plurality of the second protruding portions, and the plurality of the second protruding portions are distributed substantially in parallel.
[0016] In an alternative embodiment, the second optical component further includes: a fourth lens, the fourth lens is disposed between the second emission source and the third lens, and the fourth lens is configured to diffuse the radio frequency signal emitted by the second emission source.
[0017] In an alternative embodiment, the fourth lens is a diffusing lens, and the diffusing lens is configured to diffuse the divergence angle of the second emission component within a second angular range.
[0018] In an alternative embodiment, the included angle between the third lens and the emission beam center line of the second emission source is: 60 - 90°.
[0019] In an alternative embodiment, the first surface is substantially a vertical surface; the second surface is substantially a horizontal surface.
[0020] In an alternative embodiment, the size of the first included angle is 90 - 180°; the size of the second included angle is 90 - 180°.
[0021] In an alternative embodiment, the first emission source has a radio frequency signal with a third included angle on the second surface, and the third included angle is smaller than the first included angle.
[0022] In an alternative embodiment, the second emission source has a radio frequency signal with a fourth included angle on the first surface, and the fourth included angle is smaller than the second included angle.
[0023] In an alternative embodiment, the first emission source is a vertical cavity surface emitting laser; and / or the second emission source is a vertical cavity surface emitting laser.
[0024] According to a specific embodiment of the present disclosure, on the other hand, the present disclosure provides a receiving device configured to be assembled on a self - propelled device; the receiving device is configured to receive the radio frequency signal of the transmitting device described in any one of the above technical solutions.
[0025] According to a specific embodiment of the present disclosure, on another aspect, the present disclosure provides a method for returning to a pile. By using the transmitting device described in any one of the above technical solutions and the receiving device described in any one of the above technical solutions, the self - propelled device is controlled to adjust its orientation based on the state of the receiving device receiving the radio frequency signal.
[0026] In an alternative embodiment, the receiving device includes: a first receiver configured to receive the radio frequency signals of the first transmitting component and the second transmitting component; a second receiver configured to receive the radio frequency signals of the first transmitting component and the second transmitting component; the method for returning to a pile includes: in response to the first receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component and the second receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component, controlling the self - propelled device to move in a straight line towards the maintenance station.
[0027] In an alternative embodiment, the method for returning to a pile further includes: in response to the first receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component and the second receiver receiving the radio frequency signal of the second transmitting component, controlling the self - propelled device to move towards the direction of the first receiver.
[0028] In an alternative embodiment, the method for returning to a pile further includes: in response to the first receiver receiving the radio frequency signal of the second transmitting component and the second receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component, controlling the self - propelled device to move towards the direction of the second receiver.
[0029] In an alternative embodiment, the method for returning to the charging pile further includes: in response to the first receiver not receiving the RF signal of the second transmitting component and the second receiver not receiving the RF signal of the second transmitting component, controlling the self-propelled device to adjust its orientation and search for the RF signal of the second transmitting component.
[0030] In an alternative embodiment, the first receiver and the second receiver are arranged horizontally.
[0031] According to a specific embodiment of the present disclosure, on the other hand, the present disclosure provides a self-propelled device, including: the receiving device according to any one of the above technical solutions.
[0032] According to a specific embodiment of the present disclosure, on the other hand, the present disclosure provides a maintenance station, including: the transmitting device according to any one of the above technical solutions.
[0033] According to a specific embodiment of the present disclosure, on the other hand, the present disclosure provides an automatic cleaning system, including: the self-propelled device according to any one of the above technical solutions and the maintenance station according to any one of the above technical solutions.
[0034] The above solutions of the embodiments of the present disclosure have at least the following beneficial effects compared with the prior art:
[0035] The transmitting device of the present disclosure realizes a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two sets of transmitting devices, namely the first transmitting component and the second transmitting component. The self-propelled device can quickly locate the orientation of the maintenance station following the wide divergence angle horizontal light field, and then achieve high-precision return to the charging pile following the narrow divergence angle vertical light field. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] Figure 1 A schematic diagram of a self-service return to the charging pile system in the related art is shown.
[0037] Figure 2 A state schematic diagram of a self-service return to the charging pile system in the related art is shown.
[0038] Figure 3 A schematic structural diagram of a self-propelled device according to some embodiments of the present disclosure is shown.
[0039] Figure 4 A schematic diagram of a scene after the self-propelled device returns to the maintenance station according to some embodiments of the present disclosure is shown.
[0040] Figure 5 A schematic diagram of a transmitting device according to some embodiments of the present disclosure is shown.
[0041] Figure 6 The structural schematic diagram of a transmitting device provided according to some embodiments of the present disclosure is shown.
[0042] Figure 7 The schematic diagram of a first lens provided according to some embodiments of the present disclosure is shown.
[0043] Figure 8 The optical path schematic diagram of a first lens provided according to some embodiments of the present disclosure is shown.
[0044] Figure 9 The optical path schematic diagram of a second lens provided according to some embodiments of the present disclosure is shown.
[0045] Figure 10 The optical path schematic diagram of a transmitting device provided according to some embodiments of the present disclosure is shown.
[0046] Figure 11 The schematic diagram of a transmitting device provided according to some other embodiments of the present disclosure is shown.
[0047] Figure 12 The flowchart of the method for adjusting the orientation of a self - propelled device provided according to some embodiments of the present disclosure is shown.
[0048] Reference numerals:
[0049] 10: Transmitting device;
[0050] 100: First transmitting component; 110: First transmitting source; 120: First optical component; 121: First lens; 1211: First protruding part; 122: Second lens;
[0051] 200: Second transmitting component; 210: Second transmitting source; 220: Second optical component; 221: Third lens; 222: Fourth lens.
[0052] 600: Self - propelled device; 700: Maintenance station.
[0053] IR1: First infrared transmitter; IR2: Second infrared transmitter; PT1: First infrared receiver; PT2: Second infrared receiver. Detailed implementation manners
[0054] In order to make the objectives, technical solutions, and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.
[0055] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. "Plural" generally includes at least two.
[0056] It should be understood that the term "and / or" used herein is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.
[0057] It should be understood that although terms such as first, second, and third may be used to describe structures in the embodiments of the present disclosure, these structures should not be limited to these terms. These terms are only used to distinguish different structures. For example, without departing from the scope of the embodiments of the present disclosure, the first component may also be referred to as the second component. Similarly, the second component may also be referred to as the first component depending on the context. Words such as "if" and "when" as used herein can be interpreted as "when...", "when...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detected (stated condition or event)" can be interpreted as "when determined", "in response to determining", "when detected (stated condition or event)", or "in response to detecting (stated condition or event)".
[0058] It should also be noted that the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a commodity or device comprising a series of elements not only includes those elements but also other elements not explicitly listed, or elements inherent to such commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the commodity or device comprising the said element.
[0059] Figure 1 The schematic diagram of a self-service pile-return system in the related art is shown. Figure 2 The state schematic diagram of a self-service pile-return system in the related art is shown. As Figure 1 and Figure 2As shown in the figure, in the related art, a first infrared transmitter IR1 and a second infrared transmitter IR2 are provided on a maintenance station (which can also be called a "pile"); a first infrared receiver PT1 and a second infrared receiver PT2 are provided on a self-propelled device. When the first infrared receiver PT1 stably receives the signal of the first infrared transmitter IR1 and the second infrared receiver PT2 stably receives the signal of the second infrared transmitter IR2, it indicates that the center of the self-propelled device coincides with the center of the maintenance station, and the robot can move straight forward until it reaches the position. If the second infrared receiver PT2 can receive the signal of the second infrared transmitter IR2, but the first infrared receiver PT1 cannot receive the signal of the first infrared transmitter IR1, it means that the self-propelled device is offset to one side of the second infrared transmitter IR2, and the behavior of the robot needs to be adjusted to the first infrared transmitter IR1 until the first infrared receiver PT1 and the second infrared receiver PT2 can stably receive the first infrared transmitter IR1 and the second infrared transmitter IR2.
[0060] In the related art, in order to ensure that the self-propelled device can receive signals within a horizontal range of 180°, the divergence angles of the first infrared transmitter IR1 and the second infrared transmitter IR2 are usually greater than or equal to 90°, which results in a very wide coverage range of the optical signal, and the self-propelled device cannot accurately adjust its behavior to the maintenance station for charging according to the signal direction. As Figure 2 shown in the figure, theoretically, it is necessary to ensure that the center lines of the maintenance station and the robot coincide in the alignment state. However, due to the certain width of the optical signal coverage pattern of the first infrared transmitter IR1 and the second infrared transmitter IR2, and the certain angle of the robot's reception, the actual situation often returns to the maintenance station in an eccentric state, which may lead to problems such as charging failure and dust collection air leakage.
[0061] To solve at least one of the above-mentioned technical problems, the present disclosure provides a transmitting device 10, a receiving device, a docking method, a self-propelled device 600, a maintenance station, and an automatic cleaning system. The transmitting device 10 is configured to be assembled on the maintenance station and transmit radio frequency signals, and may include: a first transmitting component 100, the first transmitting component 100 includes: a first transmitting source 110 and a first optical component 120, the first optical component 120 is configured to make the first transmitting source 110 have radio frequency signals with a first included angle only on a first plane; a second transmitting component 200, the second transmitting component 200 includes: a second transmitting source 210 and a second optical component 220, the second optical component 220 is configured to make the second transmitting source 210 have radio frequency signals with a second included angle on a second plane; wherein, the first plane and the second plane are substantially perpendicular. The transmitting device 10 of the present disclosure realizes a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two sets of transmitting devices 10, namely the first transmitting component 100 and the second transmitting component 200, so that the self-propelled device 600 can quickly locate the orientation of the maintenance station following the wide divergence angle horizontal light field, and then realize high-precision docking following the narrow divergence angle vertical light field. In the transmitting device 10 of the present disclosure, by making the first transmitting component 100 have radio frequency signals with a first included angle only on the first plane; a radio frequency signal with a very small divergence angle in the horizontal direction is formed, thereby realizing high-precision docking.
[0062] The optional embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
[0063] Figure 3 FIG. is a schematic structural diagram of a self-propelled device 600 provided in some embodiments of the present disclosure. As Figure 3 shown, the self-propelled device 600 is a self-propelled cleaning device, such as a floor sweeping robot, and may include a steering wheel and drive wheels. Under the action of the steering wheel and drive wheels, the self-propelled device 600 can move on a support surface, such as the ground. Optionally, the self-propelled device 600 can move along a preset route, or in specific situations, such as when the self-propelled device 600 has insufficient power, the dust box of the self-propelled device 600 is full of garbage, after completing the cleaning work, etc., the self-propelled device 600 can move back to the maintenance station to charge or unload the garbage into the dust collection container of the maintenance station.
[0064] The self-propelled device 600 may further include charging electrodes, configured to be electrically connected to the maintenance station for charging after the self-propelled device 600 returns to the maintenance station. In some embodiments, the charging electrodes are arranged on the bottom surface of the self-propelled device 600, and the number thereof is, for example, 2, and they are respectively arranged on both sides of the steering wheel. Those skilled in the art can understand that the above is only an example of the number and arrangement position of the charging electrodes, and the present disclosure does not specifically limit the number and arrangement position of the charging electrodes.
[0065] The self - propelled device 600 may further include a cleaning module, such as a dry - cleaning module. The cleaning module is configured to clean at least a part of the support surface when the self - propelled device 600 moves on the support surface, such as the ground. In some embodiments, the cleaning module may be disposed between the two drive wheels.
[0066] Figure 4 FIG. is a schematic diagram of the scenario after the self - propelled device 600 provided by some embodiments of the present disclosure returns to the maintenance station. In some embodiments, the maintenance station 700 integrates a charging pile and a dust - collection pile, and is configured to provide functions such as energy supply, garbage collection, and mopping cloth cleaning for the self - propelled device 600. In some embodiments, the maintenance station 700 includes a maintenance - station base and a maintenance - station main body. The main body of the maintenance station 700 can be configured to charge the self - propelled device 600 and collect the garbage in the dust - collection box of the self - propelled device 600. The main body of the maintenance station is disposed on the maintenance - station base. The main body of the maintenance station includes a dust - collection container and a dust - collection fan. The dust - collection container is, for example, in a cylindrical shape and is configured to recycle the garbage in the dust - collection box of the self - propelled device 600. The dust - collection fan is connected to the air outlet of the dust - collection container to provide power for recycling the garbage in the dust - collection box of the self - propelled device 600 into the dust - collection container.
[0067] The maintenance station 700 includes a charging connector and a dust - suction port. The charging connector is configured to supply energy to the self - propelled device 600, and the dust - suction port is configured to be docked with the dust - outlet of the self - propelled device 600. The garbage in the dust - collection box of the self - propelled device 600 enters the dust - collection container of the main body of the maintenance station through the dust - suction port. Among them, the charging connector is disposed on the main body of the maintenance station, and the dust - suction port is disposed on the maintenance - station base.
[0068] As Figure 4 shown, when the self - propelled device 600, such as a floor - sweeping robot, returns to the maintenance station 700 after cleaning, the self - propelled device 600 will move onto the maintenance - station base, so that the charging electrodes on the self - propelled device 600 are electrically connected to the charging connector to charge the self - propelled device 600, and the dust - outlet of the self - propelled device 600 is docked with the dust - suction port of the maintenance station 700 to transfer the garbage in the dust - collection box of the self - propelled device 600 into the dust - collection container of the maintenance station 700.
[0069] Figure 5 FIG. shows a schematic diagram of the transmitting device 10 provided by some embodiments of the present disclosure. Figure 6 FIG. shows a schematic structural diagram of the transmitting device provided by some embodiments of the present disclosure. As Figure 5 and Figure 6As shown, according to the specific embodiments of the present disclosure, the transmitting device 10 can be applied to functional auxiliary robotic devices such as maintenance stations 700, charging piles, dust collection piles, cleaning rag piles, etc. Hereinafter, the maintenance station 700 will be taken as an example for illustration, but it is not limited thereto. In some embodiments, the transmitting device 10 is configured to be assembled on the maintenance station 700 and transmit radio frequency signals. The transmitting device 10 may include: a first transmitting component 100 and a second transmitting component 200. Among them, the first transmitting component 100 may include: a first transmitting source 110 and a first optical component 120. The first optical component 120 is configured to make the first transmitting source 110 have radio frequency signals with a first included angle on a first plane; the second transmitting component 200 may include: a second transmitting source 210 and a second optical component 220. The second optical component 220 is configured to make the second transmitting source 210 have radio frequency signals with a second included angle on a second plane; wherein, the first plane and the second plane are substantially perpendicular. The transmitting device 10 provided by the embodiments of the present disclosure uses two sets of transmitting devices, namely the first transmitting component 100 and the second transmitting component 200, so that one of the transmitting devices forms a wide divergence angle horizontal light field, and the other transmitting device forms a narrow divergence angle vertical light field. Thus, the self-walking device 600 can quickly locate the orientation of the maintenance station 700 through the wide divergence angle horizontal light field, and then achieve high-precision docking through the narrow divergence angle vertical light field.
[0070] In some embodiments, the size of the first included angle is 90 - 180°; the size of the second included angle is 90 - 180°. It should be noted that the radio frequency signals emitted by the first transmitting component 100 can form a divergent signal in the forward direction on the first plane, for example, on the vertical plane; while the radio frequency signals emitted by the second transmitting component 200 form a divergent signal in the forward direction on the second plane, for example, on the horizontal plane. Among them, the first plane and the second plane are substantially perpendicular, and the first plane and the second plane can be non-vertical planes and non-horizontal planes; the radio frequency signals emitted by the first transmitting component 100 and the second transmitting component 200 diverge forward in a substantially perpendicular cross shape, that is, the radio frequency signals emitted by the first transmitting component 100 are a vertical light field with a narrow divergence angle in the horizontal direction, that is, it is almost a straight line in the vertical direction, and the divergence angle in the horizontal direction is as small as possible; the radio frequency signals emitted by the second transmitting component 200 are a wide divergence angle horizontal light field, which has a certain divergence angle in the vertical direction and a wide divergence angle in the horizontal direction, for example, close to 180 degrees, to facilitate the self-walking device 600 to find the docking station. The transmitting device 10 further includes a drive circuit unit for providing appropriate drive voltage and current for the first transmitting source 110 and the second transmitting source 210 to perform optoelectronic conversion. The luminous intensity of the transmitting source and the drive current are linearly related. Therefore, by controlling the drive current, the response distance of the transmitting device and the receiving device can be effectively controlled to achieve the function of the self-walking device 600 sensing the maintenance station 700 at a long distance.
[0071] In some embodiments, the first emission source 110 may be an infrared laser emitter or the like. For example, the first emission source 110 is a Vertical-Cavity Surface-Emitting Laser (VCSEL for short). By combining the vertical-cavity surface-emitting laser with the shaping of the first optical component 120, a horizontal narrow-divergence-angle vertical light field that meets the precise recognition requirements of the self-driving device 600 is generated, achieving fast and accurate pile return. The narrow-divergence-angle vertical light field can also avoid the interference between the radio frequency signal emitted by the first emission source 110 and the structural support of the self-driving device 600, resulting in stray light, making the edge of the light field distribution clear, thus ensuring the smooth behavior of the machine's pile return and achieving precise pile return. In an alternative embodiment, the wavelength range of the radio frequency signal emitted by the first emission source 110 is 800 - 1000 nm. The wavelengths in this range can avoid sunlight interference, thereby achieving precise pile return. Specifically, the wavelength of the radio frequency signal emitted by the first emission source 110 is 850 nm or 940 nm. Infrared lasers with wavelengths of 850 nm and 940 nm can avoid sunlight (visible light) interference to the greatest extent.
[0072] Figure 7 The schematic diagram of the first lens provided according to some embodiments of the present disclosure is shown. Figure 8 The optical path schematic diagram of the first lens provided according to some embodiments of the present disclosure is shown. Among them, Figure 8 The three line shapes represent three radio frequency signals passing through the first lens. As Figure 7 and Figure 8As shown, in some embodiments, the first optical component 120 may include: a first lens 121 having a first incident surface and a first exit surface, where the first incident surface is the surface of the first lens 121 closer to the first emission source 110, and the first exit surface is the surface of the first lens 121 farther from the first emission source 110; the first lens 121 is configured to increase the divergence angle of the radio frequency signal emitted by the first emission source 110 on the first surface. In an alternative embodiment, the first incident surface has a first protrusion 1211, and the first protrusion 1211 is a strip structure, and the length direction of the strip structure is substantially perpendicular to the first surface. Wherein, the first protrusion 1211 protrudes in a direction away from the first exit surface. The transmitting device 10 of the present disclosure forms a narrow divergence angle vertical light field by arranging the first lens 121 so that the radio frequency signal emitted by the first emission source 110 passes through the first protrusion 1211. When the radio frequency signal emitted by the first emission source 110 passes through the first lens 121, the radio frequency signal diverges in the vertical direction and has minimal divergence in the horizontal direction, thereby forming a narrow divergence angle vertical light field in the horizontal direction. The first protrusion 1211 may be a strip protrusion and is evenly distributed on the first incident surface. For example, the first protrusion 1211 may be a semi-circular protrusion, an arc protrusion, a prism protrusion, etc. Specifically, the first protrusion 1211 is a semi-cylindrical structure, and the height direction of the semi-cylindrical structure is consistent with the length direction of the strip structure. In an alternative embodiment, there are multiple first protrusions 1211, and the multiple first protrusions 1211 are distributed substantially parallel to each other.
[0073] Figure 9 shows a schematic optical path diagram of a second lens provided according to some embodiments of the present disclosure. As Figure 9As shown, in an alternative embodiment, the first optical component 120 may further include: a second lens 122 disposed between the first emission source 110 and the first lens 121, and the second lens 122 is configured to focus the radio frequency signal emitted by the first emission source 110 on the first incident surface. For example, the second lens 121 may be a convex lens, a focusing lens, etc., and the radio frequency signal emitted by the second emission source 110 is focused by the second lens 121. Specifically, the second lens 122 is a focusing lens, and the focusing lens is configured to compress the divergence angle of the first emission component 100 within a first angular range. Optionally, the radio frequency signal emitted by the first emission source 110 is a conical beam with a divergence angle of 10° - 15°, and the range of the first angle is a conical beam with an angle of 0.1 - 2.5°. For example, the radio frequency signal emitted by the first emission source 110 is a conical beam with a divergence angle of 10°. After being focused by the second lens 121 and entering the first incident surface, the divergence angle of the radio frequency signal is a conical beam with an angle of 1°. Through the focusing of the second lens 122, the overall divergence angle of the radio frequency signal is reduced. When passing through the first protruding portion 1211 of the bar-shaped structure, the divergence angle in the horizontal direction hardly changes, and the divergence angle in the vertical direction increases, forming a narrow divergence angle vertical light field in the horizontal direction. That is, the radio frequency signal of the first emission source 110 on the second surface has a third included angle, and the third included angle is much smaller than the first included angle. It should be noted that the larger the first included angle, the better, and the smaller the third included angle, the better. As Figure 8 As shown, the bar-shaped first protruding portion 1211 extends in the horizontal direction. The radio frequency signal emitted by the first emission source 110 is refracted by the first lens 121, so that the radio frequency signal emitted by the first emission source 110 does not diverge in the horizontal direction and only diverges in the vertical direction.
[0074] Figure 10 Fig. shows a schematic optical path diagram of the emission device 10 provided according to some embodiments of the present disclosure.
[0075] Among them, Figure 10 is a top view of the emission device when emitting a radio frequency signal in the working state. The dashed line with an arrow is the radio frequency signal emitted by the first emission component, and the solid line with an arrow is the radio frequency signal emitted by the second emission component; among them, the A area is the right light field, the B area is the left square, the dashed line L is the center line, and α is the first angle. As Figure 10 As shown, with the horizontal plane as the reference, due to the divergence of the angle, the spacing of the radio frequency signals (i.e., the narrow divergence angle vertical light field) emitted by the first emission component 100 gradually widens as the emission distance increases. Taking the straight line perpendicular to the light source center in the front as the center line, the distances from the boundaries of the left light field and the right light field to the center line are shown in the following table:
[0076]
[0077] As can be seen from the above table, the closer the distance between the self-propelled device 600 and the maintenance station 700, the shorter the straight-line distance from the boundaries of the left and right light fields to the center line. That is, during the process of the self-propelled device 600 returning to the pile, the closer the distance to the maintenance station 700, the smaller the error in returning to the pile, and the more accurate the pile return can be achieved.
[0078] In some embodiments, such as Figure 5 shown, the second emission source 210 can be an infrared laser emitter or the like. For example, the second emission source 210 is a vertical cavity surface emitting laser. By combining the vertical cavity surface emitting laser with the second optical component 220 for shaping, a horizontally wide-diverging light field that meets the recognition requirements of the self-propelled device 600 is generated, realizing large-angle emission signal coverage to facilitate the self-propelled device 600 to quickly capture the pile-return signal. In an alternative embodiment, the wavelength range of the radio frequency signal emitted by the second emission source 210 is 800 - 1000 nm. The wavelengths in this range can avoid sunlight interference, thereby achieving accurate pile searching. Specifically, the wavelength of the radio frequency signal emitted by the second emission source 210 is 850 nm or 940 nm. Lasers, infrared rays, etc. with central wavelengths of 850 nm and 940 nm can avoid sunlight interference to the greatest extent.
[0079] The present disclosure combines the first emission component and the second emission component to form a light field distribution in which a wide horizontal light field and a narrow vertical light field cooperate, ensuring that the self-propelled device 600 can simultaneously achieve high-efficiency and high-accuracy recognition of pile return, and complete functions such as charging, dust collection, and water replenishment.
[0080] In some embodiments, such as Figure 5As shown, the second optical component 220 may include: a third lens 221 having a second incident surface and a second exit surface, where the second incident surface is the surface of the third lens 221 closer to the second emission source 210, and the second exit surface is the surface of the third lens 221 farther from the second emission source 210; the third lens is configured to increase the divergence angle of the radio frequency signal emitted by the second emission source on the second surface. In an alternative embodiment, the second incident surface has a second protrusion, which is a strip structure, and the length direction of the strip structure is substantially perpendicular to the second surface. Among them, the second protrusion protrudes in a direction away from the second exit surface. The emission device 10 of the present disclosure forms a wide divergence angle horizontal light field by arranging the third lens 221 to make the radio frequency signal emitted by the second emission source 210 pass through the second protrusion. That is, the radio frequency signal of the second emission source 210 has a fourth included angle on the first surface, and the fourth included angle is much smaller than the second included angle. It should be noted that the larger the second included angle, the better, and the smaller the fourth included angle, the better. When the radio frequency signal emitted by the second emission source 210 passes through the third lens 221, the radio frequency signal diverges in the horizontal direction, and the divergence angle in the vertical direction hardly changes, thereby forming a wide divergence angle horizontal light field. The second protrusion may be a strip protrusion and is evenly distributed on the second incident surface. For example, the second protrusion may be a semi-circular protrusion, an arc protrusion, a prism protrusion, etc. Specifically, the second protrusion is a semi-cylindrical structure, and the height direction of the semi-cylindrical structure is consistent with the length direction of the strip structure. In an alternative embodiment, there are multiple second protrusions, and the multiple second protrusions are distributed substantially parallel. In an alternative embodiment, the second optical component 220 may further include: a fourth lens 222 disposed between the second emission source 210 and the third lens 221, and the fourth lens 222 is configured to diffuse the radio frequency signal emitted by the second emission source 210. For example, the fourth lens 222 may be a concave lens, a diffusing lens, etc. The radio frequency signal emitted by the second emission source 110 is diffused by the fourth lens 222, so that the divergence angle of the radio frequency signal increases, and the positioning range of the second emission component 200 is increased. Specifically, the fourth lens 222 is a diffusing lens, and the diffusing lens is configured to diffuse the divergence angle of the second emission component within a second angle range. Optionally, the radio frequency signal emitted by the second emission source 210 is a conical beam with a divergence angle of 10-15°, and the range of the second angle is a conical beam of 80-100°. For example, the radio frequency signal emitted by the second emission source 210 is a conical beam with a divergence angle of 10°. After being diffused by the third lens 221 and entering the second incident surface, the divergence angle of the radio frequency signal is a conical beam of 90°. After being diffused by the fourth lens 222, the overall divergence angle of the radio frequency signal increases. When passing through the second protrusion of the strip structure, the divergence angle in the vertical direction hardly changes and remains 90°, and the divergence angle in the horizontal direction increases, forming a wide divergence angle horizontal light field, such as 90-180°.
[0081] The transmitting device 10 of the present disclosure forms a horizontally wide-divergence-angle light field by arranging the third lens 221 so that the radio frequency signal emitted by the second transmitting source 210 passes through the second convex portion; before the radio frequency signal passes through the third lens 221, the fourth lens 222 causes the radio frequency signal to diverge on the second convex portion. The strip-shaped second convex portion extends in the vertical direction, so that the radio frequency signal emitted by the second transmitting source 210 does not diverge in the vertical direction and only diverges in the horizontal direction.
[0082] The present disclosure combines the first transmitting component and the second transmitting component to form a light field distribution in which a wide horizontal light field and a narrow vertical light field cooperate, ensuring that the self-propelled device 600 can simultaneously achieve high-efficiency and high-accuracy identification of returning to the charging pile and complete functions such as charging, dust collection, and water replenishment.
[0083] Figure 11 The figure shows a schematic diagram of a transmitting device provided according to other embodiments of the present disclosure. As Figure 11 shown, in some embodiments, the included angle between the third lens 121 and the center line of the emission light beam of the second transmitting source is: 60 - 90°. Usually, the maintenance station 700 is set on the ground, and the self-propelled device 600 is also relatively low. The third lens 121 is inclined downward relative to the center line of the emission light beam of the second transmitting source to ensure that the self-propelled device 600 can collect signals near the ground. Therefore, the included angle is inclined downward to be closer to the perspective of the self-propelled device 600 to irradiate the ground.
[0084] In some embodiments, the first surface is substantially a vertical surface. In an alternative example, the second surface is substantially a horizontal surface. Specifically, the first surface is substantially parallel to the vertical direction and substantially perpendicular to the horizontal direction. In an alternative embodiment, the second surface is substantially perpendicular to the vertical direction and substantially parallel to the horizontal direction. For example, when the self-propelled device 600 needs to return to the maintenance station 700, the first transmitting component 100 emits a radio frequency signal, and this radio frequency signal basically only diverges forward along the first surface; the second transmitting component 200 emits a radio frequency signal, and this radio frequency signal diverges forward in a relatively wide direction along the second surface; when the receiving device on the self-propelled device 600 receives the radio frequency signal emitted by the second transmitting component 200, it can determine the position of the maintenance station 700 according to the position of the signal, and then achieve high-precision return to the charging pile through the narrow-divergence-angle vertical light field.
[0085] According to a specific implementation manner of the present disclosure, on the other hand, a receiving device is provided. The receiving device can be assembled on various forms of robots such as the self-propelled device 600, a cleaning robot, a service robot, and an entertainment robot; in this embodiment, the self-propelled device 600 is taken as an example for illustration, and this is not limited. For example, the receiving device is assembled on the self-propelled device 600, and the receiving device is configured to receive the radio frequency signal of the transmitting device described in any of the above embodiments to achieve returning to the charging pile based on the state of the received video signal.
[0086] In some embodiments, the receiving device may include: a first receiver configured to receive radio frequency signals of the first transmitting component 100 and the second transmitting component 200; a second receiver configured to receive radio frequency signals of the first transmitting component 100 and the second transmitting component 200; and a controller connected to the first receiver and the second receiver respectively, the controller being configured to control the self-propelled device 600 to adjust its orientation according to the states of the first receiver and the second receiver receiving radio frequency signals.
[0087] In some embodiments, the first receiver and the second receiver are arranged in the horizontal direction. Of course, the first receiver and the second receiver may also be arranged in the vertical direction, which is not limited herein. The following description will be made by taking the horizontal direction arrangement as an example.
[0088] In some embodiments, the controller is configured to control the self-propelled device 600 to adjust its orientation according to the states of the first receiver and the second receiver receiving radio frequency signals, including: the controller controls the self-propelled device 600 to move in a straight line towards the maintenance station 700 in response to the first receiver receiving radio frequency signals of the first transmitting component 100 and the second transmitting component 200 and the second receiver receiving radio frequency signals of the first transmitting component 100 and the second transmitting component 200. In an alternative embodiment, the controller controls the self-propelled device 600 to move towards the direction of the first receiver in response to the first receiver receiving radio frequency signals of the first transmitting component 100 and the second transmitting component 200 and the second receiver receiving radio frequency signals of the second transmitting component 200. In an alternative embodiment, the controller controls the self-propelled device 600 to move towards the direction of the second receiver in response to the first receiver receiving radio frequency signals of the second transmitting component 200 and the second receiver receiving radio frequency signals of the first transmitting component 100 and the second transmitting component 200. In an alternative embodiment, the controller controls the self-propelled device 600 to adjust its orientation and search for radio frequency signals in response to the first receiver not receiving radio frequency signals of the second transmitting component 200 and the second receiver not receiving radio frequency signals of the second transmitting component 200.
[0089] Figure 12 The flowchart of the method for adjusting the orientation of the self-propelled device 600 according to some embodiments of the present disclosure is shown. As Figure 12 shown, according to a specific embodiment of the present disclosure, on the other hand, a method for returning to a pile is provided. By using the transmitting device 10 described in any one of the above embodiments and the receiving device described in any one of the above embodiments, the self-propelled device 600 is controlled to adjust its orientation based on the state of the receiving device receiving radio frequency signals.
[0090] In some embodiments, the receiving device may include: a first receiver configured to receive radio frequency signals from a first transmitting component and a second transmitting component; a second receiver configured to receive radio frequency signals from the first transmitting component and the second transmitting component;
[0091] The method of returning to the pile may include:
[0092] S100. In response to the first receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200 and the second receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200, control the self-propelled device 600 to move linearly towards the maintenance station 700.
[0093] Wherein, in step S100, when the first receiver and the second receiver can simultaneously receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200, it proves that the self-propelled device 600 is already aligned with the maintenance station 700, and the self-propelled device 600 can accurately enter the maintenance station 700 by moving linearly towards the maintenance station 700.
[0094] It should be noted that during the process of the self-propelled device 600 moving linearly towards the maintenance station 700, the closer the distance between the self-propelled device 600 and the maintenance station 700, the smaller the angle of the first transmitting component 100 in the horizontal direction, that is, the narrower the width of the first transmitting component 100 in the horizontal direction. The situations of steps S200 and S300 may occur. At this time, just execute according to the methods of steps S200 and S300.
[0095] S200. In response to the first receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200 and the second receiver receiving the radio frequency signals of the second transmitting component 200, control the self-propelled device 600 to move towards the direction of the first receiver.
[0096] Wherein, in step S200, the first receiver can receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200, and the second receiver can only receive the radio frequency signals of the second transmitting component 200, which proves that the self-propelled device 600 is biased towards the direction of the second receiver. Therefore, the self-propelled device 600 needs to move towards the direction of the first receiver.
[0097] S300. In response to the first receiver receiving the radio frequency signals of the second transmitting component 200 and the second receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200; control the self-propelled device 600 to move towards the direction of the second receiver.
[0098] Among them, in step S300, the first receiver can only receive the radio frequency signal of the second transmitting component 200, and the second receiver can receive the radio frequency signals of both the first transmitting component 100 and the second transmitting component 200, which proves that the self-propelled device 600 is biased towards the direction of the first receiver. Therefore, the self-propelled device 600 needs to move towards the direction of the second receiver.
[0099] S400. In response to the first receiver not receiving the radio frequency signal of the second transmitting component 200 and the second receiver not receiving the radio frequency signal of the second transmitting component 200, control the self-propelled device 600 to adjust its orientation and search for the radio frequency signal.
[0100] Among them, in step S400, since neither the first receiver nor the second receiver receives the radio frequency signal of the second transmitting component 200, it proves that the self-propelled device 600 is not within the receiving range of the first receiver and the second receiver. Therefore, it is necessary to search for the radio frequency signal.
[0101] In some embodiments, the first receiver and the second receiver are arranged horizontally.
[0102] According to a specific embodiment of the present disclosure, on the other hand, a self-propelled device 600 is provided, which may include: the receiving device described in any one of the above embodiments. The receiving device is configured to receive the radio frequency signal transmitted by the maintenance station 700.
[0103] According to a specific embodiment of the present disclosure, on the other hand, a maintenance station 700 is provided, which may include: the transmitting device 10 described in any one of the above embodiments. The transmitting device 10 is configured to transmit a radio frequency signal to the self-propelled device 600.
[0104] According to a specific embodiment of the present disclosure, on the other hand, an automatic cleaning system is provided, which may include: the self-propelled device 600 described in any one of the above embodiments and the maintenance station 700 described in any one of the above embodiments. Specifically, the self-propelled device 600 may include the receiving device described in any one of the above embodiments; the maintenance station 700 is configured to provide a maintenance function for the self-propelled device 600, and the maintenance station 700 may include the transmitting device 10 described in any one of the above embodiments.
[0105] The present disclosure aims to protect a transmitting device 10, a receiving device, a homing method, a self-propelled device 600, a maintenance station 700, and an automatic cleaning system. The transmitting device 10 is configured to be assembled on the maintenance station 700 and transmit radio frequency signals, and may include: a first transmitting assembly 100, the first transmitting assembly 100 includes: a first transmitting source 110 and a first optical component 120, the first optical component 120 is configured to make the radio frequency signals of the first transmitting source 110 have a first included angle on a first plane; a second transmitting assembly 200, the second transmitting assembly 200 includes: a second transmitting source 210 and a second optical component 220, the second optical component 220 is configured to make the radio frequency signals of the second transmitting source 210 have a second included angle on a second plane; wherein, the first plane and the second plane are substantially perpendicular. The transmitting device 10 of the present disclosure realizes a wide-divergence-angle horizontal light field and a narrow-divergence-angle vertical light field through two sets of transmitting devices 10, that is, the first transmitting assembly 100 and the second transmitting assembly 200. The self-propelled device 600 can quickly locate the orientation of the maintenance station 700 following the wide-divergence-angle horizontal light field, and then achieve high-precision homing following the narrow-divergence-angle vertical light field.
[0106] It should be understood that the above specific embodiments of the present disclosure are only used for exemplary illustration or explanation of the principle of the present disclosure, and do not constitute a limitation to the present disclosure. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present disclosure shall be included within the protection scope of the present disclosure. In addition, the appended claims of the present disclosure are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.
Claims
1. A transmitting device configured to be assembled in a maintenance station and transmit radio frequency signals, Characterized in that, Comprising: A first transmitting component, the first transmitting component comprising: a first transmitting source and a first optical component, the first optical component configured to cause the first transmitting source to have a radio frequency signal with a first included angle on a first plane; A second transmitting component, the second transmitting component comprising: a second transmitting source and a second optical component, the second optical component configured to cause the second transmitting source to have a radio frequency signal with a second included angle on a second plane; Wherein, the first plane and the second plane are substantially perpendicular.
2. The transmitting device according to claim 1, Characterized in that, The first optical component comprises: A first lens, the first lens having a first incident surface and a first exit surface, the first incident surface being the surface of the first lens close to the first transmitting source, and the first exit surface being the surface of the first lens far from the first transmitting source; the first lens is configured to increase the divergence angle of the radio frequency signal emitted by the first transmitting source on the first plane.
3. The transmitting device according to claim 2, Characterized in that, The first optical component further comprises: A second lens, the second lens being disposed between the first transmitting source and the first lens, the second lens configured to focus the radio frequency signal emitted by the first transmitting source on the first incident surface.
4. The transmitting device according to claim 3, Characterized in that, The second lens is a focusing lens, the focusing lens configured to compress the divergence angle of the first transmitting component to within a first angular range.
5. The transmitting device according to claim 1, Characterized in that, The second optical component comprises: A third lens, the third lens having a second incident surface and a second exit surface, the second incident surface being the surface of the third lens close to the second transmitting source, and the second exit surface being the surface of the third lens far from the second transmitting source; the third lens is configured to increase the divergence angle of the radio frequency signal emitted by the second transmitting source on the second plane.
6. A receiving device configured to be assembled in a self-propelled device; Characterized in that, The receiving device is configured to receive the radio frequency signal of the transmitting device according to any one of claims 1-5.
7. A method of returning to a pile, Characterized in that, By using the transmitting device according to any one of claims 1-5 and the receiving device according to claim 6, controlling the self-propelled device to adjust its orientation based on the state of the radio frequency signal received by the receiving device.
8. A self-propelled device, Characterized in that, Comprising: The receiving device according to claim 6.
9. A maintenance station, Characterized in that, Comprising: The transmitting device according to any one of claims 1-5.
10. An automatic cleaning system, Characterized in that, Comprising: The self-propelled device according to claim 8 and the maintenance station according to claim 9.