Distance measuring device, charging base station searching method, robot and storage medium

Abstract

The invention relates to the technical field of distance measurement control, in particular to a distance measurement device, a charging base station searching method, a robot and a storage medium, and the distance measurement device comprises a mounting bracket, and a reflection assembly, a driving assembly and a first receiving assembly which are respectively arranged on the mounting bracket; the driving assembly is connected with the reflecting assembly, and the driving assembly is used for driving the reflecting assembly to rotate; the reflection assembly is used for reflecting guide light emitted by the charging base station; the first receiving assembly is used for receiving the guiding light reflected by the reflecting assembly. By means of the mode, the infrared receiving device is internally arranged, namely the first receiving assembly is internally arranged, and by means of the reflection assembly, the robot provided with the distance measuring device can achieve ideal infrared recharging guiding only through one infrared receiving device, the number of infrared recharging sensors is reduced, and the robot is more convenient to use. The integration level of the distance measuring device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ranging control, and particularly to a ranging device, a method for finding a charging base station, a robot, and a storage medium. Background Art

[0002] The laser navigation plus infrared recharging guidance scheme is widely used in sweeping robots due to its high cost performance and high stability. Among them, the infrared recharging sensor, as the sensor for realizing the autonomous recharging of the sweeping robot in the warehouse, the structural design of its infrared sensing scheme determines the actual working effect of the sweeping robot and the comprehensive cost of the sweeping robot.

[0003] Currently, in the existing laser navigation plus infrared recharging guidance scheme, the infrared recharging sensor exists independently of the lidar. And in order to ensure the accuracy of the infrared recharging guidance, multiple infrared recharging sensors are usually provided, resulting in a relatively crowded space in the sensor area in front of the running path of the sweeping robot, and thus the integration degree of the sweeping robot is relatively low. Summary of the Invention

[0004] In view of this, the embodiments of the present invention provide a ranging device, a method for finding a charging base station, a robot, and a storage medium. The ranging device integrates the infrared recharging sensor, reduces the number of infrared recharging sensors used, and improves the integration degree of the ranging device.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a ranging device, including:

[0007] A mounting bracket, and a reflection component, a driving component, and a first receiving component respectively disposed on the mounting bracket;

[0008] The driving component is connected to the reflection component, and the driving component is configured to drive the reflection component to rotate;

[0009] The reflection component is configured to reflect the guiding light emitted by the charging base station;

[0010] The first receiving component is configured to receive the guiding light reflected by the reflection component.

[0011] In some embodiments, the mounting bracket includes a mounting base and a connecting crossbar, and the connecting crossbar is fixed to the mounting base;

[0012] The connecting cross frame is provided with a first shaft hole, the reflection component is arranged in the first shaft hole, and both ends of the reflection component extend out of the first shaft hole. A first part of the reflection component extending out of the first end of the first shaft hole and the first receiving component are located on the first side of the connecting cross frame.

[0013] In some embodiments, the distance measuring device further includes a first transmitting component and a second receiving component. Both the first transmitting component and the second receiving component are arranged on the mounting stand. A first part of the reflection component extending out of the first end of the first shaft hole and the second receiving component are located on the first side of the connecting cross frame. A second part of the reflection component extending out of the second end of the first shaft hole and the first transmitting component are located on the second side of the connecting cross frame;

[0014] The first transmitting component is used for emitting detection light;

[0015] The reflection component is further used for reflecting the detection light, and the detection light emitted by the first transmitting component is output after being reflected by the reflection component;

[0016] The second receiving component is used for receiving the detection light reflected by the reflection component and an external object.

[0017] In some embodiments, the reflection component is arranged between the first receiving component and the second receiving component.

[0018] In some embodiments, the first receiving component and the second receiving component are arranged on both sides of the reflection component, and the optical axes of the first receiving component and the second receiving component are both perpendicular to the rotation axis of the reflection component.

[0019] In some embodiments, the reflection component includes a reflection lens, the reflection lens has two reflection surfaces, the two reflection surfaces are respectively arranged on both sides of the rotation axis of the reflection lens, and both reflection surfaces of the reflection lens can reflect the detection light and the guiding light.

[0020] In some embodiments, the distance measuring device further includes a refraction component, the refraction component is installed on the mounting stand and is located on the light emitting path of the first transmitting component, and the refraction component is used for refracting a part of the detection light emitted by the first transmitting component to output at least two beams of detection light.

[0021] In some embodiments, the driving component includes a driving motor, a transmission belt and a driven turntable. The driven turntable is rotatably installed in the first shaft hole, the reflection component passes through the driven turntable, and the first receiving component is fixed at the center position of the side wall of the driving motor facing the reflection component;

[0022] The connecting cross frame is further provided with a second shaft hole, the driving motor is fixed in the second shaft hole, and an output shaft of the driving motor extends out of the second shaft hole. The transmission belt is sleeved on the driven turntable and the output shaft of the driving motor respectively.

[0023] In some embodiments, the ranging device further includes a mounting housing, a first side plate, a second side plate and a connecting plate. The first side plate and the second side plate respectively cover two sides of the mounting housing. The mounting seat and the connecting cross frame are both fixed on the mounting housing and are located in a receiving cavity formed by the mounting housing.

[0024] A first end of the connecting plate is fixed to the first side plate, a second end of the connecting plate extends to a central position of a side wall of the driving motor facing the reflection component, and the first receiving component is fixed to the second end of the connecting plate.

[0025] In some embodiments, the ranging device further includes a mounting housing, a first side plate, a second side plate and a light guide column. The first side plate and the second side plate respectively cover two sides of the mounting housing. The mounting seat and the connecting cross frame are both fixed on the mounting housing and are located in a receiving cavity formed by the mounting housing.

[0026] The first receiving component is fixed to the first side plate, a first end of the light guide column is fixed to the first side plate, a second end of the light guide column extends to a central position of a side wall of the driving motor facing the reflection component, and the light guide column is used for guiding and transmitting the guiding light reflected by the reflection component to the first receiving component.

[0027] In some embodiments, the ranging device further includes a camera component. The camera component is arranged on the mounting housing and faces the front or the upper rear of the ranging device.

[0028] In some embodiments, the ranging device further includes a mounting block. The mounting block is detachably fixed to the mounting housing, and the camera component is detachably fixed to the mounting block.

[0029] In a second aspect, an embodiment of the present invention provides a method for a charging base station search, which is applied to a robot. The robot includes any one of the ranging devices proposed in the first aspect. The method includes:

[0030] Obtain a plurality of received recharge guidance signals. One recharge guidance signal corresponds to a field of view angle of a reflection component of the ranging device. The recharge guidance signal is transmitted by a charging base station, and the recharge guidance signal includes a coding value and a signal strength value.

[0031] Analyze each of the recharge guiding signals to obtain a first coding value and a first signal strength value of the target recharge guiding signal. The first signal strength value is the maximum value among the signal strength values of each of the recharge guiding signals. The target recharge guiding signal is the recharge guiding signal corresponding to the first signal strength value, and the first coding value is the coding value of the target recharge guiding signal;

[0032] If the first signal strength value is greater than or equal to a preset signal strength threshold, control the reflection component to rotate to a target field of view angle, where the target field of view angle is the field of view angle corresponding to the target recharge guiding signal;

[0033] If the first coding value is the same as the target coding value, drive to a preset charging position based on the current position of the charging base station. The preset charging position is set in front of the charging base station. During the process of driving to the preset charging position, the reflection component maintains the target field of view angle unchanged.

[0034] In some embodiments, the method further includes:

[0035] If the first signal strength value is less than the preset signal strength threshold, obtain the current position of the charging base station;

[0036] Drive towards the charging base station based on the current positions of the charging base station and the robot.

[0037] In some embodiments, the method further includes:

[0038] If the first coding value is different from the target coding value, drive towards the target coverage area corresponding to the target coding value. During the process of driving to the target coverage area, the reflection component maintains the target field of view angle unchanged, and the distance between the robot and the charging base station remains unchanged. When the first coding value is the same as the target coding value, the robot reaches the target coverage area corresponding to the target coding value.

[0039] In some embodiments, the driving to the preset charging position based on the current position of the charging base station includes:

[0040] Obtain the current position of the charging base station, and determine the driving direction of the robot according to the current positions of the charging base station and the robot;

[0041] Drive towards the preset charging position according to the driving direction to move to the preset charging position.

[0042] In some embodiments, the ranging device includes a ranging period and a recharge period. When the ranging device is in the ranging period, it performs the distance measurement work of the robot. When the ranging device is in the recharge period, it performs the work of finding the charging base station of the robot.

[0043] In a third aspect, an embodiment of the present invention provides a robot, including:

[0044] a processor, and a ranging device and a memory communicatively connected to the processor;

[0045] The ranging device is used for ranging and finding a charging base station;

[0046] The memory stores computer program instructions executable by the processor. When the computer program instructions are called by the processor, the processor is caused to execute any one of the charging base station finding methods proposed in the second aspect, or execute the steps in any one of the implementation manners of any one of the charging base station finding methods proposed in the second aspect.

[0047] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor is caused to execute any one of the charging base station finding methods proposed in the second aspect, or execute the steps in any one of the implementation manners of any one of the charging base station finding methods proposed in the second aspect.

[0048] The beneficial effects of the embodiments of the present invention: Different from the prior art, the ranging device provided by the embodiments of the present invention includes: a mounting bracket, and a reflection component, a driving component, and a first receiving component respectively arranged on the mounting bracket; the driving component is connected to the reflection component, and the driving component is used to drive the reflection component to rotate; the reflection component is used to reflect the guiding light emitted by the charging base station; the first receiving component is used to receive the guiding light reflected by the reflection component. By integrating the infrared receiving device, that is, the first receiving component is integrated, and relying on the existence of the reflection component, the robot equipped with the ranging device only needs one infrared receiving device to achieve relatively ideal infrared recharge guidance, reduce the number of infrared recharge sensors, improve the integration degree of the ranging device, and further realize the simplification of the robot components to improve the integration degree of the robot. Description of the Drawings

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below only show some embodiments of the present invention and should not be regarded as a limitation of the protection scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0050] Figure 1 It is a schematic structural diagram of a distance measuring device provided by some embodiments of the present invention;

[0051] Figure 2 It is a schematic structural diagram of another perspective of the distance measuring device provided by some embodiments of the present invention;

[0052] Figure 3 It is an exploded view of the distance measuring device provided by some embodiments of the present invention;

[0053] Figure 4 It is another exploded view of the distance measuring device provided by some embodiments of the present invention;

[0054] Figure 5 It is a schematic overall structural diagram of the distance measuring device provided by some embodiments of the present invention;

[0055] Figure 6 It is a schematic structural diagram of the reflection component in the distance measuring device provided by some embodiments of the present invention;

[0056] Figure 7 It is a schematic partial structural diagram of the distance measuring device provided by some other embodiments of the present invention;

[0057] Figure 8 It is a schematic application scenario diagram of the method for finding a charging base station provided by some embodiments of the present invention;

[0058] Figure 9 It is a schematic structural diagram of a robot provided by some embodiments of the present invention.

[0059] Figure 10 It is a schematic flowchart of the method for finding a charging base station provided by some embodiments of the present invention.

[0060] Description of the reference numerals:

[0061] 1000, charging base station; 101 - 104, second transmitting component;

[0062] 200, robot;

[0063] 100, distance measuring device;

[0064] 10. Mounting bracket; 11. Mounting base; 111. First mounting groove; 112. Second mounting groove; 12. Connecting cross beam; 121. First shaft hole; 122. Second shaft hole;

[0065] 20. Reflection component; 21. First part; 22. Second part; 23. Rotating shaft; 24. Reflection lens; 241. Reflection surface;

[0066] 30. Driving component; 31. Driving motor; 32. Transmission belt; 33. Driven turntable;

[0067] 40. First receiving component;

[0068] 50. First transmitting component;

[0069] 60. Second receiving component;

[0070] 70. Refraction component;

[0071] 80. Mounting housing; 81. Translucent window; 82. First side plate; 821. Mounting hole; 83. Second side plate; 84. Connecting plate; 85. Light guide column;

[0072] 90. Camera component; 91. Mounting block. Detailed implementation manners

[0073] To make the objectives and advantages of the embodiments of the present invention more easily understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following detailed description of the embodiments of the present invention in the drawings does not limit the scope of the present invention to be protected, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0074] It should be noted that if there is no conflict, the various technical features involved in the embodiments of the present invention described below can be combined with each other and are all within the scope of protection of the present invention. In addition, although functional module division is performed in the device or structure schematic diagram and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in a different module division from that in the device or a different sequence from that in the flowchart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and the execution order, but are only for the convenience of description and to distinguish the same items or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of technical features.

[0075] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0076] Please refer to Figure 1 , Figure 1 which shows a schematic structural diagram of a ranging device 100 provided by some embodiments of the present invention.

[0077] As Figure 1 shown, the ranging device 100 includes a mounting bracket 10, a reflection assembly 20, a driving assembly 30, and a first receiving assembly 40. Among them, the reflection assembly 20, the driving assembly 30, and the first receiving assembly 40 are respectively arranged on the mounting bracket 10.

[0078] Specifically, the driving assembly 30 is connected to the reflection assembly 20, and the driving assembly 30 is used to drive the reflection assembly 20 to rotate. The reflection assembly 20 is used to reflect the guiding light emitted by the charging base station, and the first receiving assembly 40 is used to receive the guiding light emitted by the charging base station and reflected by the reflection assembly 20, so that the robot equipped with the ranging device 100 can complete the infrared recharging guidance work. It can be understood that the guiding light emitted by the charging base station is used to guide the robot equipped with the ranging device 100 to complete the infrared recharging guidance work.

[0079] In the above manner, the infrared receiving device (i.e., the first receiving assembly 40) is built-in, and relying on the existence of the reflection assembly 20, the robot equipped with the ranging device 100 only needs one infrared receiving device to achieve relatively ideal infrared recharging guidance, reduce the number of infrared recharging sensors, improve the integration of the ranging device 100, and further realize the simplification of the robot components to improve the integration of the robot.

[0080] Please also refer to Figure 1 , Figure 2 and Figure 3 , in some embodiments, the mounting bracket 10 includes a mounting base 11 and a connecting cross frame 12, where the connecting cross frame 12 is fixedly connected to the mounting base 11.

[0081] Among them, the connecting cross frame 12 is provided with a first shaft hole 121, the reflection assembly 20 is rotatably installed in the first shaft hole 121, and both ends of the reflection assembly 20 extend out of the first shaft hole 121. A first part 21 of the reflection assembly 20 extending out of the first end (lower end) of the first shaft hole 121 and the first receiving assembly 40 are both located on the first side (lower side) of the connecting cross frame 12.

[0082] Please refer to again Figure 1 、 Figure 2 and Figure 3 ,In some embodiments, the ranging device 100 further includes a first transmitting component 50 and a second receiving component 60. Both the first transmitting component 50 and the second receiving component 60 are disposed on the mounting base 11. The first transmitting component 50 is used to emit detection light, and the reflecting component 20 is further used to reflect the detection light. The detection light emitted by the first transmitting component 50 is output after being reflected by the reflecting component 20. The second receiving component 60 is used to receive the detection light reflected by the reflecting component 20 and an external object. Wherein, the first transmitting component 50 and the second receiving component 60 are at different heights on the same vertical plane in the Z-axis direction, which is convenient for controlling the path lengths of the detection light emitted by the first transmitting component 50 and the detection light received by the second receiving component 60, and avoiding affecting the positioning accuracy due to the first transmitting component 50 and the second receiving component 60 being on different vertical planes in the Z-axis direction.

[0083] Specifically, a first portion 21 of the reflecting component 20 extending from the first end (lower end) of the first shaft hole 121 and the second receiving component 60 are located on the first side (lower side) of the connecting cross frame 12, and a second portion 22 of the reflecting component 20 extending from the second end (upper end) of the first shaft hole 121 and the first transmitting component 50 are located on the second side (upper side) of the connecting cross frame 12. That is, the first portion 21 of the reflecting component 20 extending from the first end of the first shaft hole 121 corresponds to the first receiving component 40 and the second receiving component 60 respectively, and the second portion 22 of the reflecting component 20 extending from the second end of the first shaft hole 121 corresponds to the first transmitting component 50. Different regions of the reflecting component 20 correspond to different components. Through the isolation of the connecting cross frame 12, the working areas of each component are relatively independent and will not interfere with each other.

[0084] Wherein, the reflecting component 20 is disposed between the first receiving component 40 and the second receiving component 60. The first receiving component 40 and the second receiving component 60 are symmetrically or asymmetrically disposed on both sides of the reflecting component 20, and the optical axes (not marked in the figure) of the first receiving component 40 and the second receiving component 60 are both perpendicular to the rotation axis of the reflecting component 20. And, the lenses of the first receiving component 40 and the second receiving component 60 both face the reflecting component 20 directly.

[0085] Please refer to Figure 6, in some embodiments, the reflection component 20 includes a reflection lens 24. The reflection lens 24 has two reflection surfaces 241, and the two reflection surfaces 241 are respectively arranged on both sides of the rotation axis of the reflection lens 24. Both of the two reflection surfaces 241 of the reflection lens 24 can reflect the detection light and the guiding light. When one reflection surface 241 of the reflection lens 24 rotates from facing the first receiving component 40 to facing the second receiving component 60, an enlarged field of view angle is provided for the first receiving component 40 and the second receiving component 60 in sequence. Among them, the first receiving component 40, the first transmitting component 50, and the second receiving component 60 cooperate with the rotation of the reflection component 20 to implement the time-division and space-division working logic of the ranging device 100.

[0086] For the above time-division and space-division working logic, when the reflection component 20 rotates to a position where one reflection surface 241 can reflect the laser emitted by the first transmitting component 50 to the external environment, it is the start time of the preset laser ranging work; when the reflection component 20 rotates to a position where any reflection surface 241 cannot reflect the laser emitted by the first transmitting component 50 to the external environment, it is the end time of the preset laser ranging work. During the preset laser ranging work, the driving component 30 drives the reflection component 20 to rotate, and the angle of the reflection component 20 rotates from 15° to 75°, providing a 120° field of view angle for the first transmitting component 50 and the second receiving component 60. In this state, the first transmitting component 50 outputs detection light, and the detection light is reflected by the reflection component 20 and then output, passes through the light-transmitting window 81 and the second side plate 83 and reaches the external environment. After the detection light is reflected by an object in the external environment, it is reflected by the reflection component 20 again and reaches the second receiving component 60, thereby completing the laser ranging of the ranging device 100. The working interval between the first transmitting component 50 and the second receiving component 60 is enlarged from the original 60° to 120° after being reflected by the reflection component 20.

[0087] When the reflecting component 20 rotates to a reflecting surface 241 that can reflect the guiding light emitted by the charging base to the first receiving component 40, it is the start time of the work of searching for the charging base for infrared recharging; when the reflecting component 20 rotates to any reflecting surface 241 that cannot reflect the guiding light emitted by the charging base to the first receiving component 40, it is the end time of the work of searching for the charging base for infrared recharging. During the work of searching for the charging base for infrared recharging, the driving component 30 drives the reflecting component 20 to rotate, and the angle of the reflecting component 20 rotates from 105° to 165°, providing a 120° field of view for the first receiving component 40. In this state, the first receiving component 40 receives the guiding light emitted by the external charging base and reflected by the reflecting component 20. The working range of the first receiving component 40 is expanded from the original 60° to 120° after being reflected by the reflecting component 20. Since both sides of the reflecting component 20 can reflect external signals, when one reflecting surface of the reflecting component 20 rotates to the other reflecting surface of the reflecting component 20, a new round of ranging work continues, thus constituting the time-division and space-division working logic of the ranging device 100 in the embodiment.

[0088] Please refer to Figure 4 , in some embodiments, the ranging device 100 further includes a refracting component 70. The refracting component 70 is installed on the installation base 11 and is located on the light emitting path of the first transmitting component 50. The refracting component 70 is used to refract some or all of the detection light emitted by the first transmitting component 50 to form and output at least two beams of detection light.

[0089] Please refer to Figure 3 , in some embodiments, the installation base 11 is provided with a first installation groove 111 and a second installation groove 112. The connecting cross frame 12 is located between the first installation groove 111 and the second installation groove 112. The refracting component 70 and the first transmitting component 50 are installed and fixed in the first installation groove 111, and the refracting component 70 is located on the side close to the reflecting component 20. The front of the lens of the first transmitting component 50 faces the reflecting component 20. The second receiving component 60 is installed and fixed in the second installation groove 112. The first installation groove 111 and the second installation groove 112 are at different heights on the same vertical plane in the Z-axis direction, thereby indirectly defining the position distribution of the first transmitting component 50 and the second receiving component 60.

[0090] It can be understood that the first transmitting component 50 can also be installed and fixed in the second installation groove 112, and the second receiving component 60 can also be installed and fixed in the first installation groove 111. Since the first installation groove 111 and the second installation groove 112 are at different heights on the same vertical plane in the Z-axis direction, the height distribution of the first transmitting component 50 and the second receiving component 60 will not affect the ranging effect of the ranging device 100. Therefore, the heights of the installation positions of the first transmitting component 50 and the second receiving component 60 can be randomly matched.

[0091] Please refer to again Figure 2 and Figure 3 In some embodiments, the driving assembly 30 includes a driving motor 31, a transmission belt 32, and a driven turntable 33. The driven turntable 33 is rotatably installed in the first shaft hole 121. The reflection assembly 20 passes through the driven turntable 33. The first receiving assembly 40 is fixedly installed at the center position of the side wall of the driving motor 31 facing the reflection assembly 20.

[0092] Specifically, the connecting cross frame 12 is further provided with a second shaft hole 122. The driving motor 31 is fixedly installed in the second shaft hole 122, and the output shaft of the driving motor 31 extends out of the upper end of the second shaft hole 122. The transmission belt 32 is sleeved on the output shaft of the driven turntable 33 and the driving motor 31 respectively. Wherein, when the driving motor 31 starts to work, the driving output shaft rotates, and drives the driven turntable 33 to rotate through the transmission belt 32, thereby driving the reflection assembly 20 to rotate.

[0093] In some embodiments, the driving assembly 30 exists independently of the ranging device 100. The reflection assembly 20 rotates directly or indirectly by relying on an external driving assembly 30. For example, the external driving assembly 30 can be directly connected to the reflection assembly 20 through a light-transmitting material, or directly connected to the reflection assembly 20 by a top connection method that does not affect the reflection area of the reflection assembly 20, so as to realize the rotation of the reflection assembly 20.

[0094] Please refer to Figure 1 and Figure 4 In some embodiments, the ranging device 100 further includes a mounting housing 80, a first side plate 82, a second side plate 83, and a connecting plate 84. The first side plate 82 and the second side plate 83 respectively cover opposite sides of the mounting housing 80.

[0095] Wherein, the first end of the connecting plate 84 is fixedly installed on the first side plate 82. The second end of the connecting plate 84 extends to the center position of the side wall of the driving motor 31 facing the reflection assembly 20. The first receiving assembly 40 is fixedly installed at the second end of the connecting plate 84. In some possible implementation manners, a mounting hole 821 is provided on the first side plate 82, and the first end of the connecting plate 84 is fixedly installed in the mounting hole 821, so that the connecting plate 84 is fixedly installed on the first side plate 82. It can be understood that the first receiving assembly 40 can also be fixed on the bottom surface of the inner wall of the mounting housing 80. For example, by setting corresponding fixing platforms, receiving cavities surrounded by protrusions, etc. on the bottom surface of the inner wall of the mounting housing 80, as long as it is ensured that the first receiving assembly 40 does not affect the rotation of the reflection assembly 20 and does not block the first receiving assembly 40 from receiving external guiding optical signals.

[0096] The mounting base 11 and the connecting cross frame 12 are both fixed to the mounting housing 80 and are located within a receiving cavity (not shown in the figure) formed by the mounting housing 80. The reflecting assembly 20, the driving assembly 30, the first receiving assembly 40, the first transmitting assembly 50, the second receiving assembly 60, and the refracting assembly 70, which are mounted and fixed to the mounting base 11 or the connecting cross frame 12, are all located within the receiving cavity. Among them, the second side plate 83 is made of a light-transmitting material and can transmit detection light and guiding light. A light-transmitting window 81 is provided on the mounting housing 80. The light-transmitting window 81 communicates the receiving cavity with the outside world and is used for the detection light and the guiding light to pass through. The first receiving assembly 40, the first transmitting assembly 50, and the second receiving assembly 60, which are used to detect signals in the external environment, can all communicate with the external environment through the light-transmitting window 81 and the second side plate 83.

[0097] Please refer to Figure 4 and Figure 7 As shown in FIGS. and, in some embodiments, the ranging device 100 further includes a mounting housing 80, a first side plate 82, a second side plate 83, and a light guide column 85. The first side plate 82 and the second side plate 83 respectively cover opposite sides of the mounting housing 80. The mounting base 11 and the connecting cross frame 12 are both fixed to the mounting housing 80 and are located within a receiving cavity (not shown in the figure) formed by the mounting housing 80. The reflecting assembly 20, the driving assembly 30, the first receiving assembly 40, the first transmitting assembly 50, the second receiving assembly 60, and the refracting assembly 70, which are mounted and fixed to the mounting base 11 or the connecting cross frame 12, are all located within the receiving cavity. Among them, the second side plate 83 is made of a light-transmitting material and can transmit detection light and guiding light. A light-transmitting window 81 is provided on the mounting housing 80. The light-transmitting window 81 communicates the receiving cavity with the outside world and is used for the detection light and the guiding light to pass through. The first receiving assembly 40, the first transmitting assembly 50, and the second receiving assembly 60, which are used to detect signals in the external environment, can all communicate with the external environment through the light-transmitting window 81 and the second side plate 83.

[0098] Among them, the first receiving assembly 40 is mounted and fixed to the first side plate 82. The first end of the light guide column 85 is mounted and fixed to the first side plate 82, and the second end of the light guide column 85 extends to the center position of the side wall of the driving motor 31 facing the reflecting assembly 20. The light guide column 85 is used to guide and transmit the guiding light reflected by the reflecting assembly 20 to the first receiving assembly 40.

[0099] Please refer to again Figure 4 and Figure 5 As shown in FIGS. and, in some embodiments, the ranging device 100 further includes a camera assembly 90. The camera assembly 90 is mounted on the mounting housing 80 and is arranged facing the front or the upper rear of the ranging device 100. The camera assembly 90 can capture the surrounding environmental features and is used to obtain the environmental feature information in front of or behind the ranging device 100.

[0100] In some embodiments, the ranging device 100 further includes a mounting block 91, the mounting block 91 is detachably and fixedly mounted on the mounting housing 80, and the camera assembly 90 is detachably and fixedly mounted on the mounting block 91. It should be understood that the camera assembly 90 and the mounting block 91, and the mounting block 91 and the mounting housing 80 can be detachably and fixedly mounted by means such as screw connection, snap connection, and buckle connection.

[0101] It can be understood that multiple camera assemblies 90 can be provided, which are respectively located at the upper left, upper right, front upper, rear upper, and top of the ranging device 100, etc., to supplement the visual blind areas of the ranging device 100 in the upper area thereof, so as to achieve an all-round coverage of the detection range of the robot itself, and achieve better navigation positioning and obstacle avoidance effects.

[0102] In summary, the ranging device provided by the embodiment of the present invention includes: a mounting bracket, and a reflection assembly, a driving assembly, a first receiving assembly, a first transmitting assembly, and a second receiving assembly respectively arranged on the mounting bracket; the driving assembly is connected to the reflection assembly, and the driving assembly is used to drive the reflection assembly to rotate; the reflection assembly is used to reflect the guiding light emitted by the charging base station; the first receiving assembly is used to receive the guiding light reflected by the reflection assembly; the mounting bracket includes a mounting vertical seat and a connecting cross frame, the connecting cross frame is fixed to the mounting vertical seat; the connecting cross frame is provided with a first shaft hole, the reflection assembly is arranged in the first shaft hole, and both ends of the reflection assembly extend out of the first shaft hole, a first part of the reflection assembly extending out of the first end of the first shaft hole and the first receiving assembly are located on the first side of the connecting cross frame; the first transmitting assembly and the second receiving assembly are both arranged on the mounting vertical seat, a first part of the reflection assembly extending out of the first end of the first shaft hole and the second receiving assembly are located on the first side of the connecting cross frame, and a second part of the reflection assembly extending out of the second end of the first shaft hole and the first transmitting assembly are located on the second side of the connecting cross frame; the first transmitting assembly is used to emit detection light; the reflection assembly is further used to reflect the detection light, and the detection light emitted by the first transmitting assembly is output after being reflected by the reflection assembly; the second receiving assembly is used to receive the detection light reflected by the reflection assembly and an external object.

[0103] By the above method, the infrared receiving device is built-in, that is, the first receiving assembly is built-in, and relying on the existence of the reflection assembly, the first receiving assembly, the first transmitting assembly, and the second receiving assembly are arranged in the two side areas of the reflection assembly, and the first transmitting assembly and the second receiving assembly are located on the same side of the reflection assembly, and the first receiving assembly is located on the other side of the reflection assembly. Under such a structural design, the time-division and space-division working logic of the ranging device is realized, so that the robot equipped with the ranging device only needs one infrared receiving sensor to achieve relatively ideal laser navigation plus infrared recharge guidance, and further realizes the simplification of the robot components to improve the integration of the robot.

[0104] Please refer toFigure 8 , Figure 8 The figure shows a schematic diagram of an application scenario of a charging base station search method provided by some embodiments of the present invention.

[0105] As Figure 8 shown, this application scenario includes a charging base station 1000 and a robot 200. Among them, the robot 200 is equipped with a ranging device 100. The ranging device 100 is used for ranging and searching for the charging base station. The ranging device 100 has the same structure and configuration as the ranging device in the foregoing device embodiments and is used to implement the same functions, which will not be elaborated here one by one.

[0106] The charging base station 1000 includes a second transmitting component (for example, the second transmitting components 101-104 as shown in Figure 8 the embodiment). The second transmitting components 101-104 are arranged on the charging base station 1000. The second transmitting components 101-104 are used to output guiding light (that is, the recharge guiding signal) to guide the robot 200 to return to the station for charging. It should be understood that each recharge guiding signal output by the second transmitting component has a unique coding value for distinguishing the second transmitting component. The coverage area of the recharge guiding signal output by the second transmitting component is a fan-shaped area, and a unique coding value corresponds to at least one non-overlapping coverage area.

[0107] It can be understood that due to the different installation positions of the second transmitting components, the coverage areas of the recharge guiding signals output by them are also different. The coverage areas of the recharge guiding signals output by different second transmitting components may overlap or may not overlap. Obviously, the JD1 area and the YD1 area are the overlapping areas between the coverage areas of the recharge guiding signals output by the second transmitting component 101 and the second transmitting component 102. The JD2 area and the YD2 area are the overlapping areas between the coverage areas of the recharge guiding signals output by the second transmitting component 102 and the second transmitting component 103. The JD3 area and the YD3 area are the overlapping areas between the coverage areas of the recharge guiding signals output by the second transmitting component 103 and the second transmitting component 104.

[0108] For the overlapping area, it is necessary to re-encode to obtain the coding value of the recharge guiding signal in the overlapping area. After re-encoding, the coding value of the recharge guiding signal in the overlapping area is equal to the sum of the unique coding values of the recharge guiding signals output by the two second transmitting components whose coverage areas overlap.

[0109] As Figure 8 shown, Figure 8Shows a situation of the coverage area of the recharge guidance signal output by the second transmission components 101-104. Specifically, for example, the unique coding value of the recharge guidance signal transmitted by the second transmission component 101 is 0x1, and the corresponding coverage area includes the J1 area and the Y1 area. The unique coding value of the recharge guidance signal transmitted by the second transmission component 102 is 0x2, and the corresponding coverage area includes the J2 area and the Y2 area. The unique coding value of the recharge guidance signal transmitted by the second transmission component 103 is 0x4, and the corresponding coverage area includes the J3 area and the Y3 area. The unique coding value of the recharge guidance signal transmitted by the second transmission component 104 is 0x8, and the corresponding coverage area includes the J4 area and the Y4 area.

[0110] For the overlapping areas (including the JD1 area, the YD1 area, the JD2 area, the YD2 area, the JD3 area, and the YD3 area), after recoding, the coding value of the recharge guidance signal in the JD1 area and the YD1 area is 0x3, the coding value of the recharge guidance signal in the JD2 area and the YD2 area is 0x6, and the coding value of the recharge guidance signal in the JD3 area and the YD3 area is 0xC.

[0111] Among them, the J1 area, the JD1 area, the J2 area, the JD2 area, the J3 area, the JD3 area, and the J4 area are the first-level areas close to the charging base station 1000, and the Y1 area, the YD1 area, the Y2 area, the YD2 area, the Y3 area, the YD3 area, and the Y4 area are the second-level areas far from the charging base station 1000.

[0112] It can be understood that Figure 8 Only schematically shows an application scenario of the charging base station searching method provided by some embodiments of the present invention. Figure 8 Any situation in the application scenario shown in the embodiment (such as the installation position, quantity, and structure of the second transmission component, etc.) does not impose any limitation on any situation in other application scenarios.

[0113] In Figure 8 In the shown embodiment, when the robot 200 has insufficient power and needs to be charged, it travels to near the charging base station 1000. Since the second transmission components 101-104 continuously emit recharge guidance signals, the robot 200 reflects the guiding light through the reflection component of the ranging device 100, and then the guiding light reflected by the reflection component can be received through the first receiving component. The robot 200 determines whether the distance between it and the charging base station 1000 is appropriate according to the received several recharge guidance signals, and determines whether it is located in the central coverage area (that is, the coverage area corresponding to the target coding value of the recharge guidance signal output by the second transmission component. In the embodiment of the present invention, it refers to the JD2 area and the YD2 area).

[0114] Specifically, when it is determined according to the maximum signal strength among several recharge guidance signals that the distance between the robot and the charging base station 1000 is appropriate, and it is determined according to the coding values of the several recharge guidance signals that the robot is located within the central coverage area corresponding to the target coding value, the robot 200 aligns with the charging base station 1000. After aligning with the charging base station 1000, the robot travels to a preset charging position ( Figure 8 not shown in the figure) in front of the charging base station 1000 to establish a charging connection with the charging base station 1000 and perform charging.

[0115] To facilitate the understanding of the charging base station searching method provided by the embodiments of the present invention, the robot 200 provided by the embodiments of the present invention will be introduced in detail first.

[0116] Please refer to Figure 9 , Figure 9 which is a schematic structural diagram of the robot 200 provided by some embodiments of the present invention.

[0117] As Figure 9 shown, the robot 200 includes at least one processor 210, a memory 220, and a ranging device 240 that are communicatively connected ( Figure 9 taking the connection by a bus system and one processor as an example). The ranging device 240 is used for ranging and searching for the charging base station. Among them, the various components in the robot 200 are coupled together through a bus system 230, and the bus system 230 is used to realize the connection and communication between these components. It is easy to understand that in addition to the data bus, the bus system 230 may also include a power bus, a control bus, a status signal bus, etc. However, for the sake of clear illustration and brevity of the description, in Figure 9 all kinds of buses are labeled as the bus system 230. Those skilled in the art can understand that Figure 9 the structure shown in the embodiment is only schematic and does not impose any limitation on the structure of the above-mentioned robot 200. For example, the above-mentioned robot 200 may further include more or fewer components than Figure 9 shown in the figure, or have a different configuration from Figure 9 shown in the figure.

[0118] Specifically, the processor 210 is configured to provide computing and control capabilities to control the robot 200 to perform corresponding tasks. For example, it controls the above-mentioned robot 200 to execute any one of the charging base station searching methods provided by the embodiments of the present invention, or to execute the steps in any possible implementation manner of any one of the charging base station searching methods provided by the embodiments of the present invention. Those skilled in the art can understand that the processor 210 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0119] The memory 220, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, instructions and modules. For example, the programs, instructions and modules corresponding to the charging base station searching method in the embodiments of the present invention. In some embodiments, the memory 220 may include a program storage area and a data storage area. The program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the processor 210 and the like. The processor 210 executes various functional applications and data processing of the robot 200 by running the non-transitory software programs, instructions and modules stored in the memory 220, so as to implement any one of the charging base station searching methods provided by the embodiments of the present invention, or the steps in any possible implementation manner of any one of the charging base station searching methods provided by the embodiments of the present invention. Among them, the memory 220 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one magnetic disk storage device, a flash memory device or other non-transitory solid-state storage devices. In some embodiments, the memory 220 may further include a memory remotely arranged relative to the processor 210, and these remote memories can be connected to the processor 210 through a communication network. It can be understood that examples of the above communication network include but are not limited to the Internet, an enterprise internal network, a local area network, a mobile communication network and their combinations.

[0120] It is easy to understand that the execution entity of any charging base station searching method provided by the embodiments of the present invention can be any suitable type of robot with certain computing and control capabilities. In some possible implementation manners, the execution of any charging base station searching method provided by the embodiments of the present invention can be realized by a processor invoking computer program instructions stored in a memory.

[0121] As can be understood from the above, the charging base station searching method provided by the embodiments of the present invention can be implemented by various suitable types of robots with certain computing and control capabilities. For example, it can be implemented and executed by the above-mentioned robot 200. The following describes the charging base station searching method provided by the embodiments of the present invention in combination with the exemplary applications and implementations of the robots provided by the embodiments of the present invention.

[0122] Please refer to Figure 10 , Figure 10 which shows a schematic flowchart of the charging base station searching method provided by some embodiments of the present invention.

[0123] Those skilled in the art can understand that the charging base station searching method provided by the embodiments of the present invention can be applied to the above-mentioned robots (for example, robot 100). Specifically, the execution entity of this charging base station searching method is one or at least two processors of the robot.

[0124] As Figure 10 shown, this charging base station searching method includes but is not limited to the following steps S100 - S400:

[0125] S100: Obtain a plurality of received recharge guiding signals. One recharge guiding signal corresponds to one field of view angle of the reflection component of the ranging device. The recharge guiding signal is emitted by the charging base station and includes a coding value and a signal strength value.

[0126] Among them, the ranging device includes a ranging period and a recharge period. When the ranging device is in the ranging period, it performs the distance measurement work of the robot. When the ranging device is in the recharge period, it performs the charging base station searching work of the robot. That is, the time-division and space-division working logic described in the foregoing ranging device embodiments.

[0127] Specifically, during the process of the robot searching for the charging base station, a plurality of recharge guiding signals (i.e., guiding optical signals) emitted by the charging base station and reflected by the reflection component are received through the first receiving component of the ranging device. Each time the reflection component rotates by one field of view angle, one recharge guiding signal is collected and received, that is, one recharge guiding signal corresponds to one field of view angle of the reflection component.

[0128] In the embodiments of the present invention, each time the reflection component of the ranging device rotates by one field of view angle, one recharge guiding signal emitted by the charging base station is collected and received.

[0129] It can be understood that the recharge guiding signal includes parameters such as a coding value and a signal strength value, and is used to characterize information such as the orientation and distance of the robot that receives the recharge guiding signal relative to the charging base station.

[0130] S200: Analyze each recharge guiding signal to obtain a first coding value and a first signal strength value of the target recharge guiding signal. The first signal strength value is the maximum value among the signal strength values of each recharge guiding signal. The target recharge guiding signal is the recharge guiding signal corresponding to the first signal strength value, and the first coding value is the coding value of the target recharge guiding signal.

[0131] Specifically, obtain a plurality of received recharge guiding signals, and analyze each recharge guiding signal respectively to obtain the coding value and the signal strength value of each recharge guiding signal. Then, screen out the maximum signal strength value from the signal strength values of each recharge guiding signal, and use the maximum signal strength value as the first signal strength value, and determine the recharge guiding signal corresponding to the maximum signal strength value as the target recharge guiding signal. Correspondingly, the first coding value is the coding value of the target recharge guiding signal.

[0132] In the embodiment of the present invention, the field of view angles of the reflection components of the ranging device are 120. Each time the reflection component rotates by one field of view angle, a recharge guiding signal transmitted by the charging base station is collected, and then the 120 collected recharge guiding signals are analyzed.

[0133] For example, in Figure 8 the shown embodiment, when the robot travels to the Y3 area, 120 recharge guiding signals corresponding to 120 field of view angles are collected and received, and then the 120 recharge guiding signals are analyzed to obtain the coding values and the signal strength values of the 120 recharge guiding signals. The maximum signal strength value is screened out from the signal strength values of the 120 recharge guiding signals as the first signal strength value, and the recharge guiding signal corresponding to the first signal strength value is determined as the target recharge guiding signal, so as to obtain the first coding value and the first signal strength value of the target recharge guiding signal.

[0134] S300: If the first signal strength value is greater than or equal to the preset signal strength threshold, control the reflection component to rotate to the target field of view angle, and the target field of view angle is the field of view angle corresponding to the target recharge guiding signal.

[0135] Specifically, after obtaining the first coding value and the first signal strength value of the target recharge guiding signal, compare the first signal strength value with a preset signal strength threshold. If the first signal strength value is greater than or equal to the preset signal strength threshold, it indicates that the distance between the robot and the charging base station is appropriate, and alignment with the charging base station can be started. Control the reflecting component of the ranging device to rotate to the target field of view angle. Among them, the target field of view angle is the field of view angle corresponding to the target recharge guiding signal. It can be understood that the preset signal strength threshold can be determined according to the actual usage scenario and requirements.

[0136] For example, if the field of view angle corresponding to the target recharge guiding signal is 45°, then control the reflecting component of the ranging device to rotate to the target field of view angle of 45°. At this time, the robot completes alignment with the charging base station.

[0137] In some embodiments, if the first signal strength value is less than the preset signal strength threshold, it indicates that the distance between the robot and the charging base station is too far, and alignment with the charging base station cannot be performed yet. The robot needs to continue to drive closer to the charging base station.

[0138] Specifically, in some embodiments, the method for finding the charging base station further includes but is not limited to the following steps S301 - S302:

[0139] S301: If the first signal strength value is less than the preset signal strength threshold, obtain the current position of the charging base station.

[0140] Exemplarily, if the first signal strength value is less than the preset signal strength threshold, it indicates that the distance between the robot and the charging base station is too far, and alignment with the charging base station cannot be performed yet. Then, by analyzing several received recharge guiding signals, infer and determine the direction and distance of the charging base station, so as to obtain the current position of the charging base station.

[0141] In some embodiments, the robot can match several received recharge guiding signals with the known position of the charging base station in the map (such as the electronic map generated by SLAM technology) through the environmental map to determine the current precise position of the charging base station.

[0142] S302: Drive towards the charging base station based on the current positions of the charging base station and the robot.

[0143] Specifically, after obtaining the current position of the charging base station, according to the current position of the charging base station and the current position of the robot, through various sensors equipped on itself (such as a path planner), a driving path from the current position of the robot to the current position of the charging base station is planned, and then the robot drives towards the charging base station according to the driving path. It should be understood that during the driving process towards the charging base station, the robot continuously receives the recharge guiding signal output by the charging base station, analyzes and obtains the first coding value and the first signal intensity value of the target recharge guiding signal, and determines whether the distance between the robot and the charging base station is appropriate according to the relationship between the first signal intensity value of the target recharge guiding signal and the preset signal intensity threshold.

[0144] S400: If the first coding value is the same as the target coding value, based on the current position of the charging base station, drive to the preset charging position. The preset charging position is set in front of the charging base station. During the driving process to the preset charging position, the reflection component of the ranging device keeps the target field of view angle unchanged.

[0145] Specifically, when the distance between the robot and the charging base station is appropriate and after the reflection component of the ranging device is rotated to the target field of view angle, the first coding value of the target recharge guiding signal is compared with the target coding value. If the first coding value is the same as the target coding value, it means that the robot is located in the central coverage area and is aligned with the charging interface of the charging base station, that is, it is located in the target coverage area corresponding to the target coding value, and the robot is precisely aligned with the charging interface of the charging base station. In the embodiment shown in the present invention Figure 8 The central coverage area refers to the JD2 area and the YD2 area, and the coding value 0x6 corresponding to the JD2 area and the YD2 area is the target coding value. After determining that the first coding value is the same as the target coding value, that is, the robot is located in the central coverage area, the robot plans a driving path according to the current position of the charging base station and navigates to the preset charging position to establish a charging connection with the charging base station for charging. Among them, the preset charging position is set in front of the charging base station and is used to dock the robot to be charged.

[0146] It is easy to understand that the target coding value can be set and determined when testing the recharge guiding signal output by the second transmitting component after the second transmitting component is installed on the charging base station.

[0147] It can be understood that during the navigation process to the preset charging position, the reflection component of the ranging device keeps the target field of view angle unchanged, that is, the robot is always in a state of being aligned with the charging base station.

[0148] In some embodiments, driving to the preset charging position based on the current position of the charging base station specifically includes, but is not limited to, the following steps S410 - S420:

[0149] S410: Obtain the current position of the charging base station, and determine the driving direction of the robot based on the current positions of the charging base station and the robot.

[0150] S420: Drive towards the preset charging position according to the driving direction to move to the preset charging position.

[0151] Specifically, by analyzing a number of received recharge guidance signals, infer and determine the direction and distance of the charging base station, so as to obtain the current position of the charging base station.

[0152] In some embodiments, the robot can match a number of received recharge guidance signals with the known position of the charging base station in the map (such as the electronic map generated by SLAM technology) through the environmental map to determine the current precise position of the charging base station.

[0153] After obtaining the current position of the charging base station, according to the current position of the charging base station and the current position of the robot, calculate the direction vector from the current position of the robot to the position of the charging base station, then calculate the angle between this direction vector and the forward direction of the robot to obtain the driving direction of the robot. And, according to the current position of the charging base station and the current position of the robot, through various sensors equipped on itself (such as a path planner), plan the driving path from the current position of the robot to the current position of the charging base station.

[0154] The robot adjusts its orientation to the driving direction, and drives towards the preset charging position set in front of the charging base station according to the driving path, moves to the preset charging position, so as to establish a communication connection with the charging base station and charge.

[0155] In some embodiments, if the first coding value is different from the target coding value, it means that the robot is not yet located in the central coverage area and is not aligned with the charging interface of the charging base station, and the robot needs to drive closer to the central coverage area.

[0156] Specifically, in some embodiments, the method for finding the charging base station further includes but is not limited to the following step S401:

[0157] S401: If the first coding value is different from the target coding value, then drive towards the target coverage area corresponding to the target coding value. During the driving process to the target coverage area, the reflection component keeps the target field of view angle unchanged, and the distance between the robot and the charging base station remains unchanged. When the first coding value is the same as the target coding value, the robot reaches the target coverage area corresponding to the target coding value.

[0158] Specifically, if the first coding value of the target recharge guidance signal is different from the target coding value, it indicates that the robot has not yet located in the central coverage area and is aligned with the charging interface of the charging base station. The robot needs to drive closer to the central coverage area. The robot drives around the charging base station with the first distance (i.e., the distance between the robot and the charging base station) as the radius, and keeps the distance between the robot and the charging base station unchanged and the reflection component of the ranging device keeps the target field of view angle unchanged, and drives towards the target coverage area (i.e., the central coverage area) corresponding to the target coding value.

[0159] It can be understood that during the process of driving to the target coverage area, the robot continuously receives the recharge guidance signal output by the charging base station, and parses to obtain the first coding value and the first signal strength value of the target recharge guidance signal. Then, according to whether the first coding value is the same as the target coding value, it is determined whether the robot is located in the target coverage area corresponding to the target coding value and is precisely aligned with the charging interface of the charging base station. When the first coding value is the same as the target coding value, the robot reaches the target coverage area corresponding to the target coding value and is precisely aligned with the charging interface of the charging base station.

[0160] In summary, the charging base station searching method provided by the embodiment of the present invention is applied to a robot, and the robot includes any one of the ranging devices provided by the embodiment of the present invention. The method includes: obtaining a plurality of received recharge guidance signals, one recharge guidance signal corresponding to one field of view angle of the reflection component of the ranging device, the recharge guidance signal being emitted by the charging base station, and the recharge guidance signal including a coding value and a signal strength value; parsing each recharge guidance signal to obtain the first coding value and the first signal strength value of the target recharge guidance signal, the first signal strength value being the maximum value among the signal strength values of each recharge guidance signal, the target recharge guidance signal being the recharge guidance signal corresponding to the first signal strength value, and the first coding value being the coding value of the target recharge guidance signal; if the first signal strength value is greater than or equal to a preset signal strength threshold, controlling the reflection component to rotate to the target field of view angle, the target field of view angle being the field of view angle corresponding to the target recharge guidance signal; if the first coding value is the same as the target coding value, driving to a preset charging position based on the current position of the charging base station, the preset charging position being set in front of the charging base station, and during the process of driving to the preset charging position, the reflection component keeps the target field of view angle unchanged.

[0161] In the above manner, the method utilizes the ranging device built into the infrared receiving device to receive the guiding light emitted by the charging base station. Relying on the presence of the reflection component, the first receiving component, the first transmitting component, and the second receiving component are arranged in the two side regions of the reflection component. The first transmitting component and the second receiving component are located on the same side of the reflection component, and the first receiving component is located on the other side of the reflection component. Under this structural design, the time-division and space-division working logic of the ranging device is realized, the field-of-view angle range of the ranging device is expanded, the searching and discovery ability of the charging base station is improved, and the working efficiency is enhanced.

[0162] In addition, after determining that the distance between the robot and the charging base station is appropriate, the robot aligns with the charging base station. And after determining that the robot is located in the central coverage area, it then travels to the preset charging position to be charged and connected to the charging base station, thereby improving the efficiency and success rate of the charging connection between the robot and the charging base station and enhancing the charging efficiency.

[0163] The embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor is caused to execute any one of the charging base station searching methods provided by the embodiment of the present invention, or the steps in any one of the implementation manners of any one of the charging base station searching methods provided by the embodiment of the present invention.

[0164] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disc, a register, a magnetic surface memory, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, or other memories known in the art of the present technology, or may be various devices including one or any combination of the above storage media.

[0165] In some embodiments, the computer program instructions may be in the form of a program, software, a software module, a script, or code, and may be written in any form of programming language (including a compiled or interpreted language, or a declarative or procedural language), and may be deployed in any form, including being deployed as an independent program or being deployed as a module, a component, a subroutine, or other units suitable for use in a computing environment.

[0166] As an example, the computer program instructions may or may not correspond to files in the file system, may be stored as part of a file that stores other programs or data, for example, stored in one or more scripts in a hypertext markup language (HTML) document, stored in a single file dedicated to the program being discussed, or stored in multiple cooperating files (for example, files storing one or more modules, subroutines, or code portions).

[0167] As an example, computer program instructions can be deployed to execute on one computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the methods described in the above embodiments provided by the present invention can be directly implemented using electronic hardware or computer program instructions executable by a processor, or a combination of both.

[0168] Those skilled in the art can understand that the embodiments provided by the present invention are only illustrative. The writing order of the steps in the methods of the embodiments does not mean a strict execution order and does not constitute any limitation to the implementation process. It can be adjusted, combined, and deleted according to actual needs. The modules or sub-modules, units or sub-units in the devices or systems of the embodiments can be combined, divided, and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0169] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes of implementing the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0170] It should be noted that the above embodiments are for explaining the technical concept and characteristics of the present invention. The purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly. It cannot be used to limit the scope of the protection of the rights of the present invention. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, modify them according to the technical solutions recorded in the embodiments of the present invention, or perform equivalent replacements for some of the technical features. It can be understood that these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equivalent changes and modifications based on the embodiments of the present invention, and should all fall within the scope covered by the claims of the present invention.

Claims

1. A ranging device, characterized in that, Comprising: An installation bracket, a reflection component, a drive component, and a first receiving component respectively disposed on the installation bracket; The drive component is connected to the reflection component, and the drive component is used to drive the reflection component to rotate; The reflection component is used to reflect the guiding light emitted by the charging base station; The first receiving component is used to receive the guiding light reflected by the reflection component.

2. The ranging device according to claim 1, characterized in that, The installation bracket includes an installation base and a connecting crossbar, and the connecting crossbar is fixed to the installation base; The connecting crossbar is provided with a first shaft hole, the reflection component is disposed in the first shaft hole, and both ends of the reflection component extend out of the first shaft hole. A first portion of the reflection component extending out of the first end of the first shaft hole and the first receiving component are located on the first side of the connecting crossbar.

3. The ranging device according to claim 2, wherein The ranging device further includes a first transmitting component and a second receiving component. Both the first transmitting component and the second receiving component are disposed on the installation base. A first portion of the reflection component extending out of the first end of the first shaft hole and the second receiving component are located on the first side of the connecting crossbar. A second portion of the reflection component extending out of the second end of the first shaft hole and the first transmitting component are located on the second side of the connecting crossbar; The first transmitting component is used to emit detection light; The reflection component is further used to reflect the detection light, and the detection light emitted by the first transmitting component is output after being reflected by the reflection component; The second receiving component is used to receive the detection light reflected by the reflection component and an external object.

4. The ranging device according to claim 3, wherein, The reflection component is disposed between the first receiving component and the second receiving component.

5. The ranging device according to claim 4, wherein The first receiving component and the second receiving component are disposed on both sides of the reflection component, and the optical axes of the first receiving component and the second receiving component are both perpendicular to the rotation axis of the reflection component.

6. The ranging device according to any one of claims 3-5, characterized in that, The reflection component includes a reflection lens, the reflection lens has two reflection surfaces, the two reflection surfaces are respectively disposed on both sides of the rotation axis of the reflection lens, and both reflection surfaces of the reflection lens can reflect detection light and guiding light.

7. The distance measuring device according to claim 6, characterized in that, The ranging device further includes a refraction component, the refraction component is installed on the installation base and is located on the light emission path of the first transmitting component, and the refraction component is used to refract a part of the detection light emitted by the first transmitting component to output at least two beams of detection light.

8. The ranging device according to any one of claims 2-5, characterized in that, The drive component includes a drive motor, a transmission belt, and a driven turntable. The driven turntable is rotatably installed in the first shaft hole, the reflection component passes through the driven turntable, and the first receiving component is fixed to the center position of the side wall of the drive motor facing the reflection component; The connecting crossbar is further provided with a second shaft hole, the drive motor is fixed in the second shaft hole, and the output shaft of the drive motor extends out of the second shaft hole. The transmission belt is respectively sleeved on the driven turntable and the output shaft of the drive motor.

9. The ranging device according to any one of claims 2-5, characterized in that, The ranging device further includes a mounting housing, a first side plate, a second side plate, and a connecting plate. The first side plate and the second side plate are respectively disposed on both sides of the mounting housing. The mounting base and the connecting cross-frame are both fixed to the mounting housing and are located in the receiving cavity formed by the mounting housing; The first end of the connecting plate is fixed to the first side plate. The second end of the connecting plate extends to the center position of the side wall of the driving motor facing the reflection component. The first receiving component is fixed to the second end of the connecting plate.

10. The ranging device according to any one of claims 2-5, characterized in that, The ranging device further includes a mounting housing, a first side plate, a second side plate, and a light guide column. The first side plate and the second side plate are respectively disposed on both sides of the mounting housing. The mounting base and the connecting cross-frame are both fixed to the mounting housing and are located in the receiving cavity formed by the mounting housing; The first receiving component is fixed to the first side plate. The first end of the light guide column is fixed to the first side plate. The second end of the light guide column extends to the center position of the side wall of the driving motor facing the reflection component. The light guide column is configured to guide and transmit the guiding light reflected by the reflection component to the first receiving component.

11. The ranging device according to claim 9, characterized in that, The ranging device further includes a camera component. The camera component is disposed on the mounting housing and is oriented forward or rearward and upward of the ranging device.

12. The distance measuring device according to claim 11, characterized in that, The ranging device further includes a mounting block. The mounting block is detachably fixed to the mounting housing. The camera component is detachably fixed to the mounting block.

13. A method for finding a charging base station, applied to a robot, characterized in that, The robot includes the ranging device according to any one of claims 1-12. The method includes: Obtaining a plurality of received recharge guiding signals. One recharge guiding signal corresponds to one field of view angle of the reflection component of the ranging device. The recharge guiding signal is transmitted by a charging base station. The recharge guiding signal includes a coding value and a signal strength value; Analyzing each of the recharge guiding signals to obtain a first coding value and a first signal strength value of a target recharge guiding signal. The first signal strength value is the maximum value among the signal strength values of each of the recharge guiding signals. The target recharge guiding signal is the recharge guiding signal corresponding to the first signal strength value. The first coding value is the coding value of the target recharge guiding signal; If the first signal strength value is greater than or equal to a preset signal strength threshold, controlling the reflection component to rotate to a target field of view angle. The target field of view angle is the field of view angle corresponding to the target recharge guiding signal; If the first coding value is the same as a target coding value, based on the current position of the charging base station, driving to a preset charging position. The preset charging position is set in front of the charging base station. During the driving process to the preset charging position, the reflection component maintains the target field of view angle unchanged.

14. The method according to claim 13, wherein The method further includes: If the first signal strength value is less than the preset signal strength threshold, obtaining the current position of the charging base station; Driving towards the charging base station based on the current positions of the charging base station and the robot.

15. The method according to claim 13, characterized in that, The method further includes: If the first encoded value is different from the target encoded value, the robot travels towards the target coverage area corresponding to the target encoded value. During the process of traveling to the target coverage area, the reflection component keeps the target field of view angle unchanged, and the distance between the robot and the charging base station remains unchanged. When the first encoded value is the same as the target encoded value, the robot reaches the target coverage area corresponding to the target encoded value.

16. The method according to claim 13, wherein Traveling to a preset charging position based on the current position of the charging base station includes: Obtaining the current position of the charging base station, and determining the traveling direction of the robot according to the current positions of the charging base station and the robot; Traveling towards the preset charging position according to the traveling direction to move to the preset charging position.

17. The method according to any one of claims 13-16, characterized in that, The ranging device includes a ranging period and a recharging period. When the ranging device is in the ranging period, it performs the distance measurement work of the robot. When the ranging device is in the recharging period, it performs the work of finding the charging base station of the robot.

18. A robot, characterized in that, It includes: A processor, and a ranging device and a memory respectively communicatively connected to the processor; The ranging device is used for ranging and finding the charging base station; The memory stores computer program instructions executable by the processor. When the computer program instructions are called by the processor, the processor is caused to execute the charging base station finding method according to any one of claims 12 - 17.

19. A computer-readable storage medium, characterized in that, Computer program instructions executable by a processor are stored on the computer-readable storage medium. When the computer program instructions are called by the processor, the processor is caused to execute the charging base station finding method according to any one of claims 12 - 17.

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