Method for controlling self-moving equipment to return to charging station and self-moving equipment

Abstract

The invention provides a method for controlling a self-moving device to return to a charging station and the self-moving device, and the method comprises the steps: determining a current region of the self-moving device, and judging whether the current region is a target region or not, the target region being determined by a visual identifier and being communicated with a charging station region; if the current area is the target area, acquiring an included angle between the orientation of the self-moving equipment and a central reference line; and controlling the self-moving equipment to be butted with the charging station according to the included angle. The target area is determined through the visual identifier arranged on the charging station, a guide line is replaced, the dependency degree of the self-moving equipment on positioning or signals is reduced, the environment adaptability is improved, and after the self-moving equipment enters the target area, the self-moving equipment is controlled to return to the charging station according to the included angle, so that the charging efficiency is improved. The efficiency of returning the self-moving equipment to the charging station is improved, and the self-moving equipment can successfully return to the charging station.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and more particularly to a method for controlling a self-moving device to return to a charging station and the self-moving device itself. Background Technology

[0002] As people continue to pursue a higher quality of life, the application of automated equipment and technologies is becoming increasingly widespread. Among them, lawn mowing robots, as a type of automated equipment used in the field of horticulture, can operate autonomously within a pre-set lawn area, mowing the lawn neatly and orderly, saving users a lot of time and effort.

[0003] Lawn-mowing robots need to return to a charging station after a period of operation to ensure continuous mowing. Currently, lawn-mowing robots typically rely on simple navigation and positioning technologies (such as low-precision positioning technologies like GPS or UWB) combined with guide lines to guide them back to the charging station. However, not only is the accuracy of these positioning technologies susceptible to signal interference and environmental changes, but the stability and strength of the guide line signal are also easily affected by external factors, such as electromagnetic interference, changes in soil moisture, or physical damage. When positioning errors occur, or when the guide line signal is unstable or weak, the lawn-mowing robot's return-to-charging efficiency is low, or it may even fail to return to the charging station successfully.

[0004] Based on this, this application provides a method for controlling a self-moving device to return to a charging station and a self-moving device, in order to improve related technologies. Summary of the Invention

[0005] The purpose of this application is to provide a method for controlling the return of a self-moving device to a charging station and a self-moving device, which can improve the efficiency of the self-moving device returning to the charging station and help the self-moving device successfully return to the charging station.

[0006] The objective of this application is achieved through the following technical solution:

[0007] In a first aspect, this application provides a method for controlling a self-moving device to return to a charging station, the method comprising:

[0008] The current location of the self-moving device is determined, and it is determined whether the current location is the target area. The target area is determined by the visual identifier of the charging station and is connected to the charging station area.

[0009] If the current area is the target area, then obtain the angle between the orientation of the self-moving device and the center reference line, wherein the center reference line passes through the target area and the docking position of the charging station;

[0010] The self-moving device is controlled to dock with the charging station based on the included angle.

[0011] In some embodiments, determining the current location of the self-moving device and judging whether the current location is the target area includes:

[0012] Upon detecting the visual identifier, determine the current location of the self-moving device, and based on the current location, confirm whether the current location is the target area;

[0013] If the visual identifier is not detected, the self-moving device is controlled to rotate a first preset angle to detect the visual identifier again.

[0014] In some embodiments, obtaining the angle between the orientation of the self-moving device and the center reference line includes:

[0015] The visual module acquires environmental images of the surrounding environment of the self-moving device;

[0016] When the environmental image contains the visual identifier, obtain the corresponding identifier image of the environmental image; the identifier image contains the outline of the visual identifier;

[0017] Based on the outline of the visual identifier in the identifier image, the straight line direction of the center reference line is determined;

[0018] Calculate the angle between the orientation of the self-moving device and the straight direction of the center reference line.

[0019] In some embodiments, the visual identifier includes one or more bar identifiers, and determining the straight-line direction of the center reference line based on the outline of the visual identifier in the identifier image includes:

[0020] In the identification image, a fitting line corresponding to each bar identifier is determined based on the outline line corresponding to each bar identifier;

[0021] The direction of the center reference line is determined by using the fitted line corresponding to each bar.

[0022] In some embodiments, when the number of bar markers is 2, determining the straight line direction of the center reference line using the fitted line corresponding to each bar marker includes:

[0023] Extend the fitted lines corresponding to the two bar icons to the upper or lower boundary line of the icon image to obtain two intersection points located on the same boundary line;

[0024] The direction of the center reference line is determined based on the two intersection points.

[0025] In some embodiments, obtaining the corresponding identifier image of the environment image includes:

[0026] The environmental image is binarized to obtain a binarized image;

[0027] The binarized image is denoised to obtain a denoised image;

[0028] Edge extraction is performed on the denoised image to obtain an identifier image containing the outline of the visual identifier.

[0029] In some embodiments, controlling the docking of the self-moving device with the charging station according to the included angle includes:

[0030] During the process of approaching the charging station, the orientation of the self-moving device is adjusted once or multiple times so that the angle formed between the orientation of the self-moving device and the center reference line is within a preset angle range.

[0031] In some embodiments, controlling the docking of the self-moving device with the charging station according to the included angle includes:

[0032] S1: Determine whether the included angle is within a preset angle range; if yes, execute S2; if no, execute S3.

[0033] S2: Control the self-moving device to move forward to dock with the charging station, and execute S1;

[0034] S3: Control the self-moving device to rotate a second preset angle to adjust the included angle, and execute S1.

[0035] In some embodiments, the charging station includes a base, a mounting seat protruding upward from the base, and a charging terminal mounted on the mounting seat, wherein the docking position is determined according to the position of the charging terminal;

[0036] The target area is centered at the docking position and has a radius of a specified distance. The axis of symmetry of the target area is collinear with the central reference line. Furthermore, the angle between the line connecting the position on the side contour line of the target area and the docking position and the central reference line gradually decreases or remains constant in the direction closer to the charging station.

[0037] Secondly, this application provides a self-moving device, including a control module, which is used to perform any of the methods described above.

[0038] This application provides a method for controlling a self-moving device to return to a charging station, and the self-moving device itself. First, the current location of the self-moving device is determined, and it is then determined whether this location is a target area. When the self-moving device is in the target area, the angle between the self-moving device's orientation and a center reference line is determined, and the device returns to the charging station based on this angle. This application uses visual markers set on the charging station to determine the target area and uses the target area instead of a guide line, reducing the self-moving device's dependence on positioning accuracy or signal strength and improving its adaptability to the environment. Furthermore, after the self-moving device enters the target area, it is controlled to return to the charging station based on the angle, rather than requiring the device to first move to the center reference line and then walk around it. This reduces the time required for the self-moving device to return to the charging station, improves the efficiency of the return, and helps the device successfully return to the charging station. Attached Figure Description

[0039] This application will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] Figure 1 This is a flowchart illustrating a method for controlling a self-moving device to return to a charging station, as provided in an embodiment of this application.

[0041] Figure 2 This is a schematic diagram of a target area provided in an embodiment of this application.

[0042] Figure 3 This is a schematic diagram of another target area provided in an embodiment of this application.

[0043] Figure 4 This is an environmental image provided in an embodiment of this application.

[0044] Figure 5 This is an identification image provided in an embodiment of this application.

[0045] Figure 6 This is a fitted image provided in an embodiment of this application.

[0046] Figure 7 This is a binarized image provided in an embodiment of this application.

[0047] Figure 8 This is a denoised image provided in an embodiment of this application.

[0048] In the image: 100, charging station; 200, visual signage. Detailed Implementation

[0049] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] In the description of the embodiments of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0051] Self-moving devices need to periodically return to charging stations during missions to ensure continuous work efficiency and mission completion rates. Taking lawnmowers as an example, current lawnmowers typically rely on simple navigation and positioning technologies, such as GPS or UWB (Ultra-Wide Band) and other low-precision positioning technologies. However, the accuracy of these positioning technologies is affected by various factors, such as signal interference and environmental changes. To improve the efficiency of lawnmowers returning to charging stations and ensure successful return, guide lines connected to the charging station are often added, allowing the lawnmower to recharge by recognizing the signal from the guide line. However, guide lines not only increase costs but are also susceptible to signal instability due to external factors such as electromagnetic interference, changes in soil moisture, or physical damage, making it difficult for the lawnmower to return to the charging station.

[0052] See Figures 1 to 3 , Figure 1 This is a flowchart illustrating a method for controlling a self-moving device to return to a charging station, as provided in an embodiment of this application. Figure 2 This is a schematic diagram of a target area provided in an embodiment of this application. Figure 3 This is a schematic diagram of another target area provided in an embodiment of this application.

[0053] Please combine Figure 1 In order to improve the relevant technology and enable the self-moving device to return to the charging station more efficiently without the need for additional guide lines, this application provides a method for controlling the self-moving device to return to the charging station, the method including steps S101 to S103.

[0054] Step S101: Determine the current location of the self-moving device and determine whether the current location is the target area. The target area is determined by the visual identifier of the charging station and is connected to the charging station area.

[0055] Step S102: If the current area is the target area, then obtain the angle between the orientation of the self-moving device and the center reference line, wherein the center reference line passes through the target area and the docking position of the charging station.

[0056] Step S103: Control the self-moving device to dock with the charging station according to the included angle.

[0057] Self-moving devices refer to mechanical devices capable of autonomous movement, such as mobile robots and AGVs (Automated Guided Vehicles). Examples of mobile robots include lawnmowers, sweeping robots, floor scrubbers, sweeping and mopping robots, delivery robots, disinfection robots, security robots, inspection robots, and service robots. The target area is the area the self-moving device must pass through to return to the charging station, determined by visual signage at the charging station. For example, it could be located in front of the charging station and directly connected to it. Visual signage can be bar markings (i.e., color bands), graphic markings, reflective markings, etc. The center reference line can be a virtual ray or a straight line, where the ray extends from the docking point of the charging station, and the straight line passes through the docking point.

[0058] In the above embodiments, visual recognition technology or GPS / UWB positioning technology can be used to first determine the current location of the self-moving device and then determine whether the current location is the target area. If the current location is the target area, the angle between the orientation of the self-moving device and the center reference line is obtained, and then the self-moving device is controlled to dock with the charging station based on the angle. If the current location is not the target area, the self-moving device can be controlled to move to the target area. The self-moving device will pass through the target area before returning to the charging station. The shape of the target area can be a part of a fan (e.g., ...). Figure 2 (as shown) or a part of the trumpet shape (such as) Figure 3(As shown). When the current location of the self-moving device is within the target area, the self-moving device does not need to first move to the center reference line and then return to the charging station along the center reference line; it can simply return to the charging station based on the included angle. In the above embodiment, the target area may have two extendable intersecting side contour lines, and the included angle may be less than or equal to half the angle between the two side contour lines of the target area. As an example, the included angle can range from 0 degrees to 20 degrees. When the included angle is 0 degrees, that is, the angle between the orientation of the self-moving device and the center reference line is 0 degrees, it can be understood that the self-moving device is on the center reference line, and the self-moving device can be controlled to return to the charging station along the center reference line. When the included angle is 20 degrees, it can be understood that the self-moving device is on one of the side contour lines of the target area, and the angle between the orientation of the self-moving device and the center reference line can be controlled to remain at 20 degrees or less before returning to the charging station. That is, the self-moving device can return to the charging station along the aforementioned side contour line, or it can move closer to the center reference line while returning to the charging station to reduce the included angle. The above example is only to illustrate how the self-moving device returns to the charging station based on the included angle when it is in the target area. The above embodiment does not limit whether the self-moving device returns to the charging station by maintaining the included angle or reducing the included angle.

[0059] The above embodiment first determines the current location of the mobile device and then determines whether the current location is the target area. When the mobile device is in the target area, it determines the angle between the mobile device's orientation and the center reference line, and returns to the charging station based on this angle. This embodiment provides suitable path planning for the mobile device's successful return to the charging station by controlling it to first enter the target area. Even if the mobile device moves to an area where it is difficult to return to the charging station, it can first move to the target area and then return, saving time spent repeatedly adjusting its direction. Furthermore, after entering the target area, the mobile device returns to the charging station based on the angle, rather than being limited to walking along the center reference line, thereby improving the flexibility and success rate of the mobile device's return to the charging station.

[0060] To reduce the reliance of self-moving devices on navigation and positioning technologies, in some embodiments, the step S101, which involves determining the current location of the self-moving device and whether the current location is the target area, may include: if the visual marker is detected, determining the current location of the self-moving device and confirming whether the current location is the target area based on the current location; if the visual marker is not detected, controlling the self-moving device to rotate a first preset angle and detecting the visual marker again.

[0061] In the above embodiments, determining the current location of the self-moving device and whether it is the target area includes two cases: detecting a visual marker and not detecting a visual marker. The current location refers to an area where the self-moving device can detect a visual marker when rotated to a specific angle. When the self-moving device is in an area where no visual marker can be detected regardless of rotation, positioning technology or an inertial navigation system can be used to guide it to an area where a visual marker can be detected. Specifically, during the return process to the charging station, the self-moving device can acquire an environmental image of its surroundings through a vision module. When the environmental image contains a visual marker, image processing analysis can be performed to determine whether the self-moving device is within the target area. For example, feature matching, stereo vision, and depth estimation techniques can be used to determine the relative position of the self-moving device and the visual marker to determine whether the self-moving device is within the target area. When the environmental image does not contain a visual marker, the self-moving device can be rotated by a first preset angle to detect the visual marker again. If, after rotating by the first preset angle, the environmental image at the new angle still does not contain a visual marker, the self-moving device continues to rotate by the first preset angle until a visual marker can be identified in the environmental image. It should be noted that after the lawnmower robot rotates to the first preset angle, the vision module will capture a new image of the environment. The first preset angle is a pre-set angle, which can be 5 degrees, 10 degrees, etc., and can be determined according to the working environment of the self-moving device.

[0062] The above embodiments, by detecting visual signs, enable the self-moving device to accurately determine its current location, providing more precise location information compared to relying solely on single technologies such as positioning or inertial navigation. Furthermore, by confirming whether the current area is the target area, the self-moving device can autonomously decide its next course of action, improving automation and efficiency. When no visual sign is detected, the self-moving device can be rotated by a first preset angle to attempt detection again, increasing its robustness in complex environments.

[0063] Please see Figures 4 to 6 , Figure 4 This is an environmental image provided in an embodiment of this application. Figure 5 This is an identification image provided in an embodiment of this application. Figure 6 This is a fitted image provided in an embodiment of this application.

[0064] To reduce the reliance of mobile devices on positioning technology and improve the efficiency of their return to charging stations, thus facilitating successful return, in some embodiments, step S102, obtaining the angle between the orientation of the mobile device and the center reference line, may include: acquiring an environmental image of the surrounding environment of the mobile device through a vision module; when the environmental image contains the visual identifier, acquiring a corresponding identifier image of the environmental image; the identifier image containing the outline of the visual identifier; determining the straight line direction of the center reference line based on the outline of the visual identifier in the identifier image; and calculating the angle between the orientation of the mobile device and the straight line direction of the center reference line.

[0065] The vision module refers to the components or systems equipped on the lawnmower robot for visual perception and recognition. The outline refers to the continuous lines of the visual sign's edge, which can be extracted using image processing techniques such as edge detection algorithms; it is a key feature for recognizing and analyzing the shape of visual signs.

[0066] In the above embodiments, after the self-moving device enters the target area, the vision module captures images of the surrounding environment of the self-moving device to obtain environmental images (such as...). Figure 4 (As shown). The environmental image is then analyzed to determine if it contains visual markers. If it does, the corresponding marker image is obtained (e.g., ...). Figure 5 As shown). And based on the outline of the visual identifier in the identifier image, the center reference line is determined (e.g. Figure 6 As shown in the diagram, calculate the angle between the orientation of the self-moving device and the straight line direction of the center reference line. When the environmental image does not contain visual markers, the self-moving device can be controlled to rotate by a first preset angle, and the visual module can be used to take another environmental image of the surrounding environment of the self-moving device. If the new environmental image still does not contain visual markers, the device can continue to rotate by the first preset angle until the environmental image contains visual markers.

[0067] The above embodiments acquire environmental images solely based on the vision module, then process these images to obtain a center reference line based on visual markers within the environmental images, and finally calculate the angle between the orientation of the mobile device and the straight direction of the center reference line. This reduces the mobile device's reliance on positioning technology, significantly lowers the likelihood of signal interference, improves the efficiency of the mobile device returning to the charging station, and facilitates a successful return.

[0068] In order to effectively identify visual identifiers and improve the success rate of lawnmower robots returning to charging stations, in some embodiments, the visual identifiers include one or more bar identifiers. Determining the straight line direction of the center reference line based on the outline of the visual identifier in the identifier image may include: determining a fitted line corresponding to each bar identifier based on the outline of each bar identifier in the identifier image; and using the fitted line corresponding to each bar identifier to determine the straight line direction of the center reference line.

[0069] In the above embodiments, as an example, bar-shaped visual signs set on the charging station are used for illustration. The number of bar signs can be one or more. One bar sign can be placed in the middle of the charging station, and multiple bar signs can be distributed along the edges of the charging station. Before obtaining the fitting line for each bar sign, a reference edge for each bar sign can be obtained first. Specifically, the contour line containing multiple edges corresponding to each bar sign in the sign image is extracted, and then for each bar sign, the longest edge of the corresponding contour line is used as the reference edge. When setting bar signs on the charging station, the long edge of the bar sign can be set parallel to the two sides of the charging station, and the short edge of the bar sign can be set parallel to the two ends of the charging station, so that the contour line of the long edge of the bar sign in the sign image can intersect with the front end of the charging station when extended. Using the longest edge of the aforementioned contour line as the reference edge to obtain the fitting line can increase the accuracy of the fitting line. In some embodiments, methods such as least squares, RANSAC algorithm, and HoughLinesP function can be used to fit the reference edge as a straight line. Among them, the HoughLinesP function can identify the reference edge of the bar mark in the mark image more quickly and accurately, and has relatively high processing efficiency.

[0070] In some embodiments, when the number of bar markers is 2, determining the straight line direction of the center reference line using the fitted line corresponding to each bar marker may include: extending the fitted lines corresponding to the two bar markers to the upper or lower boundary line of the marker image to obtain two intersection points located on the same boundary line; and determining the straight line direction of the center reference line based on the two intersection points.

[0071] In the above embodiment, taking the setting of two bar markers on a charging station as an example, the two bar markers can be distributed on both sides of the charging station. Correspondingly, there are also two bar markers in the marker image. Each bar marker corresponds to only one fitted line. Extending the two fitted lines corresponding to the two bar markers to the upper or lower boundary line in the marker image yields an intersection located on the same boundary line. It is important to note that the intersection point must be on the same boundary line. If the intersection points of the bar markers are distributed on different boundary lines, it is difficult to determine the center reference line. In some embodiments, the center reference line can pass through the midpoint of the two intersection points, and the slope of the center reference line is, for example, the average of the slopes of the two fitted lines.

[0072] Please see Figure 7 and Figure 8 , Figure 7 This is a binarized image provided in an embodiment of this application. Figure 8 This is a denoised image provided in an embodiment of this application.

[0073] To improve the accuracy of visual identification, in some embodiments, obtaining the corresponding identification image of the environment image may include: performing binarization processing on the environment image to obtain a binarized image; performing denoising processing on the binarized image to obtain a denoised image; and performing edge extraction on the denoised image to obtain an identification image containing the outline of the visual identification.

[0074] Binarization refers to an image processing technique, such as converting each pixel in an environmental image into a binary image with a pixel value of 0 or 1. Denoising refers to removing or reducing noise (i.e., random, non-informative pixel variations) in an image. Edge extraction refers to the process of identifying and highlighting object boundaries in an image. Edges are places in an image where grayscale values ​​change abruptly, typically corresponding to the boundaries between different objects or different parts of the same object. Edge calculation methods can be used to extract edges from denoised images.

[0075] In the above embodiments, directly extracting visual identifiers from environmental images is difficult. Therefore, the environmental images can be binarized, denoised, and edge-extracted to obtain an identifier image containing the outline of the visual identifier. Environmental images captured by the vision module may contain interfering information such as grass. By binarizing the environmental images, a binarized image (e.g., ...) can be obtained. Figure 7 As shown), this reduces the data complexity of the image. Then, denoising is performed on the binarized image to obtain a denoised image (as shown). Figure 8 As shown, this reduces interference with visual identifiers. Furthermore, by extracting edges from the denoised image, the boundaries of visual identifiers can be accurately defined, ensuring the accuracy of obtaining the center reference line in the subsequent process.

[0076] In some embodiments, binarizing the environmental image to obtain a binarized image may include: performing HSV conversion on the environmental image to obtain the chroma, saturation, and brightness of all pixels in the environmental image; setting the pixel values ​​of pixels in the environmental image whose chroma, saturation, and brightness are all within the corresponding specified numerical ranges to 1, and setting the pixel values ​​of pixels in the environmental image whose chroma, saturation, and brightness are at least outside the corresponding specified numerical ranges to 0, thereby generating the binarized image.

[0077] In HSV conversion, HSV stands for Hue, Saturation, and Value. HSV is a color space representation method that can convert color information in the RGB color model into a more easily processed and understood form. For example, the corresponding region image of a rectangular area may be in RGB format, and the region image can be converted to HSV for easier subsequent processing.

[0078] In the above embodiments, the environmental image is converted to HSV to obtain the chroma, saturation, and brightness of all pixels in the environmental image. HSV conversion separates the color and brightness information of visual identifiers in the environmental image, making color analysis and processing more convenient. Chroma represents the basic attribute of color, saturation represents the purity or vividness of color, and brightness represents the lightness of color. During HSV conversion, these three channels are processed separately. A specified range of values ​​for chroma, saturation, and brightness can be determined based on the color characteristics of the visual identifiers. Pixels in the environmental image within the specified range are assigned a value of 1, meaning the corresponding portion in the binarized image is displayed as white; pixels outside the specified range are assigned a value of 0, meaning the corresponding portion in the binarized image is displayed as black.

[0079] In order to enable the self-moving device to successfully return to the charging station and ensure the flexibility of the self-moving device's orientation, in some embodiments, the step of controlling the self-moving device to dock with the charging station according to the included angle (i.e., step S103) may include: adjusting the orientation of the self-moving device once or multiple times during the process of approaching the charging station so that the included angle formed between the orientation of the self-moving device and the center reference line is within a preset angle range.

[0080] In the above embodiments, when the self-moving device is within the target area, it can return to the charging station based on an angle within a preset angle range. The preset angle range can be determined based on the target area. For example, if the target area has two intersecting side contour lines, the preset angle range can be less than or equal to half the angle between the two side contour lines, and greater than or equal to 0 degrees. For example, the preset angle range can be 0 degrees to 20 degrees. After the self-moving device enters the target area, the angle between its orientation and the center reference line often does not meet the preset angle range. If the self-moving device continues to move according to this angle, it may leave the target area. To ensure the self-moving device successfully returns to the charging station, its orientation needs to be adjusted. When the self-moving device is close to the charging station, it may only need to adjust its orientation once to ensure it always returns to the charging station based on the adjusted angle. However, when the self-moving device is far from the charging station, since there are no external references to guide its straight-line movement, it needs to adjust its orientation multiple times to ensure the angle between its orientation and the center reference line is within the preset angle range.

[0081] The above embodiments allow the self-moving device to deflect during its return to the charging station, and as long as the angle between the orientation of the self-moving device and the center reference line is within a preset angle range, the self-moving device can have a larger motion error and is more flexible.

[0082] To ensure accurate docking between the mobile device and the charging station, in some embodiments, the step of controlling the docking of the mobile device with the charging station based on the included angle (i.e., step S103) may include: S1: determining whether the included angle is within a preset angle range; if yes, then execute S2; if no, then execute S3; S2: controlling the mobile device to move forward to dock with the charging station, executing S1; S3: controlling the mobile device to rotate a second preset angle to adjust the included angle, executing S1.

[0083] In the above embodiments, during the process of controlling the self-moving device to dock with the charging station based on the included angle, it can first be determined whether the included angle is within a preset angle range. If the included angle is within the preset angle range, the self-moving device is controlled to move forward to dock with the charging station. During the docking process, the included angle is continuously determined to be within the preset angle range, i.e., it is determined while moving. If the included angle is not within the preset angle range, the self-moving device is controlled to rotate a second preset angle to adjust the included angle, and the determination of whether the included angle is within the preset angle range continues. The second preset angle can be preset, such as 5 degrees, 10 degrees, etc., and the above embodiments do not limit this.

[0084] The above embodiment continuously determines whether the current angle between the self-moving device's orientation and the center reference line is within a preset angle range during the self-moving device's return to the charging station. If the angle is outside the preset angle range, the self-moving device is promptly controlled to rotate by a second preset angle, and then the angle is again determined to be within the preset angle range. As the self-moving device approaches the charging station, it continuously adjusts its orientation, enabling it to successfully return to the charging station and achieving more precise docking.

[0085] In some embodiments, the charging station may include a base, a mounting base protruding upward from the base, and a charging terminal mounted on the mounting base. The docking position can be determined based on the position of the charging terminal. The target area, for example, has the docking position as the center and a specified distance as the radius. The axis of symmetry of the target area and the central reference line may be collinear. Furthermore, the angle between the line connecting the position on the side contour line of the target area and the docking position and the central reference line may gradually decrease or remain constant in the direction closer to the charging station.

[0086] In the above embodiments, the docking position can be determined by the structure of the charging station. The base provides a stable foundation, the mounting bracket protrudes upward from the base, and the charging end is mounted on the mounting bracket. This structure ensures that the charging end is at a fixed and easily identifiable height, facilitating the approach and accurate docking of the self-moving device. The design of the target area ensures that the device has a clear guide zone before entering the final docking area with the charging station. The angle design between the side contour line of the target area and the line connecting the docking position and the center reference line ensures that the path gradually converges as the device approaches the charging station, avoiding sudden turns and making the docking process smoother and safer. The shape of the target area can be a portion of a fan shape (e.g., Figure 2 (as shown) or a part of the trumpet shape (such as) Figure 3 (As shown). When the target area is displayed as part of a fan shape, the angle between the line connecting the position on the side contour line of the target area and the docking position and the center reference line can remain constant in the direction closer to the charging station. When the target area is displayed as part of a trumpet shape, the angle between the line connecting the position on the side contour line of the target area and the docking position and the center reference line can gradually decrease in the direction closer to the charging station.

[0087] The above embodiments, through precise positioning mechanisms and clear definition of the target area, reduce the number of docking attempts between the mobile device and the charging station, improving the success rate and efficiency of the mobile device's return to the charging station. The design of the side contour line of the target area ensures a smooth transition of the mobile device's path as it approaches the charging station, reducing the risk of collision and protecting both the mobile device and the charging station from accidental damage. Furthermore, it optimizes the automatic charging experience, eliminating the need for manual intervention and increasing user trust and satisfaction with the mobile device.

[0088] This application also provides a self-moving device, including a control module, which is used to execute any of the above methods.

[0089] It should be noted that although some embodiments of this application use a lawnmower robot as an example, this application can be applied to other self-moving devices, and this application does not set any limitations on them.

[0090] The user information or user account information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, etc.) involved in various embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data shall comply with the relevant laws and regulations and standards of the relevant countries and regions, and corresponding instruction entry points shall be provided for the user to choose to authorize or refuse.

[0091] It is understood that the specific examples in this specification are only intended to help those skilled in the art better understand the implementation of this application, and are not intended to limit the scope of protection of this application.

[0092] It is understood that in the various embodiments of this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application.

[0093] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and this application does not limit them.

[0094] Unless otherwise stated, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0095] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this specification.

[0096] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the embodiments described above can be referred to the corresponding processes in other embodiments, and will not be repeated here.

[0097] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0098] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the technical solution in this application, depending on actual needs.

[0099] In addition, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0100] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this specification, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0101] The above are merely specific embodiments described in this specification, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this specification should be included within the scope of protection of this specification. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a self-moving device to return to a charging station, characterized in that, The method includes: The current location of the self-moving device is determined, and it is determined whether the current location is the target area. The target area is determined by the visual identifier of the charging station and is connected to the charging station area. If the current area is the target area, then obtain the angle between the orientation of the self-moving device and the center reference line, wherein the center reference line passes through the target area and the docking position of the charging station; The self-moving device is controlled to dock with the charging station based on the included angle.

2. The method for controlling a self-moving device to return to a charging station according to claim 1, characterized in that, Determining the current location of the self-moving device and judging whether the current location is the target area includes: Upon detecting the visual identifier, determine the current location of the self-moving device, and based on the current location, confirm whether the current location is the target area; If the visual identifier is not detected, the self-moving device is controlled to rotate a first preset angle to detect the visual identifier again.

3. The method for controlling a self-moving device to return to a charging station according to claim 1, characterized in that, The step of obtaining the angle between the orientation of the self-moving device and the center reference line includes: The visual module acquires environmental images of the surrounding environment of the self-moving device; When the environmental image contains the visual identifier, obtain the corresponding identifier image of the environmental image; the identifier image contains the outline of the visual identifier; Based on the outline of the visual identifier in the identifier image, the straight line direction of the center reference line is determined; Calculate the angle between the orientation of the self-moving device and the straight direction of the center reference line.

4. The method for controlling a self-moving device to return to a charging station according to claim 3, characterized in that, The visual identifier includes one or more bar-shaped identifiers, and determining the straight-line direction of the center reference line based on the outline of the visual identifier in the identifier image includes: In the identification image, a fitting line corresponding to each bar identifier is determined based on the outline line corresponding to each bar identifier; The direction of the center reference line is determined by using the fitted line corresponding to each bar.

5. The method for controlling a self-moving device to return to a charging station according to claim 4, characterized in that, When the number of bar markers is 2, determining the straight line direction of the center reference line using the fitted line corresponding to each bar marker includes: Extend the fitted lines corresponding to the two bar icons to the upper or lower boundary line of the icon image to obtain two intersection points located on the same boundary line; The direction of the center reference line is determined based on the two intersection points.

6. The method for controlling a self-moving device to return to a charging station according to claim 3, characterized in that, The step of obtaining the corresponding identifier image of the environment image includes: The environmental image is binarized to obtain a binarized image; The binarized image is denoised to obtain a denoised image; Edge extraction is performed on the denoised image to obtain an identifier image containing the outline of the visual identifier.

7. The method for controlling a self-moving device to return to a charging station according to claim 1, characterized in that, The step of controlling the self-moving device to dock with the charging station according to the included angle includes: During the process of approaching the charging station, the orientation of the self-moving device is adjusted once or multiple times so that the angle formed between the orientation of the self-moving device and the center reference line is within a preset angle range.

8. The method for controlling a self-moving device to return to a charging station according to claim 1, characterized in that, The step of controlling the self-moving device to dock with the charging station according to the included angle includes: S1: Determine whether the included angle is within a preset angle range; if yes, execute S2; if no, execute S3. S2: Control the self-moving device to move forward to dock with the charging station, and execute S1; S3: Control the self-moving device to rotate a second preset angle to adjust the included angle, and execute S1.

9. The method for controlling a self-moving device to return to a charging station according to claim 1, characterized in that, The charging station includes a base, a mounting seat protruding upward from the base, and a charging terminal mounted on the mounting seat. The docking position is determined according to the position of the charging terminal. The target area is centered at the docking position and has a radius of a specified distance. The axis of symmetry of the target area is collinear with the central reference line. Furthermore, the angle between the line connecting the position on the side contour line of the target area and the docking position and the central reference line gradually decreases or remains constant in the direction closer to the charging station.

10. A self-moving device, the self-moving device comprising a control module, characterized in that, The control module is used to perform the method of controlling the self-moving device to return to the charging station as described in any one of claims 1-9.

Images