Base station and return station system

Abstract

The utility model provides a base station and a station returning system. The base station comprises a base station body; the signal transmitting unit is arranged on the base station body, the signal transmitting unit comprises a first transmitter and a second transmitter, the first transmitter transmits a first signal, and the second transmitter transmits a second signal; wherein the first signal and the second signal form a signal overlapping area which simultaneously covers the first signal and the second signal, and an included angle between boundary lines of the signal overlapping area is smaller than a preset angle. According to the method, the positioning error is reduced, and the recharging efficiency and accuracy of the mobile robot in the recharging process are improved.

Description

Technical Field

[0001] The present application relates to the field of mobile robot technology, and in particular to a base station and a return station system. Background Art

[0002] With the continuous advancement of automation technology, mobile robots have gained widespread application. Using powerful processors and radar, mobile robots can perform tasks such as path planning, autonomous navigation, and obstacle avoidance. However, these robots primarily rely on batteries for power. When the battery runs low, they must return to a base station for recharging. Currently, mobile robots often experience navigation errors and inaccurate return to their original position during automatic recharging. Utility Model Content

[0003] Based on this, the present application provides a base station and a back-station system, and the various aspects involved in the present application are introduced below.

[0004] In the first aspect, the present application provides a base station, comprising: a base station body; a signal transmitting unit, arranged on the base station body, the signal transmitting unit comprising a first transmitter and a second transmitter, the first transmitter transmitting a first signal, and the second transmitter transmitting a second signal; wherein, the first signal and the second signal form a signal overlapping area that simultaneously covers the first signal and the second signal, and the angle between the boundary lines of the signal overlapping area is less than a preset angle.

[0005] In a second aspect, the present application provides a return-to-station system, comprising: a base station as described in the first aspect; a robot, wherein the robot is provided with a signal receiving unit, and based on the first signal and / or second signal received by the signal receiving unit, the robot is guided back to the base station.

[0006] In this application, the first transmitter and the second transmitter of the base station transmit a first signal and a second signal respectively. Based on the coverage of the first signal and the second signal, a narrow signal overlap area is formed in front of the base station. When the mobile robot is guided to the signal overlap area by the first signal and / or the second signal, a clear positioning indication is provided to the robot, which reduces unnecessary movement and search time and can guide the robot to move quickly to the front of the base station. This application helps to reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0008] Figure 1 It is a schematic diagram of a base station provided in an embodiment of the present application.

[0009] Figure 2 yes Figure 1 Schematic diagram of a possible model of a base station.

[0010] Figure 3 yes Figure 1 A schematic diagram of a possible implementation of a base station.

[0011] Figure 4a-4b yes Figure 1 Schematic diagram of some other possible implementation methods of a base station.

[0012] Figure 5a-5c yes Figure 1 Schematic diagram of some possible implementation methods of the base station.

[0013] Figure 6 yes Figure 1 A schematic diagram of another possible implementation of a base station.

[0014] Figure 7 It is a schematic diagram of the composition of the recharging system provided in an embodiment of the present application.

[0015] Figure 8a-8b yes Figure 7 Schematic diagram of a possible model of the robot in .

[0016] Figure 9 yes Figure 7 A schematic diagram of the relative positions of the robot and base station in the recharging system. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. The same or similar reference numerals are used in the accompanying drawings to represent the same or similar modules. It should be understood that the accompanying drawings are only schematic and the scope of protection of the present application is not limited thereto.

[0018] With the continuous advancement of automation technology, automated guided vehicles (AGVs) have become widely used. AGVs, also known as intelligent robots, self-moving robots, intelligent transporters, and autonomous robots, include lawn mowers, cleaning robots, food delivery robots, and service robots. The widespread use of AGVs has made work more convenient, especially for intelligent AGVs, which utilize powerful processors and radars to implement functions such as path planning, autonomous navigation, and autonomous obstacle avoidance. For example, cleaning robots can complete cleaning tasks without human supervision, while lawn mowers can autonomously navigate lawns, using built-in sensors to plan paths and precisely cut the grass. However, these robots primarily rely on batteries for power and must return to a base station for recharging when the battery is low. Autonomous recharging can significantly reduce labor costs and improve efficiency. Currently, the main solutions in the industry include visual positioning, infrared navigation, radar positioning, laser navigation, and ultrasonic detection.

[0019] In infrared navigation, the robot receives a first infrared signal and a second infrared signal transmitted by a base station, continuously measures the first signal strength of the first infrared signal and the second signal strength of the second infrared signal, and then controls the robot to move in a direction that increases both the first and second signal strengths until the robot reaches the base station. Improperly designed intersection angles between the two infrared signal transmitters can lead to positioning errors, particularly when the robot is far from a charging device.

[0020] It can be seen that the current mobile robots have problems with navigation deviation and inaccurate return during the automatic recharging process.

[0021] Therefore, it is necessary to design a technical solution for robot recharging guidance with higher navigation accuracy.

[0022] Based on this, the embodiment of the present application proposes a base station, which can have one or more functions of charging, docking, recycling, and supply. The embodiment of the present application can accurately guide the robot to align with the preset charging position (recharge interface) of the base station for charging. Figure 1 The base station in the embodiment of the present application is introduced in detail.

[0023] like Figure 1As shown, the base station 100 of the embodiment of the present application may include: a base station body 110 and a signal transmission unit 120. Signal transmission unit 120 is disposed on base station body 110 and includes a first transmitter 121 and a second transmitter 122. First transmitter 121 transmits a first signal, and second transmitter 122 transmits a second signal. The first signal and the second signal form a signal overlap region that simultaneously covers the first signal and the second signal, and the angle between the boundary lines of the signal overlap region is less than a first predetermined angle.

[0024] As an example and not a limitation, the base station body 110 is further provided with one or more of a charging unit, a docking unit, a recycling unit, and a supply unit, and the distance between the first transmitter 121 and the second transmitter 122 is between 5 mm and 30 mm.

[0025] In the example of this application, still as an example and not a limitation, the first signal and the second signal have a radiation range of 5m to 12m respectively. The emission angles of the first signal and the second signal can be equal or different, and the first signal and the second signal use different encoding information so that the signal receiver of the mobile robot can distinguish the first signal and the second signal. Figure 1 As shown, based on the first signal transmitted by the first transmitter 121 and the second signal transmitted by the second transmitter 122, a signal overlap region 150 can be formed that covers both the first signal and the second signal, and the angle between the boundary lines of the signal overlap region 150 is less than a first preset angle. The first preset angle can be set to ensure the navigation accuracy of the base station 100. As an example and not a limitation, the first preset angle can be 5 degrees or 10 degrees.

[0026] In some implementations, the first transmitter 121 and the second transmitter 122 are respectively configured to transmit a first signal and a second signal having different coded information. The first signal and the second signal may be infrared signals, laser signals, radio frequency signals, ultrasonic signals, or millimeter wave signals. Different coded information may, for example, refer to one or more of different transmission frequencies, different wavelengths, and different pulse widths. In some embodiments, the first transmitter 121 and the second transmitter 122 may be of the same type. For example, the first transmitter 121 may be an infrared transmitter, and the first signal may be an infrared signal. The second transmitter 122 may also be an infrared transmitter, and the second signal may be an infrared signal. In other embodiments, the first transmitter 121 and the second transmitter 122 may be of different types. For example, the first transmitter 121 may be a laser transmitter, and the first signal may be a laser signal, while the second transmitter 122 may be an infrared transmitter, and the second signal may be an infrared signal.

[0027] In some implementations, the signal transmitting unit may include multiple transmitters, the first transmitter 121 is any transmitter among the multiple transmitters, and the second transmitter 122 is any transmitter among the multiple transmitters that is different from the first transmitter.

[0028] like Figure 2 As shown, in some implementations, the first transmitter 121 and the second transmitter 122 can be located in the middle of the front face of the base station body 110 , which helps to locate the signal overlapping area 150 in the middle of the front face of the base station 100 .

[0029] For the sake of convenience, the following text combines Figures 1 to 9 , the first transmitter 121 and the second transmitter 122 are respectively located on the left and right sides of the central axis of the base station 100. The division of the left and right sides of the central axis of the base station 100 is determined based on the user being in front of and facing the base station 100.

[0030] like Figure 1 As shown, the first signal transmitted by the first transmitter 121 covers the first area, which is surrounded by a first boundary line 141 and a second boundary line 142. The first boundary line 141 and the second boundary line 142 are the first left boundary line and the first right boundary line, respectively. The second signal transmitted by the second transmitter 122 covers the second area, which is surrounded by a third boundary line 131 and a fourth boundary line 132. The third boundary line 131 and the fourth boundary line 132 are the second left boundary line and the second right boundary line, respectively.

[0031] First transmitter 121 and second transmitter 122 form a left area 130 covering only the second signal, a right area 140 covering only the first signal, and a signal overlap area 150. Left area 130 is defined by a third boundary line 131 and a first boundary line 141. Right area 140 is defined by a fourth boundary line 132 and a second boundary line 142. Signal overlap area 150 is defined by a first boundary line 141 and a fourth boundary line 132. The division of left area 130 and right area 140 is determined based on the user being in front of and facing base station 100.

[0032] Signal overlap region 150 is a signal overlap area that covers both the first signal and the second signal. Signal overlap region 150 has a long and narrow outline, and the angle between its two opposite sides (i.e., first boundary line 141 and fourth boundary line 132) is less than a first predetermined angle. Signal overlap region 150, also known as the middle region, has its centerline perpendicular to the front surface of base station 100.

[0033] In some embodiments, the angle between the two opposite sides of the signal overlapping region 150 (ie, the first boundary line 141 and the fourth boundary line 132) may be 0 degrees, that is, Figure 1 The two opposite sides of the signal overlapping area 150 shown in FIG. 1 may be parallel. The signal overlapping area 150 is used to guide the robot to move to a preset charging position in front of the base station 100 for charging.

[0034] The coverage angle of the first signal and the coverage angle of the second signal are between 80 degrees and 160 degrees. The coverage angle of the first signal and the coverage angle of the second signal can be equal or different. Figure 1 The coverage of the left area 130 and the right area 140 in the signal overlap region 150 may be equal or unequal. It should be understood that when the two opposite sides of the signal overlap region 150 are parallel, the coverage of the left area 130 and the right area 140 are equal. When the two opposite sides of the signal overlap region 150 are not parallel, the coverage of the left area 130 and the right area 140 are unequal.

[0035] In the embodiment of the present application, the first transmitter 121 and the second transmitter 122 transmit a first signal and a second signal, respectively. Based on the coverage of the first signal and the second signal, a narrow signal overlap area is formed in front of the base station 100. When the mobile robot is guided to the signal overlap area by the first signal and / or the second signal, a clear positioning indication is provided to the robot, which reduces unnecessary movement and search time and can guide the robot to move quickly to the front of the base station 100. The embodiment of the present application can guide the mobile robot to return to the base station 100 in a timely and efficient manner even in complex environments, reduce positioning errors, and help improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0036] The first transmitter 121 and / or the second transmitter 122 typically transmit signals in a radial pattern. In some implementations, the outer contours of the left area 130 and the right area 140 are tapered (or gradually expanded). This allows the mobile robot to gradually approach the transmission points of the first transmitter 121 and / or the second transmitter 122 during recharging, approaching the preset charging position directly in front of the base station 100.

[0037] In some implementations, along the radiation direction of the transmitter, the outer contour of the left area 130 can be fan-shaped, and the outer contour of the right area 140 can also be fan-shaped. In this way, the mobile robot can gradually approach the launch point of the first transmitter 121 and / or the second transmitter 122 during the recharging process, which helps improve navigation accuracy and reduce positioning errors.

[0038] The signals transmitted by the first and second transmitters 121 and 122 typically have a wide coverage angle. If not properly configured, the outline of the signal overlap region 150 may be unsatisfactory. The signal overlap region 150 of the first and second signals can be formed in a variety of different ways to suit different application scenarios.

[0039] In an optional example, a shielding portion 160 is provided on the base station body 110, and the shielding portion 160 is used to shield part of the first signal and / or the second signal.

[0040] like Figure 3 As shown, in some implementations, the shielding portion 160 blocks part of the first signal or / and the second signal so that the angle between the two opposite sides of the signal overlapping area 150 (i.e., the first boundary line 141 and the fourth boundary line 132) is less than a first preset angle (e.g., 10 degrees), that is, the first boundary line 141 on the left side of the first signal after being blocked and the fourth boundary line 132 on the right side of the second signal after being blocked are approximately parallel. The shielding portion 160 can be located in front of the first transmitter 121 and the second transmitter 122, and controls the propagation direction of the signal by physical blocking to optimize the signal distribution. In the example of the present application, by narrowing the coverage area of ​​the overlapping signal, it is ensured that the robot can move to the front of the base station 100, thereby improving the accuracy and reliability of guiding the robot to recharge, and helping to accurately limit the robot to move within the signal overlapping area 150 facing the middle of the base station 100.

[0041] The shielding portion 160 can have a variety of structural types. In some embodiments, the shielding portion 160 can be an integrated setting, which helps to simplify the structure and reduce costs while maintaining accurate control of the signal. In other embodiments, the shielding portion 160 can also be a split setting.

[0042] In an optional example, a first shielding member 161 and a second shielding member 162 are provided on the base station body 100 , the first shielding member 161 shields the left part of the first signal, and the second shielding member 162 shields the right part of the second signal.

[0043] Still Figure 3 As shown, in some implementations, the first transmitter 121 transmits a first signal toward the front of the base station 100, and the second transmitter 122 transmits a second signal toward the front of the base station 100. The coverage area of ​​the first signal transmitted by the first transmitter 121 is located between the fifth boundary line 311 on the left and the second boundary line 142 on the right, and the coverage area of ​​the second signal transmitted by the second transmitter 122 is located between the third boundary line 131 on the left and the sixth boundary line 312 on the right. Figure 3As shown, a first shielding member 161 is provided in the area between the fifth boundary line 311 and the second boundary line 142 on the right side, and a second shielding member 162 is provided in the area between the fourth boundary line 132 and the sixth boundary line 312 on the right side. The first shielding member 161 is provided in front of the left side of the first transmitter 121 to block part of the first signal, and the second shielding member 162 is provided in front of the right side of the second transmitter 122 to block part of the second signal. In this way, the first signal and the second signal after being blocked form a narrow signal overlapping area 150.

[0044] In this implementation, by precisely controlling the signal transmission directions and coverage areas of the first and second transmitters, and combining first and second shields 161 and 162 provided on the base station body to block the left and right portions of the first and second signals, respectively, a narrow signal overlap region 150 is formed. This effectively prevents excessive signal diffusion and mutual interference, thereby achieving precise control of the signal coverage area. This not only improves signal utilization, but also reduces signal blind spots, enhancing overall communication quality.

[0045] The coverage angle of the first signal after being blocked by the first shield 161 and the coverage angle of the second signal after being blocked by the second shield 162 can be the same or different. In some specific implementations, the first transmitter 121 transmits the first signal toward the front of the base station 100, and the first shield 161 blocks half of the area covered by the first signal. The second transmitter 122 transmits the second signal toward the front of the base station 100, and the second shield 162 blocks half of the area covered by the second signal. The coverage angle of the first signal is equal to the coverage angle of the second signal.

[0046] In some specific implementations, the first transmitter 121 transmits a first signal toward the front of the base station 100, and the first shield 161 blocks half of the area covered by the first signal. The second transmitter 122 transmits a second signal toward the side and front of the base station 100, and the second shield 162 blocks a small portion of the area covered by the second signal (i.e., less than 1 / 2 of the area). The coverage angle of the first signal is smaller than the coverage angle of the second signal.

[0047] In other specific implementations, the first transmitter 121 transmits a first signal toward the side and front of the base station 100, and the first shield 161 shields a small portion of the area covered by the first signal (i.e., less than 1 / 2 of the area). The second transmitter 122 transmits a second signal toward the front of the base station 100, and the second shield 162 shields half of the area covered by the second signal. The coverage angle of the second signal is smaller than the coverage angle of the first signal.

[0048] In other specific implementations, the first transmitter 121 transmits a first signal toward the front and side of the base station 100, and the first shield 161 shields a small portion (i.e., less than 1 / 2) of the area covered by the first signal. The second transmitter 122 transmits a second signal toward the front and side of the base station 100, and the second shield 162 shields a small portion of the area covered by the second signal. The coverage angle of the second signal can be equal to the coverage angle of the first signal.

[0049] The above four implementations can precisely control the coverage of the first signal and the second signal by setting the first shielding member 161 and the second shielding member 162, avoiding excessive coverage or missed coverage of the signals, thereby improving the accuracy and efficiency of signal transmission.

[0050] Different from the above-mentioned method in which the first shielding member 161 and the second shielding member 162 are provided on the base station body 100, as another optional example, only the first shielding member 161 is provided on the base station body 100. The first shielding member 161 is used to block the left part of the first signal, and the transmission direction of the second signal is inclined toward the transmission direction of the first signal.

[0051] like Figure 4a As shown, in some implementations, the first transmitter 121 transmits a first signal toward the front or right front of the base station 100. A first shielding member 161 is provided in front of the first transmitter 121, and the first shielding member 161 partially shields the first signal. The second transmitter 122 transmits a second signal toward the left front of the base station 100 (i.e., the second transmitter 122 transmits the signal toward the left, and the second signal radiates at an angle of 40 to 80 degrees). The transmission direction of the second signal is inclined toward the transmission direction of the first signal, and the coverage angle of the first signal is greater than the coverage angle of the second signal.

[0052] Different from the above-mentioned method in which a first shielding member 161 and a second shielding member 162 are provided on the base station body 100, there is also an optional example in which only a second shielding member 162 is provided on the base station body 100. The second shielding member 162 is used to block the right part of the second signal, and the transmission direction of the first signal is inclined toward the transmission direction of the second signal.

[0053] like Figure 4b As shown, in some implementations, the second transmitter 122 transmits a second signal toward the front or left front of the base station 100, a second shielding member 162 is provided in front of the second transmitter 122, and the second shielding member 162 shields part of the second signal, and the first transmitter 121 transmits a first signal toward the side front of the base station 100, and the transmission direction of the first signal is inclined toward the transmission direction of the second signal.

[0054] Both of the above two implementation methods do not require the installation of two shielding members on the base station body 100. Instead, a method of combining the installation of a shielding member on the base station body 100 and the adjustment of the signal transmission direction is adopted to achieve the purpose of blocking the left part of the first signal or blocking the right part of the second signal. This not only avoids excessive coverage or missed coverage of the signal, but also helps to improve the adaptability and flexibility of the base station structure while maintaining precise control of the signal.

[0055] In some implementations, the base station body 110 further includes a housing 170, which is disposed outside the first transmitter 121 and the second transmitter 122. The housing 170 has a first through hole 171 for transmitting the first signal and the second signal, and a portion of the housing surrounding the first through hole 171 forms the first shielding member 161 and / or the second shielding member 162.

[0056] like Figure 5a As shown, in some implementations, a first shielding member 161 and / or a second shielding member 162 are formed on a portion of the housing surrounding the first through hole 171 to block a portion of the first signal and / or a portion of the second signal, thereby forming a narrow and elongated signal overlapping region 150. Using the housing 170 to form the first shielding member 161 and / or the second shielding member 162 facilitates integration of the base station structure, simplifies the base station design, and improves integration.

[0057] like Figure 5b As shown, in other implementations, the shell 170 has a first through hole 171 for the first signal to be emitted and a second through hole 172 for the second signal to be emitted. Part of the shell around the first through hole 171 forms a first shielding member 161, and / or part of the shell around the second through hole 172 forms a second shielding member 162. The first signal and the second signal are emitted through different through holes respectively, which can effectively isolate the interference between the two transmitted signals and ensure that each signal can be transmitted independently and clearly.

[0058] There is also an optional example, where the base station body 100 includes a shell 170 , and the first shielding member 161 and / or the second shielding member 162 is disposed inside the shell 170 .

[0059] like Figure 5cAs shown, a first shielding member 161 and / or a second shielding member 162 are provided within the housing 170. The first shielding member 161 and / or the second shielding member 162 are positioned in front of the left side of the first transmitter 121 and / or in front of the right side of the second transmitter 122 to partially block the first signal and / or the second signal, thereby forming a narrow signal overlap region 150. Protecting the first shielding member 161 and the second shielding member 162 by the housing 170 helps prevent the shielding member from being affected by the external environment, thereby improving the stability and service life of the shielding member. Furthermore, the design of separate and independent shielding members provides a more flexible shielding method that can adapt to different installation and usage environments. This helps to improve the adaptability and flexibility of the system while maintaining precise signal control.

[0060] In addition, there is an optional example in which the transmission direction of the first signal is inclined toward the transmission direction of the second signal, and the transmission direction of the second signal is inclined toward the transmission direction of the first signal.

[0061] like Figure 6 As shown, in some implementations where the shielding portion 160 is not provided on the base station body 110, the first transmitter 121 transmits the first signal toward the right, so that the transmission direction of the first signal is tilted toward the transmission direction of the second signal. The second transmitter 122 transmits the signal toward the left, so that the transmission direction of the second signal is tilted toward the direction of the first signal. The coverage angles of the first signal and the second signal are both between 40 degrees and 80 degrees. By setting a suitable tilt angle for the first transmitter 121 and the second transmitter 122 (such as setting the tilt angle between 20 degrees and 50 degrees), a narrow signal overlap area 150 is formed between the first boundary line 141 and the fourth boundary line 132. By adjusting the installation angles of the first transmitter 121 and the second transmitter 122, the transmission direction of the first signal can be tilted toward the transmission direction of the second signal, and the transmission direction of the second signal can be tilted toward the transmission direction of the first signal. A narrow middle area where the first signal and the second signal overlap is obtained, so that the angle between the two opposite sides of the signal overlap area 150 is less than the first preset angle. This adjustment method has a simple structure, does not require excessive structural intervention, and can optimize signal distribution.

[0062] In some specific implementations, the left and right boundaries of the signal overlap region 150 are parallel to each other, and the width between the left and right boundaries is between 5 mm and 30 mm, both of which are perpendicular to the front of the base station 100. This arrangement can form a narrow signal overlap region 150, i.e., the recharging alignment area, allowing the robot to accurately determine the preset charging position (recharging interface) of the base station from a relatively remote location, thereby improving the robot's recharging accuracy and success rate.

[0063] Figure 7This is a schematic diagram of a component unit / partial component unit of a recharging system provided in an embodiment of the present application. Figure 7 As shown, the recharging system 700 includes:

[0064] Base station 100 and robot 720.

[0065] The robot 720 is equipped with a signal receiving unit 730 , which is used to receive the first signal and / or the second signal sent by the base station 100 and guide the robot back to the base station.

[0066] It should be understood that in the example of the present application, guiding the robot 720 back to the base station 100 means guiding the robot 720 back to the preset charging position of the base station 100 to achieve automatic recharging.

[0067] Specifically, because the first and second signals form a left area 130 that covers only the second signal, a right area 140 that covers only the first signal, and a signal overlap area 150, when the signal receiving unit 730 detects only the first signal, it indicates that the robot 720 is located in the right area 140 and needs to be controlled to rotate counterclockwise at a higher linear velocity; when the signal receiving unit 730 detects only the second signal, it indicates that the robot 720 is located in the left area 130 and needs to be controlled to rotate clockwise at a higher linear velocity; when the signal receiving unit 730 detects both the first and second signals, it needs to control the robot 720 to move in a straight line; when the signal receiving unit 730 does not detect both the first and second signals, it needs to control the robot 720 to move to the area covered by the signals. Since the approximate location of the robot 720 can be determined based on the signals received by the signal receiving unit 730, unnecessary movement and search time can be reduced, and the robot can be guided to quickly move directly in front of the base station. The embodiments of the present application help reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0068] In some optional implementations, the signal receiving unit 730 may include a first receiver 721 and a second receiver 722. The first receiver 721 is configured to receive the first signal and / or the second signal, and the second receiver 722 is configured to receive the first signal and / or the second signal.

[0069] See also Figure 8a and Figure 8b In some implementations, the signal receiving unit 730 of the robot 720 includes at least two receivers, corresponding to the two infrared transmitters configured by the base station 100. The receivers may be infrared receivers. The robot 720 can receive and identify the received infrared signals based on the infrared receivers, and can also identify the signal strength of the infrared signals.

[0070] In the example of this application, by setting up a first receiver 721 and a second receiver 722, and using the first receiver 721 to receive the first signal and / or the second signal, and using the second receiver 722 to receive the first signal and / or the second signal, it helps to enhance the redundancy of signal reception and improve the stability and anti-interference capability of the system.

[0071] It should be understood that if the first receiver 721 and the second receiver 722 are typically located close together, interference between the two receivers may occur, affecting the accuracy of signal reception. In some implementations, the robot 720 may further include a third shielding member 723. The third shielding member 723 is located in front of the first receiver 721 and the second receiver 722. The third shielding member 723 is used to block a portion of the first signal and / or the second signal between the first receiver 721 and the second receiver 722 to prevent signal interference between the first receiver 721 and the second receiver 722. This helps ensure the independence and accuracy of signal reception and improves the overall performance of the system.

[0072] In some implementations, the distance between the first receiver 721 and the second receiver 722 is greater than the distance between the first transmitter 121 and the second transmitter 122 of the base station 100, enabling each receiver to detect a larger signal range. This helps improve the adaptability of the system and ensures that the robot 720 can accurately recharge in areas with varying signal coverage widths.

[0073] In some implementations, the distance between the first receiver 721 and the second receiver 722 is smaller than the width of the signal overlapping region formed by the base station 100 .

[0074] See also Figure 9 The distance between the first receiver 721 and the second receiver 722 is smaller than the width of the signal overlapping area formed by the base station 100, that is, the distance between the first receiver 721 and the second receiver 722 is smaller than the distance between the first boundary line 141 and the fourth boundary line 132. In this way, when the robot 720 is located in the signal overlapping area, it can be ensured that the signal receiving unit 730 can receive both the first signal and the second signal.

[0075] It should be understood that the robot 720 in the embodiment of the present application is located in the signal overlapping area 150, which may mean that the entire body of the robot 720 is located in the signal overlapping area, or it may mean that the signal receiving unit 730 of the robot 720 (that is, the first receiver 721 and the second receiver 722) is located in the signal overlapping area.

[0076] In some implementations, the signal receiving unit 730 may include multiple receivers. Any receiver may receive the first signal and / or the second signal. The first receiver 721 is any one of the multiple receivers, and the second receiver 722 is any one of the multiple receivers that is different from the first receiver. Providing multiple receivers helps enhance redundancy in signal reception.

[0077] It should be noted that the signal receiving unit including multiple receivers can be referred to as a first detection device. In some implementations, the robot 720 may further include a second detection device for determining the distance between the robot 720 and the base station 100. The second detection device may include one or more of the following detection methods: a global positioning system (GPS), a real-time kinematic (RTK) module, a visual sensor, a lidar, an ultrasonic radar, a millimeter-wave radar, and a magnetic field detection. Among them, GPS can provide accurate geographic location, vehicle speed, and precise time information anywhere in the world and in near-Earth space. RTK technology is mainly a combination of GPS and data transmission technology. Through real-time solution and data processing, high-precision position information in a low-altitude environment can be obtained in a very short time.

[0078] When robot 720 is in the non-signal guidance area corresponding to the first detection device, the second detection device can be used to obtain the posture of robot 720 (i.e., the position and orientation of robot 720). The movement parameters of robot 720 are adjusted based on the posture of base station 100 (the position and orientation of the base station) and the posture of robot 720, and robot 720 is controlled to move toward signal overlapping area 150.

[0079] Specifically, in some embodiments, the robot 720 is equipped with an environmental sensing unit 724, which can be one or more of a visual sensor (such as a monocular camera, a binocular camera, etc.), a laser sensor (such as a lidar), an ultrasonic sensor, and a millimeter wave sensor. The robot 720 can use the environmental sensing unit 724 to detect the distance between the robot 720 and the base station 100. The sensing area 725 is the area where the environmental sensing unit 724 can obtain the characteristic information of the base station. The sensing area 725 is as follows: Figure 9 As shown by the double-dotted dashed line in [ ]. For another example, the distance between robot 720 and base station 100 can be obtained based on a historical map. In another example, the distance between robot 720 and base station 100 can be determined based on magnetic field information detected by robot 720. The magnetic field information is generated by energized wires provided on base station 100. A combination of the aforementioned techniques can also be used to obtain the distance between the robot and base station, helping to improve control accuracy.

[0080] In some implementations, if the first receiver 721 does not receive either the first signal or the second signal, and the second receiver 722 does not receive either the first signal or the second signal, the environmental perception unit 724 can be used to obtain characteristic information of the base station 100. The characteristic information of the base station 100 may include the location information of the base station 100, the distance between the robot 720 and the base station 100, and part or all of the orientation information; based on the characteristic information of the base station 100, the robot 720 is controlled to move to the signal overlapping area 150.

[0081] In some implementations, the mobile robot 720 may also be equipped with an RTK positioning device. When the mobile robot 720 needs to be recharged, it may be far away from the base station or in a non-signal guidance area not covered by either the first or second signal. Based on the satellite positioning signals detected by the RTK and / or the environmental information detected by the environmental perception unit 724, the mobile robot 720 may be controlled to move to the signal guidance area of ​​the first and second signals, and then guided to recharge based on the first and second signals.

[0082] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0083] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel 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 application.

[0084] In the embodiments provided in this application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0085] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0086] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0087] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0088] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A base station, characterized in that: include: Base station body; A signal transmitting unit is provided on the base station body, the signal transmitting unit includes a first transmitter and a second transmitter, the first transmitter transmits a first signal, and the second transmitter transmits a second signal; The first signal and the second signal form a signal overlapping area that covers both the first signal and the second signal, and an angle between boundary lines of the signal overlapping area is smaller than a preset angle.

2. The base station according to claim 1, wherein The base station body is provided with a shielding portion, and the shielding portion shields part of the first signal and / or the second signal.

3. The base station according to claim 2, wherein The base station body is provided with a first shielding member and a second shielding member, the first shielding member shields a left portion of the first signal, and the second shielding member shields a right portion of the second signal.

4. The base station according to claim 2, wherein The base station body is provided with only a first shielding member, which shields the left side of the first signal. The emission direction of the second signal is inclined toward the emission direction of the first signal.

5. The base station according to claim 2, wherein: Only a second shielding member is provided on the base station body, and the second shielding member shields the right side of the second signal. The transmission direction of the first signal is inclined toward the transmission direction of the second signal. The base station according to claim 3, wherein: The base station body includes a shell, which is mounted on the outside of the first transmitter and the second transmitter. The shell has a first through hole for the first signal and the second signal to be emitted, and a portion of the shell around the first through hole forms the first shielding member and / or the second shielding member.

7. The base station according to claim 3, characterized in that The base station body includes a shell, and the first shielding member and / or the second shielding member is arranged inside the shell.

8. The base station according to claim 1, wherein The transmission direction of the first signal is inclined toward the transmission direction of the second signal, and the transmission direction of the second signal is inclined toward the transmission direction of the first signal.

9. A return station system, characterized in that: include: The base station according to any one of claims 1 to 8; A robot is provided with a signal receiving unit, and based on the first signal and / or the second signal received by the signal receiving unit, the robot is guided back to the base station.

10. The return station system according to claim 9, characterized in that: The signal receiving unit includes a first receiver and a second receiver, the first receiver receives the first signal and / or the second signal, and the second receiver receives the first signal and / or the second signal.

11. The return station system according to claim 10, characterized in that: A distance between the first receiver and the second receiver is smaller than a width of a signal overlapping region.

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