Transmitting device, receiving device, direction adjustment method, autonomous driving device, maintenance station and cleaning system

Abstract

The present disclosure provides a transmitting device, a receiving device, a direction adjustment method, an autonomous driving device, a maintenance station, and a cleaning system, wherein the transmitting device is assembled at a maintenance station and configured to emit a radio frequency signal, the transmitting device comprises a first transmitting assembly and a second transmitting assembly, the first transmitting assembly comprises a first transmitting source and a first optical assembly, the first optical assembly is configured such that the first transmitting source has a radio frequency signal at a first angle in a first plane; the second transmitting assembly comprises a second transmitting source and a second optical assembly, the second optical assembly is configured such that the second transmitting source has a radio frequency signal at a second angle in a second plane; wherein the first plane and the second plane are generally perpendicular.

Description

Technology Field

[0001] The present application claims priority to Chinese patent application 202311638837.4 filed on December 1, 2023, wherein the contents of the aforementioned Chinese patent application disclosure are incorporated in their entirety as part of the present disclosure.

[0002] The present disclosure relates to the field of robotic technology, specifically to a transmitting device, a receiving device, a direction adjustment method, an autonomous driving device, a maintenance station, and a cleaning system. Background Technology

[0003] With the advancement of technology, service robots—such as cleaning robots, food delivery robots, and commercial robots—are becoming widely adopted in various aspects of daily life. All types of robots are associated with the functional requirement of autonomous charging, and some cleaning robots are also involved in functions such as regular trash collection, mopping, and water replenishment. For all of these functions, the robot must be able to return to a designated location through precise navigation.

[0004] In the relevant technology, the error in the robot's station return method is relatively large, so the robot cannot precisely adjust its movement according to the signal direction to return to the center and charge, and in actual situations, it often returns to the station in an eccentric state, which causes problems such as charging failure and air leakage during dust collection. The problem to be solved

[0005] The object of the present disclosure is to provide a transmitting device, a receiving device, a direction adjustment method, an autonomous driving device, a maintenance station, and a cleaning system capable of solving at least one of the technical problems mentioned above. Specific solutions are as follows: means of solving the problem

[0006] According to an embodiment of the present disclosure, in one aspect, the present disclosure provides a transmitting device assembled at a maintenance station and configured to emit a radio frequency signal, which comprises: a first transmitting assembly—the first transmitting assembly comprises a first transmitter and a first optical assembly, wherein the first optical assembly is configured such that the first transmitter has a radio frequency signal at a first angle in a first plane; a second transmitting assembly—the second transmitting assembly comprises a second transmitter and a second optical assembly, wherein the second optical assembly is configured such that the second transmitter has a radio frequency signal at a second angle in a second plane; wherein the first plane and the second plane are generally perpendicular.

[0007] In some embodiments, the first optical assembly comprises: a first lens, the first lens having a first incident surface and a first exit surface, the first incident surface being one surface of the first lens close to the first transmitter and the first exit surface being one surface of the first lens far from the first transmitter; and the first lens is configured such that the divergence angle of a radio frequency signal emitted from the first transmitter at the first surface is increased.

[0008] In some embodiments, the first incident surface is provided with a first protrusion, the first protrusion is a strip-shaped structure, and the longitudinal direction of the strip-shaped structure and the first surface are generally perpendicular.

[0009] In some embodiments, the first protrusion is a semicircular structure, and the height direction of the semicircular structure coincides with the length direction of the strip-shaped structure.

[0010] In some embodiments, the first protrusions are numerous, and the numerous first protrusions are generally distributed in parallel.

[0011] In some embodiments, the first optical assembly also includes: a second lens, the second lens being installed between the first transmitter and the first lens, and the second lens being configured to focus a radio frequency signal emitted from the first transmitter on the first incident plane.

[0012] In some embodiments, the second lens is a focusing lens, and the focusing lens is configured to compress the divergence angle of the first transmitting assembly into a first angle range.

[0013] In some embodiments, the second optical assembly comprises: a third lens, the third lens having a second incident surface and a second exit surface, the second incident surface being one surface of the third lens close to the second transmitter and the second exit surface being one surface of the third lens far from the second transmitter; and the third lens is configured such that the divergence angle of a radio frequency signal emitted from the second transmitter at the second surface is increased.

[0014] In some embodiments, the second incident surface is provided with a second protrusion, the second protrusion is a strip-shaped structure, and the longitudinal direction of the strip-shaped structure and the second surface are generally perpendicular.

[0015] In some embodiments, the second protrusion is a semicircular structure, and the height direction of the semicircular structure coincides with the length direction of the strip-shaped structure.

[0016] In some embodiments, the second protrusions are numerous, and the numerous second protrusions are generally distributed in parallel.

[0017] In some embodiments, the second optical assembly also includes: a fourth lens, the fourth lens is installed between the second transmitter and the third lens, and the fourth lens is configured to diffuse a radio frequency signal emitted from the second transmitter.

[0018] In some embodiments, the fourth lens is a diffusion lens, and the diffusion lens is configured to diffuse the divergence angle of the second transmitting assembly into a second angle range.

[0019] In some embodiments, the angle between the third lens and the centerline of the emission beam of the second transmitter is 60 to 90°.

[0020] In some embodiments, the first surface is generally a vertical surface; and the second surface is generally a horizontal surface.

[0021] In some embodiments, the size of the first angle is 90 to 180°; and the size of the second angle is 90 to 180°.

[0022] In some embodiments, the first transmitter has a radio frequency signal of a third angle on the second plane, and the third angle is smaller than the first angle.

[0023] In some embodiments, the second transmitter has a radio frequency signal of a fourth angle from the first plane, and the fourth angle is smaller than the second angle.

[0024] In some embodiments, the first transmitter is a vertical cavity surface emitting laser; and / or the second transmitter is a vertical cavity surface emitting laser.

[0025] According to an embodiment of the present disclosure, in another aspect, the present disclosure provides a receiving device configured to be assembled to an autonomous driving device; said receiving device is configured to receive a radio frequency signal of a transmitting device according to any one of the technical methods described above.

[0026] According to an embodiment of the present disclosure, in another aspect, the present disclosure provides a direction adjustment method and, by using a transmitting device according to any one of the technical methods described above and a receiving device according to any one of the technical methods described above, controls an autonomous driving device to adjust its direction based on the state in which the receiving device receives a radio frequency signal.

[0027] In some embodiments, the receiving device comprises: a first receiver configured to receive radio frequency signals of a first transmitting assembly and a second transmitting assembly; and a second receiver configured to receive radio frequency signals of a first transmitting assembly and a second transmitting assembly, and the direction adjustment method comprises: a step of controlling the autonomous driving device to move along a straight line to a maintenance station in response to the first receiver receiving radio frequency signals of the first transmitting assembly and the second transmitting assembly and the second receiver receiving radio frequency signals of the first transmitting assembly and the second transmitting assembly.

[0028] In some embodiments, the orientation adjustment method also includes: the step of controlling the autonomous driving device to move in the direction of the first receiver in response to the first receiver receiving radio frequency signals of the first transmitting assembly and the second transmitting assembly and the second receiver receiving radio frequency signals of the second transmitting assembly.

[0029] In some embodiments, the orientation adjustment method also includes: the first receiver receiving a radio frequency signal of the second transmitting assembly and, in response to the second receiver receiving the radio frequency signals of the first transmitting assembly and the second transmitting assembly, controlling the autonomous driving device to move in the direction of the second receiver.

[0030] In some embodiments, the orientation adjustment method also includes: a step of controlling the autonomous driving device to adjust its orientation and search for the radio frequency signal of the second transmission assembly in response to the first receiver not receiving the radio frequency signal of the second transmission assembly and the second receiver not receiving the radio frequency signal of the second transmission assembly.

[0031] In some embodiments, the first receiver and the second receiver are installed along the horizontal direction.

[0032] According to an embodiment of the present disclosure, in another aspect, the present disclosure provides an autonomous driving device comprising a receiving device according to any one of the technical methods described above.

[0033] According to an embodiment of the present disclosure, in another aspect, the present disclosure provides a maintenance station comprising a transmitting device according to any one of the technical solutions described above.

[0034] According to an embodiment of the present disclosure, in another aspect, the present disclosure provides an automatic cleaning system comprising an autonomous driving device according to any one of the technical solutions described above and a maintenance station according to any one of the technical solutions described above. Effects of the invention

[0035] Compared to the prior art, the above-described method of the embodiment of the present disclosure has at least the following beneficial effects:

[0036] The transmitting device of the present disclosure implements a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two groups of transmitting devices, namely a first transmitting assembly and a second transmitting assembly, and the autonomous driving device can rapidly determine the orientation of a maintenance station along the wide divergence angle horizontal light field and then implement high-precision station return along the narrow divergence angle vertical light field. Brief explanation of the drawing

[0037] Figure 1 illustrates a schematic diagram of an autonomous station return system in the relevant technology. Figure 2 illustrates a schematic diagram of the state of an autonomous station return system in the relevant technology. FIG. 3 illustrates a structural schematic diagram of an autonomous driving device provided according to some embodiments of the present disclosure. FIG. 4 illustrates a schematic diagram of a scene after an autonomous driving device provided according to some embodiments of the present disclosure has returned to a maintenance station. FIG. 5 illustrates a schematic diagram of a transmitting device provided according to some embodiments of the present disclosure. FIG. 6 illustrates a structural schematic diagram of a transmitting device provided according to some embodiments of the present disclosure. FIG. 7 illustrates a schematic diagram of a first lens provided according to some embodiments of the present disclosure. FIG. 8 illustrates a schematic diagram of the optical path of a first lens provided according to some embodiments of the present disclosure. FIG. 9 illustrates a schematic diagram of the optical path of a second lens provided according to some embodiments of the present disclosure. FIG. 10 illustrates a schematic diagram of the optical path of a transmitting device provided according to some embodiments of the present disclosure. FIG. 11 illustrates a schematic diagram of a transmitting device provided according to some other embodiments of the present disclosure. FIG. 12 illustrates a flowchart of an orientation adjustment method for an autonomous driving device provided according to some embodiments of the present disclosure. Specific details for implementing the invention

[0038] In order to provide a clearer understanding of the purpose, technical solutions, and advantages of the present disclosure, the present disclosure will be described in more detail below in conjunction with the drawings; it is obvious that the described embodiments are merely some embodiments and not all of the embodiments of the present disclosure. All other embodiments obtained by a person skilled in the art without exerting creative effort based on the embodiments of the present disclosure fall within the scope of protection of the present disclosure.

[0039] The terms used in the embodiments of this disclosure are used solely for the purpose of describing specific embodiments and are not intended to limit this disclosure. The singular forms of "one," "above," and "corresponding" used in the embodiments of this disclosure and the appended claims are intended to include multiple forms unless the context clearly indicates a different meaning, and "plural" generally includes at least two forms.

[0040] It should be understood that the term "and / or" as used herein merely describes an association describing related objects and indicates that three types of relationships may exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the symbol " / " in this document generally indicates that the preceding and succeeding related objects are in an "or" relationship.

[0041] As can be understood, although the embodiments of this disclosure have described structures using terms such as first, second, third, etc., such structures are not to be limited to these terms. These terms are used merely to distinguish different structures. For example, without departing from the scope of the embodiments of this disclosure, the first assembly may be referred to as the second assembly, and likewise, the second assembly may be referred to as the first assembly, and depending on the context, words such as "if" and "if" used herein may be interpreted as "when..." or "in the case of..." or "in response to what is determined" or "in response to what is detected." Likewise, depending on the context, the phrase "when determined" or "when (a specified condition or event) is detected" may be interpreted as "when determined" or "in response to what is determined" or "when (a specified condition or event) is detected" or "in response to (a specified condition or event) being detected."

[0042] It is further explained that the terms “include,” “contain,” or any other variation thereof are intended to encompass non-exclusive inclusions, and a product or device comprising a series of elements may not only include such elements but also include other elements not explicitly listed, or elements unique to such product or device. Unless otherwise limited, an element defined by the phrase “includes one ...” does not exclude the existence of additional separate identical elements in the product or device comprising said element.

[0043] FIG. 1 illustrates a schematic diagram of an autonomous station return system in the relevant technology. FIG. 2 illustrates a schematic diagram of the state of an autonomous station return system in the relevant technology. As illustrated in FIG. 1 and FIG. 2, in the relevant technology, a first infrared transmitter (IR1) and a second infrared transmitter (IR2) are installed in a maintenance station (also referred to as a “station”); and a first infrared receiver (PT1) and a second infrared receiver (PT2) are installed in an autonomous driving device. When the first infrared receiver (PT1) reliably receives the signal from the first infrared transmitter (IR1) and the second infrared receiver (PT2) reliably receives the signal from the second infrared transmitter (IR2), it means that the center of the autonomous driving device and the center of the maintenance station are aligned, and the robot can move forward in a straight line until it reaches the position.

[0044] If the second infrared receiver (PT2) can receive the signal from the second infrared transmitter (IR2) but the first infrared receiver (PT1) cannot receive the signal from the first infrared transmitter (IR1), it means that the autonomous driving device is deviated toward the second infrared transmitter (IR2). Therefore, the robot's movement must be steered toward the first infrared transmitter (IR1) until the first infrared receiver (PT1) and the second infrared receiver (PT2) can reliably receive the first infrared transmitter (IR1) and the second infrared transmitter (IR2).

[0045] In the relevant technology, in order to ensure that all autonomous driving devices can receive signals within a horizontal range of 180°, the divergence angle of the first infrared transmitter (IR1) and the second infrared transmitter (IR2) is typically greater than 90°. As a result, the optical signal coverage range becomes very wide, making it impossible for the autonomous driving device to precisely adjust its operation according to the signal direction to go to the maintenance station and charge. As illustrated in FIG. 2, theoretically, the maintenance station and the robot centerline must be ensured to coincide according to the alignment state. However, since the optical signals of the first infrared transmitter (IR1) and the second infrared transmitter (IR2) have a certain width in the coverage pattern and simultaneously have a certain angle in the robot's reception, in actual situations, the robot often returns to the maintenance station in an eccentric state, which leads to problems such as charging failure and air leakage during dust collection.

[0046] To solve at least one of the technical problems mentioned above, the present disclosure provides a transmitting device (10), a receiving device, a direction adjustment method, an autonomous driving device (600), a maintenance station (700), and an automatic cleaning system. The transmitting device (10) is assembled at a maintenance station and configured to emit a radio frequency signal, which may include a first transmitting assembly (100) — wherein the first transmitting assembly (100) comprises a first transmitter (110) and a first optical assembly (120), and the first optical assembly (120) is configured to have a radio frequency signal of a first angle only on a first plane of the first transmitter (110); a second transmitting assembly (200) — wherein the second transmitting assembly (200) comprises a second transmitter (210) and a second optical assembly (220), and the second optical assembly (220) is configured to have a radio frequency signal of a second angle on a second plane of the second transmitter (210); and wherein the first plane and the second plane are generally perpendicular. The transmitting device (10) of the present disclosure implements a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two groups of transmitting devices (10), namely a first transmitting assembly (100) and a second transmitting assembly (200), and enables an autonomous driving device (600) to quickly determine the orientation of a maintenance station along the wide divergence angle horizontal light field and then implement high-precision station return along the narrow divergence angle vertical light field. In the transmitting device (10) of the present disclosure, the first transmitting assembly (100) is configured to have a radio frequency signal of a first angle only in a first plane, thereby forming a radio frequency signal with a very small divergence angle in the horizontal direction, thereby enabling high-precision station return.

[0047] An embodiment of the present disclosure will be described in detail below by combining the drawings.

[0048] FIG. 3 is a structural schematic diagram of an autonomous driving device (600) provided in some embodiments of the present disclosure. As shown in FIG. 3, the autonomous driving device (600) is an autonomous cleaning device such as a robot vacuum cleaner and may include a steering wheel and a driving wheel. Under the action of the steering wheel and the driving wheel, the autonomous driving device (600) may move on a support surface, for example, the floor. Optionally, the autonomous driving device (600) may move along a preset path, or may move in specific situations, such as when the electric power of the autonomous driving device (600) itself is low, when the dustbin of the autonomous driving device (600) itself is full of trash, or when a cleaning task is completed. The autonomous driving device (600) may move and return to a maintenance station to charge or unload trash into a dust collection container at the maintenance station.

[0049] The autonomous driving device (600) may also include charging electrodes, which are configured to be electrically connected to the maintenance station to charge after the autonomous driving device (600) returns to the maintenance station. In some embodiments, the charging electrodes are installed on the bottom surface of the autonomous driving device (600), and the quantity thereof is, for example, two, each installed on both sides of the steering wheel. As will be understood by those skilled in the art, the foregoing is merely an example of the quantity and installation location of the charging electrodes, and the present disclosure does not specifically limit the quantity and installation location of the charging electrodes.

[0050] The autonomous driving device (600) may also include a cleaning module, for example, a dry cleaning module. The cleaning module is configured to perform cleaning on at least a portion of a support surface as the autonomous driving device (600) moves on a support surface, for example, a floor. In some embodiments, the cleaning module may be installed between two drive wheels.

[0051] FIG. 4 is a schematic diagram of a scene after an autonomous driving device provided in some embodiments of the present disclosure has returned to a maintenance station (600). In some embodiments, the maintenance station (700) is configured to integrate a charging station and a dust collection station to provide functions such as energy supply, waste collection, and mop washing to the autonomous driving device (600). In some embodiments, the maintenance station (700) includes a maintenance station base and a maintenance station body. The maintenance station body (700) is configured to charge the autonomous driving device (600) and collect waste in the dust collection bin of the autonomous driving device (600), and the maintenance station body is installed on the maintenance station base. The maintenance station body includes a dust collection container and a dust collection fan. The dust collection container is, for example, cylindrical and is configured to recover waste in the dust collection bin of the autonomous driving device (600). The dust collection fan is connected to the exhaust port of the dust collection container and provides power to recover waste in the dust collection bin of the autonomous driving device (600) into the dust collection container.

[0052] The maintenance station (700) includes a charging connector and a dust intake port, the charging connector is configured to supply energy to the autonomous driving device (600), and the dust intake port is configured to dock with the dust outlet of the autonomous driving device (600), and the waste in the dust collection box of the autonomous driving device (600) enters the dust collection container of the maintenance station body through the dust intake port, wherein the charging connector is installed in the maintenance station body and the dust intake port is installed in the maintenance station base.

[0053] As illustrated in FIG. 4, after an autonomous driving device (600), such as a robot vacuum cleaner, completes cleaning and returns to a maintenance station (700), the autonomous driving device (600) moves to a maintenance station base so that the charging electrode of the autonomous driving device (600) is electrically connected to a charging connector to charge the autonomous driving device (600), and also so that the dust discharge port of the autonomous driving device (600) docks with the dust suction port of the maintenance station (700) to transfer the waste inside the dust collection box of the autonomous driving device (600) into the dust collection container of the maintenance station (700).

[0054] FIG. 5 illustrates a schematic diagram of a transmitting device (10) provided according to some embodiments of the present disclosure. FIG. 6 illustrates a structural schematic diagram of a transmitting device provided according to some embodiments of the present disclosure. As illustrated in FIG. 5 and FIG. 6, according to an embodiment of the present disclosure, the transmitting device (10) may be applied to a functional auxiliary robot device such as a maintenance station (700), a charging station, a dust collection station, a mop washing station, etc. The following description is made using the maintenance station (700) as an example, but is not limited thereto. In some embodiments, the transmitting device (10) is assembled in the maintenance station (700) and configured to emit a radio frequency signal. The transmitting device (10) may include a first transmitting assembly (100) and a second transmitting assembly (200); wherein the first transmitting assembly (100) may include a first transmitter (110) and a first optical assembly (120), and the first optical assembly (120) is configured such that the first transmitter (110) has a radio frequency signal at a first angle from a first plane; The second transmission assembly (200) may include a second transmitter (210) and a second optical assembly (220), and the second optical assembly (220) is configured such that the second transmitter (210) has a radio frequency signal of a second angle in a second plane; wherein the first plane and the second plane are generally perpendicular. The transmission device (10) provided in the embodiment of the present disclosure enables the autonomous driving device (600) to rapidly determine the orientation of the maintenance station (700) through the wide divergence angle horizontal light field and then implement high-precision station return through the narrow divergence angle vertical light field by having two groups of transmission devices, namely the first transmission assembly (100) and the second transmission assembly (200), such that one of the transmission devices forms a wide divergence angle horizontal light field and the other transmission device forms a narrow divergence angle vertical light field.

[0055] In some embodiments, the size of the first angle is 90 to 180°; and the size of the second angle is 90 to 180°. It should be explained that a radio frequency signal emitted from the first transmitting assembly (100) may form a signal emitted in the electrostatic direction from a first plane, e.g., a vertical plane; and a radio frequency signal emitted from the second transmitting assembly (200) may form a signal emitted in the electrostatic direction from a second plane, e.g., a horizontal plane, wherein the first plane and the second plane are generally vertical, and the first plane and the second plane may be non-vertical and non-horizontal planes; and the radio frequency signals emitted from the first transmitting assembly (100) and the second transmitting assembly (200) are emitted forward in a form that generally intersects vertically, that is, the radio frequency signal emitted from the first transmitting assembly (100) is a vertical light field with a narrow divergence angle in the horizontal direction, i.e., it is almost a straight line in the vertical direction, and the divergence angle in the horizontal direction is as small as possible; The radio frequency signal emitted from the second transmission assembly (200) is a wide-angle horizontal light field, has a constant angle of divergence in the vertical direction, and has a relatively wide angle of divergence in the horizontal direction, for example, close to 180 degrees, which is advantageous for station search by the autonomous driving device (600). The transmission device (10) also includes a driving circuit unit, which is used to provide appropriate driving voltage and current so that the first transmitter (110) and the second transmitter (210) perform photoelectric conversion, and since the light emission intensity of the transmitter and the driving current exhibit a linear relationship, the response distance between the transmission device and the receiving device can be effectively controlled by controlling the driving current, thereby enabling the autonomous driving device (600) to detect the maintenance station (700) from a long distance.

[0056] In some embodiments, the first transmitter (110) may be an infrared laser transmitter, etc. For example, the first transmitter (110) is a Vertical-Cavity Surface-Emitting Laser (VCSEL). By forming the vertical cavity surface-emitting laser in combination with the first optical assembly (120) to generate a horizontal narrow-divergence vertical light field that meets the precise identification requirements of the autonomous driving device (600), rapid and accurate station return is achieved. The narrow-divergence vertical light field can also prevent interference between the radio frequency signal emitted from the first transmitter (110) and the structural bracket of the autonomous driving device (600) to generate stray light, thereby making the edges of the light field distribution sharp, ensuring smooth station return operations of the machine, and achieving precise station return. In some embodiments, the wavelength range of the radio frequency signal emitted from the first transmitter (110) is 800 to 1000 nm. Wavelengths in this range can prevent interference from sunlight, thereby enabling precise station return. Specifically, the wavelength of the radio frequency signal emitted from the first transmitter (110) is 850 nm or 940 nm. Infrared lasers with wavelengths of 850 nm and 940 nm can prevent interference from sunlight (visible light) to the greatest extent possible.

[0057] FIG. 7 illustrates a schematic diagram of a first lens provided according to some embodiments of the present disclosure. FIG. 8 illustrates a schematic diagram of the optical path of a first lens provided according to some embodiments of the present disclosure. Here, the three linear lines of FIG. 8 represent three radio frequency signals passing through the first lens. As illustrated in FIG. 7 and FIG. 8, in some embodiments, a first optical assembly (120) may include a first lens (121), the first lens (121) having a first incident plane and a first exit plane, the first incident plane being one side of the first lens (121) close to a first transmitter (110), and the first exit plane being one side of the first lens (121) far from the first transmitter (110); the first lens (121) is configured such that the divergence angle of a radio frequency signal emitted from the first transmitter (110) at the first plane is increased. In some embodiments, a first protrusion (1211) is provided on the first incident surface, and the first protrusion (1211) has a strip-like structure, and the length direction of the strip-like structure and the first surface are generally perpendicular. Here, the first protrusion (1211) protrudes in a direction far from the first exit surface. The transmitting device (10) of the present disclosure is configured by installing a first lens (121) so that a radio frequency signal emitted from a first transmitter (110) passes through the first protrusion (1211) to form a narrow divergence angle vertical light field. When the radio frequency signal emitted from the first transmitter (110) passes through the first lens (121), the radio frequency signal diverges along the vertical direction, and since divergence along the horizontal direction is very minimal, a narrow divergence angle vertical light field is formed in the horizontal direction. The first protrusion (1211) protrudes in a strip shape and can be uniformly distributed on the first incident surface. For example, the first protrusion (1211) may be a semicircular protrusion, an arc-shaped protrusion, a prismatic protrusion, etc. Specifically, the first protrusion (1211) is a semicircular structure, and the height direction of the semicircular structure coincides with the length direction of the strip-shaped structure.In some embodiments, the first protrusions (1211) are multiple, and the multiple first protrusions (1211) are distributed generally in parallel.

[0058] FIG. 9 illustrates a schematic diagram of the optical path of a second lens provided according to some embodiments of the present disclosure. As shown in FIG. 9, in some embodiments, the first optical assembly (120) may also include a second lens (122), the second lens (122) is installed between a first transmitter (110) and a first lens (121), and the second lens (122) is configured to focus a radio frequency signal emitted from the first transmitter (110) onto a first incident plane.

[0059] For example, the second lens (121) may be a convex lens, a focusing lens, etc., and the radio frequency signal emitted from the second transmitter (110) is focused through the second lens (121).

[0060] Specifically, the second lens (122) is a focusing lens, and the focusing lens is configured to compress the divergence angle of the first transmission assembly (100) into a first angle range. Optionally, the radio frequency signal emitted from the first transmitter (110) is a conical beam with a divergence angle of 10° to 15° and a conical beam with a first angle range of 0.1 to 2.5°. For example, the radio frequency signal emitted from the first transmitter (110) is a conical beam with a divergence angle of 10°, and when it enters the first incident plane through focusing of the second lens (121), the radio frequency signal is a conical beam with a divergence angle of 1°.

[0061] After passing through the focusing of the second lens (122), the divergence angle of the radio frequency signal is reduced overall, and subsequently, when passing through the first protrusion (1211) of the strip-shaped structure, the divergence angle in the horizontal direction remains almost unchanged, while the divergence angle in the vertical direction increases, thereby forming a vertical light field with a narrow divergence angle in the horizontal direction. That is, the first transmitter (110) has a radio frequency signal of the third angle in the second plane, and the third angle is much smaller than the first angle. It should be explained that the larger the first angle, the more ideal it is, and the smaller the third angle, the more ideal it is. As shown in FIG. 8, the strip-shaped first protrusion (1211) extends along the horizontal direction, and the radio frequency signal emitted from the first transmitter (110) passes through the refraction of the first lens (121), so that the radio frequency signal emitted from the first transmitter (110) is not diverged in the horizontal direction but is diverged only in the vertical direction.

[0062] FIG. 10 illustrates a schematic diagram of the optical path of a transmitting device (10) provided according to some embodiments of the present disclosure. Here, FIG. 10 is a plan view when the transmitting device emits a radio frequency signal in an operating state, the dotted line with an arrow is a radio frequency signal emitted from a first transmitting assembly, and the solid line with an arrow is a radio frequency signal emitted from a second transmitting assembly; where area A is the right optical field, area B is the left optical field, the dotted line L is the center line, and α is the first angle.

[0063] As illustrated in FIG. 10, due to the divergence of the angle relative to the horizontal plane, the radio frequency signal interval (i.e., the narrow divergence angle vertical light field) emitted from the first transmission assembly (100) becomes wider as the transmission distance increases, and with a straight line perpendicular to the center of the light source in the electrostatic direction as the center line, the distance from the boundary between the left light field and the right light field to the center line is as shown in the table below:

[0064] Distance / cm between the autonomous driving device (600) and the maintenance station (700) Straight distance to the centerline Left light field Right light field 5 -0.14 0.14 10 -0.23 0.23 20 -0.41 0.41 30 -0.58 0.58 40 -0.75 0.75 50 -0.93 0.93 60 -1.10 1.10 70 -1.28 1.28 80 -1.45 1.45 90 -1.63 1.63 100 -1.80 1.80

[0065] As can be seen from the table above, the closer the distance between the autonomous driving device (600) and the maintenance station (700), the shorter the straight-line distance from the boundary between the left light field and the right light field to the centerline. That is, during the station return process of the autonomous driving device (600), the closer the distance to the maintenance station (700), the smaller the error in station return and the better the precise station return can be implemented.

[0066] In some embodiments, as illustrated in FIG. 5, the second transmitter (210) may be an infrared laser transmitter, etc. For example, the second transmitter (210) is a vertical cavity surface emitting laser. By forming the vertical cavity surface emitting laser in combination with the second optical assembly (220) to create a wide horizontal divergence angle light field that meets the identification requirements of the autonomous driving device (600), wide angle signal transmission coverage is achieved, which is advantageous for the autonomous driving device (600) to quickly capture a station return signal. In some embodiments, the wavelength range of the radio frequency signal emitted from the second transmitter (210) is 800 to 1000 nm. A wavelength in this range can prevent interference from sunlight, thereby enabling precise station search. Specifically, the wavelength of the radio frequency signal emitted from the second transmitter (210) is 850 nm or 940 nm. Lasers, infrared rays, etc., with a center wavelength of 850 nm and 940 nm can prevent interference from sunlight to the greatest extent possible.

[0067] The present disclosure combines a first transmission assembly and a second transmission assembly to form a light field distribution in which a wide horizontal light field and a narrow vertical light field are matched with each other, thereby ensuring that the autonomous driving device (600) can simultaneously achieve high-efficiency, high-accuracy station return identification and complete functions such as charging, dust collection, and water replenishment.

[0068] In some embodiments, as illustrated in FIG. 5, the second optical assembly (220) may include a third lens (221), the third lens (221) having a second incident plane and a second exit plane, the second incident plane being one side of the third lens (221) close to the second transmitter (210), and the second exit plane being one side of the third lens (221) far from the second transmitter (210); the third lens is configured to increase the divergence angle of a radio frequency signal emitted from the second transmitter at the second plane. In some embodiments, the second incident plane is provided with a second protrusion, the second protrusion being a strip-shaped structure, and the length direction of the strip-shaped structure and the second plane are generally perpendicular. Here, the second protrusion protrudes toward a direction far from the second exit plane. The transmitting device (10) of the present disclosure is configured such that a radio frequency signal emitted from a second transmitter (210) passes through a second protrusion to form a wide divergence angle horizontal light field by installing a third lens (221). That is, the second transmitter (210) has a radio frequency signal of a fourth angle on a first plane, and the fourth angle is much smaller than the second angle. It should be explained that the larger the second angle, the more ideal it is, and the smaller the fourth angle, the more ideal it is. When the radio frequency signal emitted from the second transmitter (210) passes through the third lens (221), the radio frequency signal diverges along the horizontal direction, and the divergence angle along the vertical direction hardly changes, thus forming a wide divergence angle horizontal light field. The second protrusion may be a strip-shaped protrusion and may be uniformly distributed on the second incident plane. For example, the second protrusion may be a semicircular protrusion, an arc-shaped protrusion, a prismatic protrusion, etc. Specifically, the second protrusion is a semicircular structure, and the height direction of the semicircular structure coincides with the length direction of the strip-shaped structure.

[0069] In some embodiments, the second protrusions are multiple, and the multiple second protrusions are distributed generally in parallel. In some embodiments, the second optical assembly (220) may also include a fourth lens (222), the fourth lens (222) is installed between the second transmitter (210) and the third lens (221), and the fourth lens (222) is configured to diffuse a radio frequency signal emitted from the second transmitter (210).

[0070] For example, the fourth lens (222) may be a concave lens, a diffusion lens, etc., and the radio frequency signal emitted from the second transmitter (110) is diffused through the fourth lens (222), thereby increasing the divergence angle of the radio frequency signal and increasing the positioning range of the second transmitter assembly (200). Specifically, the fourth lens (222) is a diffusion lens, and the diffusion lens is configured to diffuse the divergence angle of the second transmitter assembly into a second angle range. Optionally, the radio frequency signal emitted from the second transmitter (210) is a conical beam with a divergence angle of 10 to 15° and a conical beam with a second angle range of 80 to 100°.

[0071] For example, a radio frequency signal emitted from a second transmitter (210) is a conical beam with a divergence angle of 10°, and when it enters the second incident plane after diffusion by a third lens (221), the radio frequency signal is a conical beam with a divergence angle of 90°. After diffusion by a fourth lens (222), the divergence angle of the radio frequency signal is increased overall, and then when it passes through a second protrusion of a strip-shaped structure, the divergence angle in the vertical direction remains almost unchanged at 90°, and the divergence angle in the horizontal direction is increased to form a wide divergence angle horizontal light field such as 90 to 180°.

[0072] The transmitting device (10) of the present disclosure is configured by installing a third lens (221) so that a radio frequency signal emitted from a second transmitter (210) passes through a second protrusion to form a wide divergence angle horizontal light field; and the radio frequency signal passes through a fourth lens (222) before passing through the third lens (221) so that the radio frequency signal is emitted onto the second protrusion. The strip-shaped second protrusion extends along the vertical direction so that the radio frequency signal emitted from the second transmitter (210) is not emitted in the vertical direction but is emitted only in the horizontal direction.

[0073] The present disclosure combines a first transmission assembly and a second transmission assembly to form a light field distribution in which a wide horizontal light field and a narrow vertical light field are matched with each other, thereby ensuring that the autonomous driving device (600) can simultaneously achieve high-efficiency, high-accuracy station return identification and complete functions such as charging, dust collection, and water replenishment.

[0074] FIG. 11 illustrates a schematic diagram of a transmitting device provided according to some other embodiments of the present disclosure. As shown in FIG. 11, in some embodiments, the angle between the third lens (121) and the centerline of the emission beam of the second transmitter is 60 to 90°. Typically, since the maintenance station (700) is installed on the ground and the autonomous driving device (600) is also relatively low in height, the third lens (121) is tilted downward with respect to the centerline of the emission beam of the second transmitter to ensure that the autonomous driving device (600) can collect signals near the ground, and thus tilting the angle downward causes the signal to be projected closer to the view of the autonomous driving device (600).

[0075] In some embodiments, the first surface is generally a vertical surface. In some embodiments, the second surface is generally a horizontal surface. Specifically, the first surface is generally parallel to the vertical direction and the second surface is generally perpendicular to the horizontal direction. In some embodiments, the second surface is generally perpendicular to the vertical direction and the second surface is generally parallel to the horizontal direction. For example, when an autonomous driving device (600) needs to return to a maintenance station (700), the first transmitting assembly (100) emits a radio frequency signal, and the radio frequency signal is basically emitted inwardly along only the first surface; the second transmitting assembly (200) emits a radio frequency signal, and the radio frequency signal is emitted inwardly along a relatively wide direction of the second surface; when the receiving device of the autonomous driving device (600) receives the radio frequency signal emitted from the second transmitting assembly (200), the location of the maintenance station (700) can be determined according to the location of the signal, and then high-precision station return can be implemented through a narrow divergence angle vertical light field.

[0076] According to an embodiment of the present disclosure, in another aspect, a receiving device is provided, and the receiving device may be assembled to various types of robots such as an autonomous driving device (600), a cleaning robot, a service robot, an entertainment robot, etc.; the present embodiment is described with reference to an autonomous driving device (600) but is not limited thereto, for example, the receiving device is assembled to an autonomous driving device (600), and the receiving device is configured to receive a radio frequency signal from a transmitting device according to any one of the above embodiments, thereby implementing a station return based on the state of the received video signal.

[0077] In some embodiments, the receiving device may include: a first receiver - the first receiver is configured to receive radio frequency signals from a first transmitting assembly (100) and a second transmitting assembly (200); a second receiver - the second receiver is configured to receive radio frequency signals from a first transmitting assembly (100) and a second transmitting assembly (200); a controller - the controller is connected to the first receiver and the second receiver, respectively, and the controller is configured to control the orientation adjustment of the autonomous driving device (600) based on the state in which the first receiver and the second receiver receive radio frequency signals.

[0078] In some embodiments, the first receiver and the second receiver are installed along a horizontal direction, and of course, the first receiver and the second receiver may also be installed along a vertical direction, but are not limited thereto, and below, the case where they are installed in a horizontal direction is described as an example.

[0079] In some embodiments, the controller is configured to control the orientation of the autonomous driving device (600) based on the state in which the first receiver and the second receiver receive radio frequency signals, including the controller controlling the autonomous driving device (600) to move along a straight line to a maintenance station (700) in response to the first receiver receiving radio frequency signals from the first transmission assembly (100) and the second transmission assembly (200) and the second receiver receiving radio frequency signals from the first transmission assembly (100) and the second transmission assembly (200). In some embodiments, the controller controls the autonomous driving device (600) to move in the direction of the first receiver in response to the first receiver receiving radio frequency signals from the first transmission assembly (100) and the second transmission assembly (200) and the second receiver receiving radio frequency signals from the second transmission assembly (200). In some embodiments, the controller controls the autonomous driving device (600) to move toward the second receiver in response to the first receiver receiving the radio frequency signal of the second transmission assembly (200) and the second receiver receiving the radio frequency signals of the first transmission assembly (100) and the second transmission assembly (200). In some embodiments, the controller controls the autonomous driving device (600) to adjust its bearing to search for the radio frequency signal in response to the first receiver not receiving the radio frequency signal of the second transmission assembly (200) and the second receiver not receiving the radio frequency signal of the second transmission assembly (200).

[0080] FIG. 12 illustrates a flowchart of a method for adjusting the orientation of an autonomous driving device (600) provided according to some embodiments of the present disclosure. As illustrated in FIG. 12, according to an embodiment of the present disclosure, in another aspect, a method for adjusting the orientation is provided, and by using a transmitting device (10) according to any one of the embodiments described above and a receiving device according to any one of the embodiments described above, the autonomous driving device (600) is controlled to adjust its orientation based on the state in which the receiving device receives a radio frequency signal.

[0081] In some embodiments, the receiving device may include: a first receiver - the first receiver is configured to receive radio frequency signals of a first transmitting assembly and a second transmitting assembly; a second receiver - the second receiver is configured to receive radio frequency signals of a first transmitting assembly and a second transmitting assembly; and

[0082] The direction adjustment method may include the following steps:

[0083] Step S100: A first receiver receives radio frequency signals from a first transmission assembly (100) and a second transmission assembly (200), and in response to the second receiver receiving radio frequency signals from a first transmission assembly (100) and a second transmission assembly (200), the autonomous driving device (600) is controlled to move along a straight line to a maintenance station (700).

[0084] Here, in step S100, the first receiver and the second receiver can simultaneously receive radio frequency signals from the first transmission assembly (100) and the second transmission assembly (200), thereby proving that the autonomous driving device (600) and the maintenance station (700) are already aligned, and the autonomous driving device (600) can accurately enter the maintenance station (700) simply by moving along a straight line to the maintenance station (700).

[0085] What needs to be explained is that, as the autonomous driving device (600) moves along a straight line to the maintenance station (700), the closer the distance between the autonomous driving device (600) and the maintenance station (700), the smaller the angle in the horizontal direction of the first transmission assembly (100), that is, the narrower the width in the horizontal direction of the first transmission assembly (100), the situation of steps S200 and S300 may occur, and in this case, the process can be executed according to the method of steps S200 and S300.

[0086] Step S200: A first receiver receives radio frequency signals from a first transmission assembly (100) and a second transmission assembly (200), and in response to the second receiver receiving radio frequency signals from a second transmission assembly (200), the autonomous driving device (600) is controlled to move in the direction of the first receiver.

[0087] Here, in step S200, the first receiver can receive radio frequency signals from the first transmitting assembly (100) and the second transmitting assembly (200), and the second receiver can receive only the radio frequency signal from the second transmitting assembly (200), thus proving that the autonomous driving device (600) is biased toward the direction of the second receiver, so the autonomous driving device (600) must move toward the direction of the first receiver.

[0088] Step S300: The first receiver receives a radio frequency signal from the second transmission assembly (200), and in response to the second receiver receiving radio frequency signals from the first transmission assembly (100) and the second transmission assembly (200), the autonomous driving device (600) is controlled to move in the direction of the second receiver.

[0089] Here, in step S300, the first receiver can receive only the radio frequency signal of the second transmission assembly (200), and the second receiver can simultaneously receive the radio frequency signals of the first transmission assembly (100) and the second transmission assembly (200), thereby proving that the autonomous driving device (600) is biased toward the direction of the first receiver, so the autonomous driving device (600) must move toward the direction of the second receiver.

[0090] Step S400: In response to the first receiver not receiving the radio frequency signal of the second transmission assembly (200) and the second receiver not receiving the radio frequency signal of the second transmission assembly (200), the autonomous driving device (600) is controlled to adjust its orientation to search for the radio frequency signal.

[0091] Here, in step S400, the first receiver and the second receiver both receive the radio frequency signal of the second transmission assembly (200), and since it is proven that the autonomous driving device (600) is not within the reception range of the first receiver and the second receiver, the radio frequency signal must be searched.

[0092] In some embodiments, the first receiver and the second receiver are installed along the horizontal direction.

[0093] According to an embodiment of the present disclosure, in another aspect, an autonomous driving device (600) may include a receiving device according to any one of the embodiments described above. The receiving device is configured to receive a radio frequency signal emitted from a maintenance station (700).

[0094] According to an embodiment of the present disclosure, in another aspect, a maintenance station (700) may include a transmitting device (10) according to any one of the embodiments described above. The transmitting device (10) is configured to transmit a radio frequency signal to an autonomous driving device (600).

[0095] According to an embodiment of the present disclosure, in another aspect, an automatic cleaning system is provided that may include an autonomous driving device (600) according to any one of the embodiments described above and a maintenance station (700) according to any one of the embodiments described above. Specifically, the autonomous driving device (600) may include a receiving device according to any one of the embodiments described above; the maintenance station (700) is configured to provide a maintenance function to the autonomous driving device (600), and the maintenance station (700) may include a transmitting device (10) according to any one of the embodiments described above.

[0096] The present disclosure is intended to protect a transmitting device (10), a receiving device, a direction adjustment method, an autonomous driving device (600), a maintenance station (700), and an automatic cleaning system. The transmitting device (10) is assembled at the maintenance station (700) and configured to emit a radio frequency signal, which may include a first transmitting assembly (100) — the first transmitting assembly (100) comprises a first transmitter (110) and a first optical assembly (120), and the first optical assembly (120) is configured such that the first transmitter (110) has a radio frequency signal at a first angle in a first plane; a second transmitting assembly (200) — the second transmitting assembly (200) comprises a second transmitter (210) and a second optical assembly (220), and the second optical assembly (220) is configured such that the second transmitter (210) has a radio frequency signal at a second angle in a second plane; wherein the first plane and the second plane are generally perpendicular.

[0097] The transmitting device (10) of the present disclosure implements a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two groups of transmitting devices (10), namely a first transmitting assembly (100) and a second transmitting assembly (200), and the autonomous driving device (600) can quickly determine the orientation of the maintenance station (700) along the wide divergence angle horizontal light field and then implement high-precision station return along the narrow divergence angle vertical light field.

[0098] It should be understood that the embodiments described above in this disclosure are used merely to illustratively explain or interpret the principles of this disclosure and are not intended to limit this disclosure. Accordingly, all modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this disclosure shall be included within the scope of protection of this disclosure. Furthermore, the claims attached to this disclosure are intended to encompass all changes and modifications within the boundaries of the attached claims, or within an equivalent form of such scope and boundaries. Explanation of the symbols

[0099] 10: Transmitting device; 100: First transmission assembly; 110: First transmitter; 120: First optical assembly; 121: First lens; 1211: 1st projection; 122: Second lens; 200: Second transmission assembly; 210: Second transmitter; 220: Second optical assembly; 221: Third Lens; 222: 4th Lens. 600: Autonomous driving device; 700: Maintenance Station. IR1: First infrared transmitter; IR2: Second infrared transmitter; PT1: First infrared receiver; PT2: Second infrared receiver

Claims

Claim 1 A transmitting device comprising, as a transmitting device, assembled at a maintenance station and configured to emit a radio frequency signal, a first transmitting assembly - said first transmitting assembly comprises a first transmitter and a first optical assembly, said first optical assembly configured such that said first transmitter has a radio frequency signal at a first angle in a first plane -; and a second transmitting assembly - said second transmitting assembly comprises a second transmitter and a second optical assembly, said second optical assembly configured such that said second transmitter has a radio frequency signal at a second angle in a second plane -; wherein said first plane and said second plane are generally perpendicular. Claim 2 A transmitting device according to claim 1, wherein the first optical assembly comprises a first lens, the first lens having a first incident surface and a first exit surface, the first incident surface being one surface of the first lens close to the first transmitting source and the first exit surface being one surface of the first lens far from the first transmitting source; and the first lens is configured such that the divergence angle of a radio frequency signal emitted from the first transmitting source at the first surface is increased. Claim 3 A transmitting device according to paragraph 2, wherein the first incident surface is provided with a first protrusion, the first protrusion has a strip-shaped structure, and the longitudinal direction of the strip-shaped structure and the first surface are generally perpendicular. Claim 4 A transmitting device according to paragraph 3, wherein the first protrusion is a semicircular structure and the height direction of the semicircular structure coincides with the length direction of the strip-shaped structure. Claim 5 A transmitting device according to claim 4, wherein the first protrusions are plurality and the plurality of first protrusions are generally distributed in parallel. Claim 6 A transmitting device according to any one of claims 2 to 5, wherein the first optical assembly further comprises a second lens, the second lens is installed between the first transmitter and the first lens, and the second lens is configured to focus a radio frequency signal emitted from the first transmitter on the first incident plane. Claim 7 A transmitting device according to claim 6, wherein the second lens is a focusing lens, and the focusing lens is configured to compress the divergence angle of the first transmitting assembly into a first angle range. Claim 8 A transmitting device according to any one of claims 1 to 7, wherein the second optical assembly comprises a third lens, the third lens having a second incident surface and a second exit surface, the second incident surface being one surface of the third lens close to the second transmitting source and the second exit surface being one surface of the third lens far from the second transmitting source; and the third lens is configured such that the divergence angle of a radio frequency signal emitted from the second transmitting source at the second surface is increased. Claim 9 A transmitting device according to claim 8, wherein the second incident surface is provided with a second protrusion, the second protrusion is a strip-shaped structure, and the longitudinal direction of the strip-shaped structure and the second surface are generally perpendicular. Claim 10 A transmitting device according to claim 9, wherein the second protrusion is a semicircular structure and the height direction of the semicircular structure coincides with the length direction of the strip-shaped structure. Claim 11 A transmitting device according to claim 10, wherein the second protrusions are plurality and the plurality of second protrusions are generally distributed in parallel. Claim 12 A transmitting device according to any one of claims 9 to 11, wherein the second optical assembly further comprises a fourth lens, the fourth lens is installed between the second transmitter and the third lens, and the fourth lens is configured to spread a radio frequency signal emitted from the second transmitter. Claim 13 A transmitting device according to claim 12, wherein the fourth lens is a diffusion lens, and the diffusion lens is configured to diffuse the divergence angle of the second transmitting assembly into a second angle range. Claim 14 A transmitting device according to any one of claims 8 to 13, wherein the angle between the plane where the third lens is located and the centerline of the emission beam of the second transmitting source is 60 to 90°. Claim 15 A transmitting device according to any one of claims 1 to 14, wherein the first surface is generally a vertical surface; and the second surface is generally a horizontal surface. Claim 16 A transmitting device according to any one of claims 1 to 15, wherein the size of the first angle is 90 to 180°; and the size of the second angle is 90 to 180°. Claim 17 A transmitting device characterized in that, in any one of claims 1 to 16, the first transmitting source has a radio frequency signal of a third angle on the second plane, and the third angle is smaller than the first angle; or the second transmitting source has a radio frequency signal of a fourth angle on the first plane, and the fourth angle is smaller than the second angle. Claim 18 A transmitting device characterized in that, in any one of claims 1 to 17, the first transmitting source is a vertical-cavity surface-emitting laser; or the second transmitting source is a vertical-cavity surface-emitting laser. Claim 19 A receiving device configured to be assembled to an autonomous driving device; said receiving device configured to receive a radio frequency signal of a transmitting device according to any one of claims 1 to 18. Claim 20 A direction adjustment method comprising the step of controlling an autonomous driving device to adjust the direction based on the state in which the receiving device receives a radio frequency signal by using a transmitting device according to any one of claims 1 to 18 and a receiving device according to claim 19. Claim 21 In claim 20, the receiving device comprises: a first receiver—the first receiver is configured to receive radio frequency signals of a first transmitting assembly and a second transmitting assembly—; and a second receiver—the second receiver is configured to receive radio frequency signals of a first transmitting assembly and a second transmitting assembly—; and the direction adjustment method comprises the steps of: controlling the autonomous driving device to move along a straight line to a maintenance station in response to the first receiver receiving radio frequency signals of the first transmitting assembly and the second transmitting assembly and the second receiver receiving radio frequency signals of the first transmitting assembly and the second transmitting assembly; and controlling the autonomous driving device to move in the direction of the first receiver in response to the first receiver receiving radio frequency signals of the first transmitting assembly and the second transmitting assembly and the second receiver receiving radio frequency signals of the second transmitting assembly. A method for adjusting orientation, comprising at least one step of: a step in which the first receiver receives a radio frequency signal of the second transmission assembly and the second receiver receives radio frequency signals of the first transmission assembly and the second transmission assembly, thereby controlling the autonomous driving device to move in the direction of the second receiver; or a step in which the first receiver does not receive a radio frequency signal of the second transmission assembly and the second receiver does not receive a radio frequency signal of the second transmission assembly, thereby controlling the autonomous driving device to adjust its orientation to search for a radio frequency signal of the second transmission assembly. Claim 22 A method for adjusting orientation according to claim 21, wherein the first receiver and the second receiver are installed along a horizontal direction. Claim 23 An autonomous driving device comprising a receiving device according to paragraph 19. Claim 24 A maintenance station comprising a transmitting device according to any one of paragraphs 1 through 18. Claim 25 An automatic cleaning system comprising an autonomous driving device according to paragraph 23 and a maintenance station according to paragraph 24.

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