Transmitting device, receiving device, orientation adjusting method, self-traveling device, maintenance station and cleaning system

Abstract

The present disclosure provides a transmitting device, a receiving device, an orientation adjusting method, a self-traveling device, a maintenance station and a cleaning system. The transmitting device is configured to be assembled on the maintenance station and transmit a radio frequency signal. The transmitting device comprises: a first transmitting assembly, comprising a first transmitting source and a first optical assembly, the first optical assembly being configured to enable the first transmitting source to have a radio frequency signal of a first included angle on a first surface; and a second transmitting assembly, comprising a second transmitting source and a second optical assembly, the second optical assembly being configured to enable the second transmitting source to have a radio frequency signal of a second included angle on a second surface, wherein the first surface is approximately perpendicular to the second surface.

Description

Transmitter, receiver, azimuth adjustment method, self-propelled equipment, maintenance station, and cleaning system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311638837.4 filed on December 1, 2023, and the contents of the above-mentioned Chinese patent application disclosure are hereby cited in their entirety as part of this disclosure. Technical Field

[0003] The present disclosure relates to the field of robotics, and in particular to a transmitting device, a receiving device, an orientation adjustment method, a self-propelled device, a maintenance station, and a cleaning system. Background Art

[0004] With the advancement of technology, service robots are becoming ubiquitous in everyday life, including cleaning robots, food delivery robots, and commercial robots. All types of robots require autonomous charging, while some cleaning robots also require scheduled garbage collection, cleaning rags, and water replenishment. All of these functions require precise navigation and positioning.

[0005] In related technologies, the robot's return-to-pile scheme has a large error, and the robot cannot accurately adjust its behavior to the center for charging according to the signal direction. Therefore, in actual situations, it often returns to the pile in an eccentric state, which will lead to problems such as charging failure, dust collection and air leakage. Summary of the Invention

[0006] The present disclosure aims to provide a transmitting device, a receiving device, an azimuth adjustment method, a self-propelled device, a maintenance station, and a cleaning system that can solve at least one of the above-mentioned technical problems. The specific solution is as follows:

[0007] According to an embodiment of the present disclosure, on the one hand, the present disclosure provides a transmitting device configured to be assembled at a maintenance station and to transmit radio frequency signals, including: a first transmitting component, the first transmitting component including: a first transmitting source and a first optical component, the first optical component being configured so that the first transmitting source has a radio frequency signal with a first angle on a first surface; a second transmitting component, the second transmitting component including: a second transmitting source and a second optical component, the second optical component being configured so that the second transmitting source has a radio frequency signal with a second angle on a second surface; wherein, the first surface is approximately perpendicular to the second surface.

[0008] In some embodiments, the first optical component includes: a first lens, the first lens having a first incident surface and a first exit surface, the first incident surface being a side of the first lens close to the first emission source, and the first exit surface being a side of the first lens away from the first emission source; the first lens is configured to increase the divergence angle of the radio frequency signal emitted by the first emission source on the first surface.

[0009] In some embodiments, the first incident surface has a first protrusion, the first protrusion is a strip structure, and the length direction of the strip structure is substantially perpendicular to the first surface.

[0010] In some embodiments, the first protrusion is a semicircular structure, and the height direction of the semicircular structure is consistent with the length direction of the strip structure.

[0011] In some embodiments, there are multiple first protrusions, and the multiple first protrusions are distributed substantially in parallel.

[0012] In some embodiments, the first optical component further includes: a second lens, the second lens being disposed between the first emission source and the first lens, the second lens being configured to focus the radio frequency signal emitted by the first emission source on the first incident surface.

[0013] In some embodiments, the second lens is a focusing lens configured to compress the divergence angle of the first emitting component into a first angular range.

[0014] In some embodiments, the second optical component includes: a third lens, the third lens having a second incident surface and a second exit surface, the second incident surface being a side of the third lens close to the second emission source, and the second exit surface being a side of the third lens away from the second emission source; the third lens is configured to increase the divergence angle of the radio frequency signal emitted by the second emission source on the second surface.

[0015] In some embodiments, the second incident surface has a second protrusion, the second protrusion is a strip structure, and the length direction of the strip structure is substantially perpendicular to the second surface.

[0016] In some embodiments, the second protrusion is a semicircular structure, and the height direction of the semicircular structure is consistent with the length direction of the strip structure.

[0017] In some embodiments, there are multiple second protrusions, and the multiple second protrusions are substantially distributed in parallel.

[0018] In some embodiments, the second optical component further includes: a fourth lens, the fourth lens being disposed between the second emission source and the third lens, the fourth lens being configured to diffuse the radio frequency signal emitted by the second emission source.

[0019] In some embodiments, the fourth lens is a diffuser configured to diffuse the divergence angle of the second emitting component into a second angle range.

[0020] In some embodiments, the angle between the third lens and the center line of the emission light beam of the second emission source is 60-90°.

[0021] In some embodiments, the first surface is substantially a vertical surface; and the second surface is substantially a horizontal surface.

[0022] In some embodiments, the first angle is 90-180°; the second angle is 90-180°.

[0023] In some embodiments, the first transmitting source has a radio frequency signal at a third angle on the second plane, and the third angle is smaller than the first angle.

[0024] In some embodiments, the second transmitting source has a radio frequency signal with a fourth angle on the first plane, and the fourth angle is smaller than the second angle.

[0025] In some embodiments, the first emission source is a vertical cavity surface emitting laser; and / or the second emission source is a vertical cavity surface emitting laser.

[0026] According to an embodiment of the present disclosure, on the other hand, the present disclosure provides a receiving device configured to be assembled on a self-propelled device; the receiving device is configured to receive a radio frequency signal from a transmitting device as described in any one of the above technical solutions.

[0027] According to an embodiment of the present disclosure, on another aspect, the present disclosure provides an azimuth adjustment method, which controls the self-propelled device to adjust its azimuth based on the state of the radio frequency signal received by the receiving device by adopting the transmitting device described in any one of the above technical solutions and the receiving device described in any one of the above technical solutions.

[0028] In some embodiments, the receiving device includes: a first receiver, the first receiver is configured to receive the radio frequency signals of the first transmitting component and the second transmitting component; a second receiver, the second receiver is configured to receive the radio frequency signals of the first transmitting component and the second transmitting component; the azimuth adjustment method includes: in response to the first receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component and the second receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component, controlling the self-propelled equipment to move in a straight line toward the maintenance station.

[0029] In some embodiments, the orientation adjustment method further includes: in response to the first receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component and the second receiver receiving the radio frequency signal of the second transmitting component, controlling the self-propelled device to move toward the direction of the first receiver.

[0030] In some embodiments, the orientation adjustment method further includes: in response to the first receiver receiving the radio frequency signal of the second transmitting component and the second receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component, controlling the self-propelled device to move toward the direction of the second receiver.

[0031] In some embodiments, the orientation adjustment method further includes: in response to the first receiver not receiving the radio frequency signal of the second transmitting component and the second receiver not receiving the radio frequency signal of the second transmitting component, controlling the self-propelled device to adjust the orientation and search for the radio frequency signal of the second transmitting component.

[0032] In some embodiments, the first receiver and the second receiver are arranged in a horizontal direction.

[0033] According to an embodiment of the present disclosure, on another aspect, the present disclosure provides a self-propelled device, including: a receiving device as described in any one of the above technical solutions.

[0034] According to an embodiment of the present disclosure, on another aspect, the present disclosure provides a maintenance station, comprising: a launching device as described in any one of the above technical solutions.

[0035] According to an embodiment of the present disclosure, on another aspect, the present disclosure provides an automatic cleaning system, comprising: a self-propelled device as described in any one of the above technical solutions and a maintenance station as described in any one of the above technical solutions.

[0036] Compared with the prior art, the above solution of the embodiment of the present disclosure has at least the following beneficial effects:

[0037] The transmitting device disclosed herein realizes a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two groups of transmitting devices, namely the first transmitting assembly and the second transmitting assembly. The self-propelled equipment can follow the wide divergence angle horizontal light field to quickly locate the orientation of the maintenance station, and then follow the narrow divergence angle vertical light field to achieve high-precision return to the pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 shows a schematic diagram of a self-service pile return system in the related art.

[0039] FIG2 is a schematic diagram showing the status of a self-service pile return system in the related art.

[0040] FIG3 shows a schematic structural diagram of a self-propelled device according to some embodiments of the present disclosure.

[0041] FIG4 is a schematic diagram showing a scene after a self-propelled device returns to a maintenance station according to some embodiments of the present disclosure.

[0042] FIG5 shows a schematic diagram of a transmitting device according to some embodiments of the present disclosure.

[0043] FIG6 shows a schematic structural diagram of a transmitting device according to some embodiments of the present disclosure.

[0044] FIG7 shows a schematic diagram of a first lens provided according to some embodiments of the present disclosure.

[0045] FIG8 shows a schematic diagram of the optical path of a first lens according to some embodiments of the present disclosure.

[0046] FIG9 shows a schematic diagram of the optical path of a second lens according to some embodiments of the present disclosure.

[0047] FIG10 shows a schematic diagram of the optical path of a transmitting device according to some embodiments of the present disclosure.

[0048] FIG11 shows a schematic diagram of a transmitting device according to other embodiments of the present disclosure.

[0049] FIG12 shows a flow chart of a method for adjusting the orientation of a self-propelled device according to some embodiments of the present disclosure.

[0050] Reference Numerals: 10: Transmitter; 100: First Transmitter Assembly; 110: First Transmitter Source; 120: First Optical Assembly; 121: First Lens; 1211: First Protrusion; 122: Second Lens; 200: Second Transmitter Assembly; 210: Second Transmitter Source; 220: Second Optical Assembly; 221: Third Lens; 222: Fourth Lens. 600: Self-Propelled Device; 700: Maintenance Station. IR1: First Infrared Transmitter; IR2: Second Infrared Transmitter; PT1: First Infrared Receiver; PT2: Second Infrared Receiver. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only a portion of the embodiments of the present disclosure, rather than all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present disclosure without creative effort are intended to fall within the scope of protection of the present disclosure.

[0052] The terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only and are not intended to limit the present disclosure. The singular forms "a," "an," "the," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0053] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0054] It should be understood that although the terms first, second, third, etc. may be used to describe structures in the present disclosure embodiments, these structures should not be limited to these terms. These terms are only used to distinguish different structures. For example, without departing from the scope of the present disclosure embodiments, the first component may also be referred to as the second component, and similarly, the second component may also be referred to as the first component depending on the context, as used herein. The words "if", "if" can be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrases "if it is determined" or "if (statement condition or event) is detected" can be interpreted as "when it is determined" or "in response to determining" or "when detecting (statement condition or event)" or "in response to detecting (statement condition or event)".

[0055] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or device comprising the element.

[0056] Figure 1 shows a schematic diagram of a self-service return-to-pile system in the related art. Figure 2 shows a state diagram of the self-service return-to-pile system in the related art. As shown in Figures 1 and 2, in the related art, a first infrared transmitter IR1 and a second infrared transmitter IR2 are installed on the maintenance station (also called a "pile"); and a first infrared receiver PT1 and a second infrared receiver PT2 are installed on the self-propelled device. When the first infrared receiver PT1 stably receives the signal from the first infrared transmitter IR1, and the second infrared receiver PT2 stably receives the signal from the second infrared transmitter IR2, it indicates that the center of the self-propelled device and the center of the maintenance station coincide, and the robot can move forward in a straight line until it reaches its designated position. 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 indicates that the self-propelled device is offset to the side of the second infrared transmitter IR2. The robot's behavior needs to be adjusted to face the first infrared transmitter IR1 until the first and second infrared receivers PT1 and PT2 can stably receive the signals from the first and second infrared transmitters IR1 and IR2.

[0057] In related technologies, to ensure that the autonomous device can receive signals within a 180° horizontal range, the first infrared emitter IR1 and the second infrared emitter IR2 typically have a divergence angle of 90° or greater. This results in a wide optical signal coverage area, making it impossible for the autonomous device to accurately adjust its behavior based on the signal direction to reach the maintenance station for charging. As shown in Figure 2, theoretically, alignment is required to ensure that the maintenance station and the robot's centerline coincide. However, due to the limited coverage area of ​​the optical signals from the first and second infrared emitters IR1 and IR2, and the fact that the robot receives signals at a certain angle, in practice, the signals often return to the maintenance station in an off-center state, leading to charging failures, dust collection leaks, and other problems.

[0058] In order to solve at least one of the technical problems mentioned above, the present disclosure provides a transmitting device 10, a receiving device, an azimuth adjustment method, a self-propelled device 600, a maintenance station 700, and an automatic cleaning system. The transmitting device 10 is configured to be assembled at the maintenance station and transmit radio frequency signals, and may include: a first transmitting assembly 100, wherein the first transmitting assembly 100 includes a first transmitting source 110 and a first optical assembly 120, and the first optical assembly 120 is configured so that the first transmitting source 110 only has a radio frequency signal at a first angle on the first surface; a second transmitting assembly 200, wherein the second transmitting assembly 200 includes a second transmitting source 210 and a second optical assembly 220, and the second optical assembly 220 is configured so that the second transmitting source 210 has a radio frequency signal at a second angle on the second surface; wherein the first surface is substantially perpendicular to the second surface. The transmitting device 10 disclosed herein utilizes two groups of transmitting devices 10, namely a first transmitting assembly 100 and a second transmitting assembly 200, to achieve a wide-divergence horizontal light field and a narrow-divergence vertical light field. This allows the self-propelled device 600 to quickly locate the position of the maintenance station by following the wide-divergence horizontal light field, and then achieve high-precision return to the pile by following the narrow-divergence vertical light field. In the transmitting device 10 disclosed herein, by ensuring that the first transmitting assembly 100 only has an RF signal at a first angle on the first surface, an RF signal with a very small divergence angle in the horizontal direction is formed, thereby achieving high-precision return to the pile.

[0059] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0060] Figure 3 is a structural diagram of a self-propelled device 600 provided in some embodiments of the present disclosure. As shown in Figure 3, the self-propelled device 600 is a self-propelled cleaning device, such as a sweeping robot, which may include a steering wheel and a driving wheel. Under the action of the steering wheel and the driving wheel, the self-propelled device 600 can move on a supporting surface, such as the ground. Optionally, the self-propelled device 600 can move according to a pre-set route, or, in certain circumstances, such as when the self-propelled device 600 itself is low on power, the dust box of the self-propelled device 600 itself is full of garbage, and the cleaning work is completed. The self-propelled device 600 can move back to the maintenance station to be charged or to unload the garbage into the dust collection container of the maintenance station.

[0061] The autonomous vehicle 600 may also include charging electrodes, configured to electrically connect to the maintenance station for charging after the autonomous vehicle 600 returns to the maintenance station. In some embodiments, the charging electrodes are located on the bottom surface of the autonomous vehicle 600, for example, two, one on each side of the steering wheel. Those skilled in the art will appreciate that the above is merely an example of the number and location of the charging electrodes, and this disclosure does not specifically limit the number and location of the charging electrodes.

[0062] The self-propelled device 600 may further include a cleaning module, such as a dry cleaning module, configured to clean at least a portion of the support surface, such as the ground, while the self-propelled device 600 is moving on the support surface. In some embodiments, the cleaning module may be disposed between the two drive wheels.

[0063] Figure 4 is a schematic diagram of the scene after the self-propelled device 600 provided in some embodiments of the present disclosure returns to the maintenance station. In some embodiments, the maintenance station 700 integrates a charging pile and a dust collection pile, and is configured to provide energy supply, garbage collection, mop cleaning and other functions for the self-propelled device 600. In some embodiments, the maintenance station 700 includes a maintenance station base and a maintenance station body. The maintenance station 700 body can be configured to charge the self-propelled device 600 and collect garbage in the dust box of the self-propelled device 600, and the maintenance station body is arranged 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, in the shape of a barrel, and is configured to recycle garbage in the dust box of the self-propelled device 600. The dust collection fan is connected to the air outlet of the dust collection container to provide power to recycle the garbage in the dust box of the self-propelled device 600 into the dust collection container.

[0064] The maintenance station 700 includes a charging connector and a dust suction port. The charging connector is configured to supply energy to the self-propelled device 600, and the dust suction port is configured to dock with the dust outlet of the self-propelled device 600. The garbage in the dust box of the self-propelled device 600 enters the dust collection container of the maintenance station body through the dust suction port. The charging connector is set on the maintenance station body, and the dust suction port is set on the base of the maintenance station.

[0065] As shown in Figure 4, when the self-propelled device 600, such as a sweeping robot, returns to the maintenance station 700 after cleaning, the self-propelled device 600 will move to the base of the maintenance station, so that the charging electrode on the self-propelled device 600 is electrically connected to the charging connector to charge the self-propelled device 600, and the dust outlet of the self-propelled device 600 is docked with the dust suction port of the maintenance station 700 to transfer the garbage in the dust collection box of the self-propelled device 600 to the dust collection container of the maintenance station 700.

[0066] Figure 5 shows a schematic diagram of a transmitter 10 according to some embodiments of the present disclosure. Figure 6 shows a schematic diagram of the transmitter structure according to some embodiments of the present disclosure. As shown in Figures 5 and 6, according to embodiments of the present disclosure, the transmitter 10 can be applied to functional assistive robotic devices such as maintenance stations 700, charging stations, dust collection stations, and cleaning rag stations. The following description uses the maintenance station 700 as an example, but is not limited thereto. In some embodiments, the transmitter 10 is configured to be mounted on the maintenance station 700 and transmit radio frequency signals. The transmitter 10 may include a first transmitter assembly 100 and a second transmitter assembly 200. The first transmitter assembly 100 may include a first transmitter source 110 and a first optical assembly 120. The first optical assembly 120 is configured to cause the first transmitter source 110 to transmit radio frequency signals at a first angle on a first surface. The second transmitter assembly 200 may include a second transmitter source 210 and a second optical assembly 220. The second optical assembly 220 is configured to cause the second transmitter source 210 to transmit radio frequency signals at a second angle on a second surface. The first surface and the second surface are substantially perpendicular. The transmitting device 10 provided in the embodiment of the present disclosure uses two groups of transmitting devices, namely a first transmitting assembly 100 and a second transmitting assembly 200, so that one transmitting device forms a horizontal light field with a wide divergence angle, and the other transmitting device forms a vertical light field with a narrow divergence angle, so that the self-propelled device 600 can quickly locate the orientation of the maintenance station 700 through the wide divergence angle horizontal light field, and then achieve high-precision return to the pile through the narrow divergence angle vertical light field.

[0067] In some embodiments, the first angle is 90-180°, and the second angle is 90-180°. It should be noted that the RF signal emitted by the first transmitting assembly 100 can form a divergent signal on a first surface, such as a vertical surface, toward the front; and the RF signal emitted by the second transmitting assembly 200 can form a divergent signal on a second surface, such as a horizontal surface, toward the front. The first surface and the second surface are substantially perpendicular, and the first surface and the second surface may be non-vertical and non-horizontal surfaces. The RF signals emitted by the first transmitting assembly 100 and the second transmitting assembly 200 diverge forward in a substantially vertical cross pattern, i.e., the RF signal emitted by the first transmitting assembly 100 is a vertical light field with a narrow divergence angle in the horizontal direction, i.e., it is nearly a straight line in the vertical direction, and the divergence angle in the horizontal direction is as small as possible. The RF signal emitted by the second transmitting assembly 200 is a horizontal light field with a wide divergence angle, having a certain divergence angle in the vertical direction and a wider divergence angle in the horizontal direction, such as nearly 180 degrees, to facilitate the self-propelled device 600 in finding the pile. The transmitting device 10 also includes a driving circuit unit for providing appropriate driving voltage and current to enable the first transmitting source 110 and the second transmitting source 210 to perform photoelectric conversion. The luminous intensity of the transmitting source and the driving current are linearly related. Therefore, by controlling the driving current, the response distance of the transmitting device and the receiving device can be effectively controlled to realize the function of the self-propelled equipment 600 to remotely sense the maintenance station 700.

[0068] In some embodiments, the first emission source 110 may be an infrared laser emitter, etc. For example, the first emission source 110 is a vertical-cavity surface-emitting laser (VCSEL). By combining the vertical-cavity surface-emitting laser with the first optical component 120 for shaping, a vertical light field with a narrow divergence angle in the horizontal direction that meets the precise identification requirements of the self-propelled device 600 is generated, thereby achieving fast and accurate return to the pile. The narrow divergence angle vertical light field can also avoid the interference between the radio frequency signal emitted by the first emission source 110 and the structural support of the self-propelled device 600, resulting in stray light, making the edge of the light field distribution clear, thereby ensuring smooth return to the pile by the machine and achieving precise return to the pile. In some embodiments, the wavelength range of the radio frequency signal emitted by the first emission source 110 is 800-1000nm. The wavelength in this range can avoid interference from sunlight, thereby achieving precise return to the pile. Specifically, the wavelength of the radio frequency signal emitted by the first emission source 110 is 850nm or 940nm. Infrared lasers with wavelengths of 850nm and 940nm can avoid interference from sunlight (visible light) to the greatest extent.

[0069] FIG7 is a schematic diagram of a first lens provided according to some embodiments of the present disclosure. FIG8 is a schematic diagram of an optical path of a first lens provided according to some embodiments of the present disclosure. The three lines in FIG8 represent three beams of radio frequency signals passing through the first lens. As shown in FIG7 and FIG8 , in some embodiments, the first optical component 120 may include: a first lens 121, the first lens 121 having a first incident surface and a first exit surface, the first incident surface being the side of the first lens 121 close to the first emission source 110, and the first exit surface being the side of the first lens 121 away from the first emission source 110; the first lens 121 is configured to increase the divergence angle of the radio frequency signal emitted by the first emission source 110 on the first surface. In some embodiments, the first incident surface has a first protrusion 1211, the first protrusion 1211 being a strip-shaped structure, the length direction of the strip structure being substantially perpendicular to the first surface. The first protrusion 1211 protrudes in a direction away from the first exit surface. The transmitting device 10 disclosed in the present invention is provided with a first lens 121 so that the radio frequency signal emitted by the first transmitting source 110 passes through the first protrusion 1211, forming a vertical light field with a narrow divergence angle. When the radio frequency signal emitted by the first transmitting source 110 passes through the first lens 121, the radio frequency signal diverges in the vertical direction, and the divergence in the horizontal direction is extremely small, thereby forming a vertical light field with a narrow divergence angle in the horizontal direction. The first protrusion 1211 can be a strip-shaped protrusion, uniformly distributed on the first incident surface. For example, the first protrusion 1211 can 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 is consistent with the length direction of the strip structure. In some embodiments, there are multiple first protrusions 1211, and the multiple first protrusions 1211 are distributed roughly in parallel.

[0070] FIG9 shows a schematic diagram of the optical path of the second lens provided according to some embodiments of the present disclosure. As shown in FIG9 , in some embodiments, the first optical component 120 may further include a second lens 122, which is disposed between the first emission source 110 and the first lens 121, and the second lens 122 is configured to focus the radio frequency signal emitted by the first emission source 110 on the first incident surface. For example, the second lens 121 may be a convex lens, a focusing lens, etc., and the radio frequency signal emitted by the second emission source 110 is focused by the second lens 121. Specifically, the second lens 122 is a focusing lens, which is configured to compress the divergence angle of the first emission component 100 to within a first angle range. Optionally, the radio frequency signal emitted by the first emission source 110 is a conical light beam with a divergence angle of 10°-15°, and the first angle range is a conical light beam of 0.1-2.5°. For example, the RF signal emitted by the first emission source 110 forms a conical beam with a divergence angle of 10°. After being focused by the second lens 121 and entering the first incident surface, the RF signal forms a conical beam with a divergence angle of 1°. Focused by the second lens 122, the RF signal's divergence angle is reduced overall. When it passes through the first protrusion 1211 of the strip-shaped structure, the horizontal divergence angle remains almost unchanged, while the vertical divergence angle increases, forming a vertical light field with a narrow horizontal divergence angle. In other words, the first emission source 110 generates an RF signal at a third angle on the second surface, which is significantly smaller than the first angle. It should be noted that a larger first angle is ideal, while a smaller third angle is ideal. As shown in FIG8 , the strip-shaped first protrusion 1211 extends horizontally. The RF signal emitted by the first emission source 110 is refracted by the first lens 121, resulting in the RF signal not diverging horizontally but only diverging vertically.

[0071] Figure 10 shows a schematic diagram of the optical path of the transmitting device 10 provided according to some embodiments of the present disclosure. Figure 10 is a top view of the transmitting device when transmitting a radio frequency signal in a working state. The dotted line with an arrow is the radio frequency signal transmitted by the first transmitting component, and the solid line with an arrow is the radio frequency signal transmitted by the second transmitting component; wherein area A is the right light field, area B is the left square, the dotted line L is the center line, and α is the first angle. As shown in Figure 10, with the horizontal plane as the reference, due to the divergence of the angles, the spacing of the radio frequency signals emitted by the first transmitting component 100 (i.e., the vertical light field with a narrow divergence angle) gradually widens as the transmission distance increases. With the straight line perpendicular to the center of the light source in front as the center line, the distances from the boundaries of the left light field and the right light field to the center line are shown in the following table:

[0072] As can be seen from the above table, the closer the distance between the self-propelled device 600 and the maintenance station 700 is, the shorter the straight-line distance from the boundary of the left and right light fields to the center line is. That is, when the self-propelled device 600 returns to the pile, the closer the distance to the maintenance station 700 is, the smaller the error in returning to the pile is, and the more accurate the return to the pile can be achieved.

[0073] In some embodiments, as shown in FIG5 , the second emission source 210 may be an infrared laser emitter or the like. For example, the second emission source 210 is a vertical cavity surface emitting laser. By shaping the vertical cavity surface emitting laser in combination with the second optical component 220, a wide divergent light field in the horizontal direction that meets the recognition needs of the self-propelled device 600 is generated, and a large-angle emission signal coverage is achieved to facilitate the self-propelled device 600 to quickly capture the return pile signal. In some embodiments, the wavelength range of the radio frequency signal emitted by the second emission source 210 is 800-1000nm. The wavelength in this range can avoid interference from sunlight, thereby achieving accurate pile search. Specifically, the wavelength of the radio frequency signal emitted by the second emission source 210 is 850nm or 940nm. Lasers, infrared rays, etc. with central wavelengths of 850nm and 940nm can avoid interference from sunlight to the greatest extent.

[0074] The present disclosure combines the first transmitting component with the second transmitting component to form a light field distribution that matches a wide horizontal light field and a narrow vertical light field, ensuring that the self-propelled device 600 can simultaneously achieve high-efficiency and high-accuracy identification and return to the pile, and complete functions such as charging, dust collection, and water replenishment.

[0075] In some embodiments, as shown in FIG5 , the second optical assembly 220 may include a third lens 221 having a second incident surface and a second exit surface. The second incident surface is the side of the third lens 221 closest to the second emission source 210, and the second exit surface is the side of the third lens 221 away from the second emission source 210. The third lens is configured to increase the divergence angle of the RF signal emitted by the second emission source on the second surface. In some embodiments, the second incident surface includes a second protrusion, which is a strip-shaped structure with a length direction substantially perpendicular to the second surface. The second protrusion protrudes away from the second exit surface. By providing the third lens 221, the transmitting device 10 of the present disclosure allows the RF signal emitted by the second emission source 210 to pass through the second protrusion, forming a horizontal light field with a wide divergence angle. That is, the second emission source 210 generates an RF signal at a fourth angle on the first surface, which is significantly smaller than the second angle. It should be noted that a larger second angle is more ideal, while a smaller fourth angle is more ideal. When the RF signal emitted by the second emission source 210 passes through the third lens 221, the RF signal diverges horizontally, with the divergence angle in the vertical direction remaining virtually unchanged, thereby forming a horizontal light field with a wide divergence angle. The second protrusions may be strip-shaped protrusions, evenly distributed on the second incident surface. For example, the second protrusions may be semicircular, arc-shaped, or prismatic. Specifically, the second protrusions are semicircular structures, with the height of the semicircular structure coinciding with the length of the strip-shaped structure. In some embodiments, there are multiple second protrusions, each of which is distributed approximately parallel to the other. In some embodiments, the second optical assembly 220 may further include a fourth lens 222, disposed between the second emission source 210 and the third lens 221. The fourth lens 222 is configured to diffuse the RF signal emitted by the second emission source 210. For example, the fourth lens 222 may be a concave lens, a diffuser, or the like. The RF signal emitted by the second emission source 110 is diffused by the fourth lens 222, thereby increasing the divergence angle of the RF signal and extending the positioning range of the second emission assembly 200. Specifically, the fourth lens 222 is a diffuser, and the diffuser is configured to diffuse the divergence angle of the second emitting component to within a second angle range. Optionally, the RF signal emitted by the second emission source 210 is a conical light beam with a divergence angle of 10-15°, and the second angle range is a conical light beam of 80-100°. For example, the RF signal emitted by the second emission source 210 is a conical light beam with a divergence angle of 10°. After being diffused by the third lens 221 and entering the second incident surface, the divergence angle of the RF signal is a conical light beam of 90°. After being diffused by the fourth lens 222, the divergence angle of the RF signal increases as a whole. When passing through the second protrusion of the strip structure, the divergence angle in the vertical direction hardly changes and remains at 90°. The divergence angle in the horizontal direction increases, forming a horizontal light field with a wide divergence angle, for example, 90-180°.

[0076] The transmitting device 10 of the present disclosure utilizes a third lens 221 to direct the RF signal emitted by the second transmitting source 210 through the second protrusion, forming a wide-divergence horizontal light field. Before passing through the third lens 221, the RF signal is dispersed along the second protrusion by a fourth lens 222. The strip-shaped second protrusion extends vertically, ensuring that the RF signal emitted by the second transmitting source 210 is dispersed only horizontally, without vertical divergence.

[0077] The present disclosure combines the first transmitting component with the second transmitting component to form a light field distribution that matches a wide horizontal light field and a narrow vertical light field, ensuring that the self-propelled device 600 can simultaneously achieve high-efficiency and high-accuracy identification and return to the pile, and complete functions such as charging, dust collection, and water replenishment.

[0078] FIG11 shows a schematic diagram of a transmitting device provided according to other embodiments of the present disclosure. As shown in FIG11 , in some embodiments, the angle between the third lens 121 and the center line of the emission beam of the second emission source is 60-90°. Usually, the maintenance station 700 is set on the ground, and the self-propelled device 600 is also relatively low. The third lens 121 is tilted downward relative to the center line of the emission beam of the second emission source to ensure that the self-propelled device 600 can collect signals near the ground. Therefore, the angle is tilted downward to be closer to the viewing angle of the self-propelled device 600 so as to illuminate the ground.

[0079] In some embodiments, the first surface is approximately a vertical surface. In some instances, the second surface is approximately a horizontal surface. Specifically, the first surface is approximately parallel to the vertical direction and the first surface is approximately perpendicular to the horizontal direction. In some embodiments, the second surface is approximately perpendicular to the vertical direction and the second surface is approximately parallel to the horizontal direction. For example, when the self-propelled device 600 needs to return to the maintenance station 700, the first transmitting component 100 transmits a radio frequency signal, which basically only diverges along the first surface toward the front; the second transmitting component 200 transmits a radio frequency signal, which diverges inward toward the front along the wider direction of the second surface; when the receiving device on the self-propelled device 600 receives the radio frequency signal emitted by the second transmitting component 200, it can determine the position of the maintenance station 700 based on the position of the signal, and then achieve high-precision return to the pile through a narrow divergence angle vertical light field.

[0080] According to an embodiment of the present disclosure, on the other hand, a receiving device is provided, which can be installed on various types of robots such as a self-propelled device 600, a cleaning robot, a service robot, and an entertainment robot. This embodiment is described using the self-propelled device 600 as an example, without limitation thereto. For example, the receiving device is installed on the self-propelled device 600, and the receiving device is configured to receive the radio frequency signal of the transmitting device as described in any of the above embodiments, so as to realize returning to the pile based on the state of the received video signal.

[0081] In some embodiments, the receiving device may include: a first receiver, the first receiver is configured to receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200; a second receiver, the second receiver is configured to receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200; a controller, the controller is connected to the first receiver and the second receiver respectively, and the controller is configured to control the self-propelled device 600 to adjust its direction according to the status of the radio frequency signals received by the first receiver and the second receiver.

[0082] In some embodiments, the first receiver and the second receiver are arranged in the horizontal direction. Of course, the first receiver and the second receiver can also be arranged in the vertical direction, which is not limited to this. The horizontal direction is used as an example for explanation below.

[0083] In some embodiments, the controller is configured to control the autonomous device 600 to adjust its orientation based on the status of RF signals received by the first and second receivers, including: in response to the first receiver receiving RF signals from the first and second transmitting components 100, 200 and the second receiver receiving RF signals from the first and second transmitting components 100, 200, the controller controls the autonomous device 600 to move in a straight line toward the maintenance station 700. In some embodiments, in response to the first receiver receiving RF signals from the first and second transmitting components 100, 200 and the second receiver receiving RF signals from the second transmitting component 200, the controller controls the autonomous device 600 to move toward the first receiver. In some embodiments, in response to the first receiver receiving RF signals from the second transmitting component 200 and the second receiver receiving RF signals from the first and second transmitting components 100, 200, the controller controls the autonomous device 600 to move toward the second receiver. In some embodiments, in response to the first receiver not receiving RF signals from the second transmitting component 200 and the second receiver not receiving RF signals from the second transmitting component 200, the controller controls the autonomous device 600 to adjust its orientation and search for RF signals.

[0084] Figure 12 shows a flow chart of a method for adjusting the orientation of an autonomous vehicle 600 according to some embodiments of the present disclosure. As shown in Figure 12, according to another aspect of an embodiment of the present disclosure, a method for adjusting the orientation of the autonomous vehicle 600 is provided, using a transmitting device 10 according to any of the aforementioned embodiments and a receiving device according to any of the aforementioned embodiments, and controlling the orientation of the autonomous vehicle 600 based on the state of the radio frequency signal received by the receiving device.

[0085] In some embodiments, the receiving device may include: a first receiver configured to receive radio frequency signals from the first transmitting component and the second transmitting component; a second receiver configured to receive radio frequency signals from the first transmitting component and the second transmitting component;

[0086] Azimuth adjustment methods may include:

[0087] S100 , in response to the first receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200 and the second receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200 , controlling the self-propelled device 600 to move in a straight line toward the maintenance station 700 .

[0088] Among them, in step S100, the first receiver and the second receiver can simultaneously receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200, proving that the self-propelled device 600 and the maintenance station 700 have been aligned, and the self-propelled device 600 can accurately enter the maintenance station 700 by moving in a straight line toward the maintenance station 700.

[0089] It should be noted that, when the self-propelled device 600 moves in a straight line toward the maintenance station 700, the closer the distance between the self-propelled device 600 and the maintenance station 700 is, the smaller the angle of the first launching component 100 in the horizontal direction is, that is, the narrower the width of the first launching component 100 in the horizontal direction is, the more likely steps S200 and S300 may occur. In this case, just execute steps S200 and S300.

[0090] S200 , in response to the first receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200 and the second receiver receiving the radio frequency signal of the second transmitting component 200 , controlling the self-propelled device 600 to move toward the first receiver.

[0091] Among them, in step S200, the first receiver can receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200, and the second receiver can only receive the radio frequency signal of the second transmitting component 200, which proves that the self-propelled device 600 is biased toward the direction of the second receiver, and therefore the self-propelled device 600 needs to move toward the direction of the first receiver.

[0092] S300 , in response to the first receiver receiving the radio frequency signal of the second transmitting component 200 and the second receiver receiving the radio frequency signals of the first transmitting component 100 and the second transmitting component 200 ; controlling the self-propelled device 600 to move toward the second receiver.

[0093] Among them, in step S300, the first receiver can only receive the radio frequency signal of the second transmitting component 200, and the second receiver can simultaneously receive the radio frequency signals of the first transmitting component 100 and the second transmitting component 200, proving that the self-propelled device 600 is biased toward the direction of the first receiver, and therefore the self-propelled device 600 needs to move toward the direction of the second receiver.

[0094] S400 , in response to the first receiver not receiving the radio frequency signal from the second transmitting component 200 and the second receiver not receiving the radio frequency signal from the second transmitting component 200 , controlling the autonomous vehicle 600 to adjust its orientation and search for radio frequency signals.

[0095] In step S400 , both the first receiver and the second receiver receive the radio frequency signal from the second transmitting component 200 , proving that the autonomous vehicle 600 is not within the receiving range of the first receiver and the second receiver, and therefore needs to search for radio frequency signals.

[0096] In some embodiments, the first receiver and the second receiver are arranged in a horizontal direction.

[0097] According to another aspect of an embodiment of the present disclosure, a self-propelled device 600 is provided, which may include: a receiving device as described in any one of the above embodiments. The receiving device is configured to receive a radio frequency signal transmitted by a maintenance station 700 .

[0098] According to another aspect of an embodiment of the present disclosure, a maintenance station 700 is provided, which may include: a transmitting device 10 as described in any one of the above embodiments. The transmitting device 10 is configured to transmit a radio frequency signal to the self-propelled device 600.

[0099] According to another aspect of an embodiment of the present disclosure, an automatic cleaning system is provided, which may include: a self-propelled device 600 as described in any of the above embodiments and a maintenance station 700 as described in any of the above embodiments. Specifically, the self-propelled device 600 may include a receiving device as described in any of the above embodiments; the maintenance station 700 is configured to provide maintenance functions for the self-propelled device 600, and the maintenance station 700 may include a transmitting device 10 as described in any of the above embodiments.

[0100] The present disclosure is intended to protect a transmitting device 10, a receiving device, an azimuth adjustment method, a self-propelled device 600, a maintenance station 700, and an automatic cleaning system. The transmitting device 10 is configured to be assembled at the maintenance station 700 and transmit radio frequency signals. The transmitting device 10 may include: a first transmitting assembly 100, the first transmitting assembly 100 including: a first transmitting source 110 and a first optical assembly 120, the first optical assembly 120 being configured to cause the first transmitting source 110 to transmit radio frequency signals at a first angle on a first surface; a second transmitting assembly 200, the second transmitting assembly 200 including: a second transmitting source 210 and a second optical assembly 220, the second optical assembly 220 being configured to cause the second transmitting source 210 to transmit radio frequency signals at a second angle on a second surface; wherein the first surface is substantially perpendicular to the second surface. The launching device 10 disclosed in the present invention realizes a wide divergence angle horizontal light field and a narrow divergence angle vertical light field through two groups of launching devices 10, namely the first launching component 100 and the second launching component 200. The self-propelled device 600 can follow the wide divergence angle horizontal light field to quickly locate the orientation of the maintenance station 700, and then follow the narrow divergence angle vertical light field to achieve high-precision return to the pile.

[0101] It should be understood that the above-described embodiments of the present disclosure are merely illustrative of or explanation of the principles of the present disclosure and do not constitute limitations on the present disclosure. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present disclosure should be included within the scope of protection of the present disclosure. In addition, the claims appended to the present disclosure are intended to cover all variations and modifications that fall within the scope and boundaries of the appended claims, or equivalents of such scope and boundaries.

Claims

1. A transmitting device, configured to be mounted at a maintenance station and transmit a radio frequency signal, wherein: include: A first transmitting component, the first transmitting component comprising a first transmitting source and a first optical component, the first optical component being configured to enable the first transmitting source to have a radio frequency signal at a first angle on a first surface; A second transmitting component, the second transmitting component includes a second transmitting source and a second optical component, the second optical component is configured to make the second transmitting source have a radio frequency signal at a second angle on the second surface; Wherein, the first surface is substantially perpendicular to the second surface.

2. The transmitting device according to claim 1, wherein: The first optical component comprises: A first lens, wherein the first lens has a first incident surface and a first exit surface, the first incident surface is a side of the first lens close to the first emission source, and the first exit surface is a side of the first lens away from the first emission source; the first lens is configured to increase the divergence angle of the radio frequency signal emitted by the first emission source on the first surface.

3. The transmitting device according to claim 2, wherein: The first incident surface has a first protrusion, which is a strip-shaped structure, and a length direction of the strip-shaped structure is substantially perpendicular to the first surface.

4. The transmitting device according to claim 3, wherein: The first protrusion is a semicircular structure, and the height direction of the semicircular structure is consistent with the length direction of the strip structure.

5. The transmitting device according to claim 4, wherein: There are a plurality of the first protrusions, and the plurality of the first protrusions are substantially distributed in parallel.

6. The transmitting device according to any one of claims 2 to 5, wherein: The first optical component also includes: A second lens is disposed between the first emission source and the first lens, and the second lens is configured to focus the radio frequency signal emitted by the first emission source on the first incident surface.

7. The 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 emitting component into a first angle range.

8. The transmitting device according to any one of claims 1 to 7, wherein: The second optical component comprises: A third lens, wherein the third lens has a second incident surface and a second exit surface, the second incident surface is a side of the third lens close to the second emission source, and the second exit surface is a side of the third lens away from the second emission source; the third lens is configured to increase the divergence angle of the radio frequency signal emitted by the second emission source on the second surface.

9. The transmitting device according to claim 8, wherein: The second incident surface has a second protrusion, which is a strip-shaped structure, and a length direction of the strip-shaped structure is substantially perpendicular to the second surface.

10. The transmitting device according to claim 9, wherein: The second protrusion is a semicircular structure, and the height direction of the semicircular structure is consistent with the length direction of the strip structure.

11. The transmitting device according to claim 10, wherein: There are a plurality of the second protrusions, and the plurality of the second protrusions are substantially distributed in parallel.

12. The transmitting device according to any one of claims 9 to 11, wherein: The second optical component also includes: A fourth lens is disposed between the second emission source and the third lens, and the fourth lens is configured to diffuse the radio frequency signal emitted by the second emission source.

13. The transmitting device according to claim 12, wherein: The fourth lens is a diffuser, and the diffuser is configured to diffuse the divergence angle of the second emitting component into a second angle range.

14. The 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 center line of the emission light beam of the second emission source is: 60-90°.

15. The transmitting device according to any one of claims 1 to 14, wherein: The first surface is substantially a vertical surface; The second surface is substantially a horizontal surface.

16. The transmitting device according to any one of claims 1 to 15, wherein: The first angle is 90-180°; The second angle is 90-180°.

17. The transmitting device according to any one of claims 1 to 16, wherein: The first transmitting source has a radio frequency signal with a third angle on the second plane, and the third angle is smaller than the first angle; and / or The second transmitting source has a radio frequency signal with a fourth angle on the first plane, and the fourth angle is smaller than the second angle.

18. The transmitting device according to any one of claims 1 to 17, wherein: The first emission source is a vertical cavity surface emitting laser; and / or The second emission source is a vertical cavity surface emitting laser.

19. A receiving device configured to be mounted on a self-propelled device; wherein: The receiving device is configured to receive the radio frequency signal of the transmitting device according to any one of claims 1-18.

20. A method for adjusting an orientation, comprising: By adopting the transmitting device described in any one of claims 1 to 18 and the receiving device described in claim 19, the self-propelled device is controlled to adjust its orientation based on the state of the radio frequency signal received by the receiving device.

21. The method for adjusting the position according to claim 20, wherein: The receiving device includes: a first receiver, the first receiver is configured to receive radio frequency signals of the first transmitting component and the second transmitting component; a second receiver, the second receiver is configured to receive radio frequency signals of the first transmitting component and the second transmitting component; the azimuth adjustment method includes: In response to the first receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component and the second receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component, controlling the self-propelled device to move in a straight line toward a maintenance station; and / or In response to the first receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component and the second receiver receiving the radio frequency signal of the second transmitting component, controlling the self-propelled device to move toward the first receiver; and / or In response to the first receiver receiving the radio frequency signal of the second transmitting component and the second receiver receiving the radio frequency signals of the first transmitting component and the second transmitting component, controlling the self-propelled device to move toward the second receiver; and / or In response to the first receiver not receiving the radio frequency signal of the second transmitting component and the second receiver not receiving the radio frequency signal of the second transmitting component, the self-propelled device is controlled to adjust its orientation and search for the radio frequency signal of the second transmitting component.

22. The method for adjusting the position according to claim 21, wherein: The first receiver and the second receiver are arranged along a horizontal direction.

23. A self-propelled device comprising: The receiving device as claimed in claim 19.

24. A maintenance station, comprising: A transmitting device as claimed in any one of claims 1 to 18.

25. An automatic cleaning system comprising: The self-propelled device of claim 23 and the maintenance station of claim 24.

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