Base station, system for returning to station, and movement control method

Abstract

Provided in the present application are a base station, a system for returning to a station, and a movement control method. The movement control method is used for controlling a robot to move towards the base station. The base station is provided with a first transmitter and a second transmitter, the first transmitter transmitting a first signal, and the second transmitter transmitting a second signal. A signal receiving unit that the robot is provided with receives the first signal and / or the second signal. The method comprises: when a robot needs to return to a station, controlling the robot to move to a preset position; at the preset position, acquiring a signal status received by a signal receiving unit; determining movement parameters of the robot on the basis of the signal status received by the signal receiving unit; and on the basis of the movement parameters, controlling the robot to move towards a signal overlap area, wherein the signal overlap area is an area covering both the first signal and the second signal, and an included angle between boundary lines of the signal overlap area is less than a first preset angle. The embodiments of the present application help improve the return-for-recharging efficiency and accuracy of a mobile robot during the process of returning for recharging.

Description

Base stations, return-to-base systems and mobility control methods

[0001] This application claims priority to Chinese Patent Application No. 202411464799.X, filed on October 18, 2024, entitled “Base Station, Back-to-Base System and Mobility Control Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of mobile robot technology, and in particular to a base station, a return-to-base system, and a mobile control method. Background Technology

[0003] With the continuous advancement of automation technology, mobile robots have been widely used. Mobile robots can achieve functions such as path planning, autonomous navigation, and autonomous obstacle avoidance through powerful processors and radar. However, robots mainly rely on battery power, and need to return to a base station for charging when the battery is low. Currently, mobile robots face problems such as navigation deviations and inaccurate repositioning during automatic recharging. Technical issues

[0004] Based on this, this application provides a base station, a return-to-base system, and a mobility control method. The various aspects involved in this application will be described below. Technical solutions

[0005] In a first aspect, this application provides a base station, comprising: a base station body; and a signal transmitting unit disposed on the base station body, the signal transmitting unit comprising a first transmitter and a second transmitter, the first transmitter transmitting a first signal and the second transmitter transmitting a second signal; wherein the first signal and the second signal form a signal overlap region that simultaneously covers the first signal and the second signal, and the included angle between the boundary lines of the signal overlap region is less than a first preset angle.

[0006] Secondly, this application provides a return-to-base system, comprising: a base station as described in the first aspect; and a robot equipped with a signal receiving unit, which guides the robot back to the base station based on a first signal and / or a second signal received by the signal receiving unit.

[0007] Thirdly, this application provides a motion control method for controlling a robot to move towards a base station. The base station is equipped with a signal transmitting unit, which includes a first transmitter and a second transmitter. The first transmitter transmits a first signal, and the second transmitter transmits a second signal. The robot is equipped with a signal receiving unit, which receives the first signal and / or the second signal. The method includes: when the robot needs to return to the base station, controlling the robot to move to a preset position; at the preset position, acquiring the signal status received by the signal receiving unit; determining the robot's movement parameters based on the signal status received by the signal receiving unit; and controlling the robot to move towards a signal overlap area based on the movement parameters; wherein the signal overlap area is a region that simultaneously covers the first signal and the second signal, and the included angle between the boundary lines of the signal overlap area is less than a first preset angle.

[0008] Fourthly, this application provides a computer device, comprising: a memory for storing a computer program; and a processor for executing the computer program to perform the motion control method as described in the third aspect.

[0009] Fifthly, this application provides a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, can implement the method described in the third aspect.

[0010] Sixthly, this application provides a computer program product that, when run on an electronic device, enables the electronic device to perform the method described in the third aspect. Beneficial effects

[0011] In this application, the first and second transmitters of the base station respectively transmit a first signal and a second signal, forming a narrow signal overlap area in front of the base station. When the mobile robot is guided to the signal overlap area by the first signal and / or the second signal, it is provided with clear positioning guidance. The robot is equipped with a signal receiving unit that can receive the first and second signals emitted by the base station. Based on the signal conditions received by the signal receiving unit, the robot's movement parameters are determined, and the robot is controlled to move towards the signal overlap area. This application reduces unnecessary movement and search time, enabling the robot to quickly move to the front of the base station, helping to reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0013] Figure 1 is a schematic diagram of a base station provided in an embodiment of this application.

[0014] Figure 2 is a schematic diagram of a possible model of the base station shown in Figure 1.

[0015] Figure 3 is a schematic diagram of one possible implementation of the base station shown in Figure 1.

[0016] Figures 4a and 4b are schematic diagrams of some other possible implementations of the base station shown in Figure 1.

[0017] Figures 5a-5c are schematic diagrams of some other possible implementations of the base station shown in Figure 1.

[0018] Figure 6 is a schematic diagram of another possible implementation of the base station shown in Figure 1.

[0019] Figure 7 is a schematic diagram of the composition of a recharge system provided in an embodiment of this application.

[0020] Figures 8a and 8b are schematic diagrams of a possible model of the robot shown in Figure 7.

[0021] Figure 9 is a schematic diagram showing the relative positions of the robot and the base station in the recharging system shown in Figure 7.

[0022] Figure 10 is a flowchart illustrating a motion control method provided in an embodiment of this application.

[0023] Figure 11 is a schematic diagram of one possible implementation of the base station shown in Figure 7.

[0024] Figure 12 is a schematic diagram of a simplified model of the recharge system shown in Figure 7.

[0025] Figures 13a, 13b, 13c, 13d, 13e, 13f, 13g, 13h, 13j, 13k, 13m, and 13n are schematic diagrams of the various signal states received by the robot in Figure 12.

[0026] Figure 14 is a schematic diagram of one possible implementation of the motion control method shown in Figure 10.

[0027] Figure 15 is a schematic diagram of another possible implementation of the motion control method shown in Figure 10.

[0028] Figure 16 is a schematic diagram of a possible guiding effect of the motion control method shown in Figure 10.

[0029] Figure 17 is a schematic diagram of the preset charging position of the recharge system shown in Figure 12.

[0030] Figure 18 is a possible schematic diagram of the recharge system shown in Figure 12.

[0031] Figure 19 is a schematic diagram of the first preset range in the motion control method shown in Figure 10.

[0032] Figure 20 is a schematic diagram of a possible movement path in the movement control method shown in Figure 10.

[0033] Figure 21 is a schematic diagram of another possible movement path in the movement control method shown in Figure 10.

[0034] Figure 22 is a schematic diagram of the constituent units / partial constituent units of a computer device provided in an embodiment of this application. Embodiments of the present invention

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The same or similar reference numerals are used in the drawings to represent the same or similar modules. It should be understood that the drawings are merely illustrative, and the scope of protection of this application is not limited thereto.

[0036] With the continuous advancement of automation technology, automated guided vehicles (AGVs) have become widely used. AGVs, also known as intelligent robots, self-moving robots, intelligent transport vehicles, or automated robots, specifically include lawnmower robots, cleaning robots, food delivery robots, and service robots. The widespread adoption of AGVs has made people's work more convenient, especially intelligent AGVs, which can achieve path planning, autonomous navigation, and autonomous obstacle avoidance through powerful processors and radar. For example, cleaning robots can complete cleaning tasks without human supervision, while lawnmower robots can automatically drive on lawns, planning paths and precisely cutting the grass using built-in sensors. However, these robots mainly rely on battery power, and need to return to a base station for charging when the battery is low. Autonomous charging can effectively save manpower and improve efficiency. Currently, industry solutions mainly rely on visual positioning, infrared navigation, radar positioning, laser navigation, and ultrasonic detection.

[0037] In infrared navigation technologies, the robot receives a first signal and a second signal transmitted from a base station, continuously monitoring the strength of the first signal and the second signal. The robot then moves in a direction that strengthens both signals until it reaches the base station's location. If the intersection angle of the two infrared transmitters is improperly designed, especially when the robot is far from the charging device, it may cause positioning errors. Therefore, current mobile robots often experience navigation deviations and inaccurate repositioning during automatic recharging.

[0038] Therefore, it is necessary to design a technical solution for robot recharging guidance with high navigation accuracy.

[0039] Based on this, this application proposes a base station that can have one or more functions such as charging, docking, retrieval, and supplying power. This application embodiment can accurately guide a robot to the preset charging position (recharge port) of the base station for charging. The base station of this application embodiment will be described in detail below with reference to Figure 1.

[0040] As shown in Figure 1, the base station 100 of this embodiment may include a base station body 110 and a signal transmitting unit 120. The signal transmitting unit 120 is disposed on the base station body 110 and includes a first transmitter 121 and a second transmitter 122. The first transmitter 121 transmits a first signal, and the second transmitter 122 transmits a second signal. The first signal and the second signal form a signal overlap area that simultaneously covers the first signal and the second signal, and the included angle between the boundary lines of the signal overlap area is less than a first preset angle.

[0041] As an example and not a limitation, the base station body 110 is also provided with one or more of the following: a charging unit, a docking unit, a recycling unit, and a supply unit, and the distance between the first transmitter 121 and the second transmitter 122 is between 5mm and 30mm.

[0042] In this example, as an example and not a limitation, the first signal and the second signal each have a radiation range of 5m to 12m. The transmission angles of the first signal and the second signal can be equal or unequal, and the first signal and the second signal use different encoding information so that the signal receiver of the mobile robot can distinguish between the first signal and the second signal. Referring to FIG1, based on the first signal transmitted by the first transmitter 121 and the second signal transmitted by the second transmitter 122, a signal overlap region 150 that simultaneously covers the first signal and the second signal can be formed, and the included angle between the boundary lines of the signal overlap region 150 is less than a first preset angle. The first preset angle is set to ensure the navigation accuracy of the base station 100; as an example and not a limitation, the first preset angle can be 5 degrees or 10 degrees.

[0043] In some implementations, the first transmitter 121 and the second transmitter 122 are used to transmit a first signal and a second signal with different encoded information, respectively. The first signal and the second signal can be infrared signals, laser signals, radio frequency signals, ultrasonic signals, or millimeter-wave signals. Different encoded information can refer to one or more of the following: different transmission frequencies, different wavelengths, different pulse widths, etc. In some embodiments, the first transmitter 121 and the second transmitter 122 can be of the same type. For example, the first transmitter 121 is an infrared transmitter, and the first signal is an infrared signal. The second transmitter 122 is also an infrared transmitter, and the second signal is an infrared signal. In other embodiments, the first transmitter 121 and the second transmitter 122 can be of different types. For example, the first transmitter 121 is a laser transmitter, and the first signal is a laser signal; the second transmitter 122 is an infrared transmitter, and the second signal is an infrared signal.

[0044] In some implementations, the signal transmitting unit may include multiple transmitters, with the first transmitter 121 being any one of the multiple transmitters and the second transmitter 122 being any one of the multiple transmitters that is different from the first transmitter.

[0045] As shown in Figure 2, in some implementations, the first transmitter 121 and the second transmitter 122 can be located in the middle of the front of the base station body 110, which helps to make the signal overlap area 150 located in the middle of the front of the base station 100.

[0046] For ease of explanation, the following description, in conjunction with Figures 1 to 9, will use the example of the first transmitter 121 and the second transmitter 122 being located on the left and right sides of the central axis of the base station 100, respectively. The division of the left and right sides of the central axis of the base station 100 is determined based on the user being in front of and facing the base station 100.

[0047] As shown in Figure 1, the first signal emitted by the first transmitter 121 covers a first region, which is bounded by a first boundary line 141 and a second boundary line 142, which are respectively the first left boundary line and the first right boundary line. The second signal emitted by the second transmitter 122 covers a second region, which is bounded by a third boundary line 131 and a fourth boundary line 132, which are respectively the second left boundary line and the second right boundary line.

[0048] The first transmitter 121 and the second transmitter 122 form a left region 130 that covers only the second signal, a right region 140 that covers only the first signal, and a signal overlap region 150. The left region 130 is composed of a third boundary line 131 and a first boundary line 141. The right region 140 is composed of a fourth boundary line 132 and a second boundary line 142. The signal overlap region 150 is composed of a first boundary line 141 and a fourth boundary line 132. The division of the left region 130 and the right region 140 is determined based on the user being in front of and facing the base station 100.

[0049] The signal overlap region 150 is a signal overlap area that simultaneously covers the first signal and the second signal. The outline of the signal overlap region 150 is elongated, and the included angle between the two opposite sides of the signal overlap region 150 (i.e., the first boundary line 141 and the fourth boundary line 132) is less than a first preset angle. The signal overlap region 150 may also be referred to as the intermediate region, and the center line of the signal overlap region 150 is perpendicular to the front of the base station 100.

[0050] In some embodiments, the included angle between the two opposite sides of the signal overlap region 150 (i.e., the first boundary line 141 and the fourth boundary line 132) can be 0 degrees, meaning that the two opposite sides of the signal overlap region 150 shown in FIG. 1 can be parallel. The signal overlap region 150 is used to guide the robot to a preset charging position directly in front of the base station 100 for charging.

[0051] The coverage angles of the first and second signals are between 80 and 160 degrees. The coverage angles of the first and second signals can be equal or unequal; that is, the coverage areas of the left region 130 and the right region 140 in Figure 1 can be equal or unequal. It should be understood that when the two opposite sides of the signal overlap region 150 are parallel, the coverage areas of the left region 130 and the right region 140 are equal. When the two opposite sides of the signal overlap region 150 are not parallel, the coverage areas of the left region 130 and the right region 140 are unequal.

[0052] In this embodiment, the first transmitter 121 and the second transmitter 122 transmit a first signal and a second signal, respectively. Based on the coverage of the first and second signals, a narrow signal overlap area is formed in front of the base station 100. When the mobile robot is guided to this overlap area by the first signal or / or the second signal, it receives clear positioning guidance, reducing unnecessary movement and search time and enabling the robot to quickly move to the front of the base station 100. This embodiment can guide the mobile robot back to the base station 100 efficiently and promptly even in complex environments, reducing positioning errors and helping to improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0053] The first transmitter 121 and / or the second transmitter 122 typically transmit signals radially. In some implementations, the outer contours of the left region 130 and the right region 140 are tapered (or expanded) shapes. This allows the mobile robot to gradually approach the transmission points of the first transmitter 121 and / or the second transmitter 122 during recharging, and to approach the preset charging position directly in front of the base station 100.

[0054] In some implementations, the outer contour of the left region 130 and the right region 140 can both be fan-shaped along the radiation direction of the transmitter. This allows the mobile robot to gradually approach the launch points of the first transmitter 121 and / or the second transmitter 122 during recharging, which helps improve navigation accuracy and reduce positioning errors.

[0055] The coverage angles of the signals emitted by the first transmitter 121 and the second transmitter 122 are typically large. If not properly configured, the outline of the signal overlap region 150 may be unsatisfactory. Various methods can be used to form the signal overlap region 150 of the first and second signals to suit different application scenarios.

[0056] In one optional example, the base station body 110 is provided with a blocking part 160, which is used to block part of the first signal and / or the second signal.

[0057] As shown in Figure 3, in some implementations, the blocking part 160 blocks part of the first signal and / or the second signal so that the included angle between the two opposite sides (i.e., the first boundary line 141 and the fourth boundary line 132) of the signal overlap area 150 is less than a first preset angle (e.g., 10 degrees). That is, after the first signal is blocked, the first boundary line 141 on the left side and the fourth boundary line 132 on the right side after the second signal is blocked are approximately parallel. The blocking part 160 can be located in front of the first transmitter 121 and the second transmitter 122, controlling the direction of signal propagation and optimizing signal distribution through physical blocking. In this example, by narrowing the coverage area of ​​the overlapping signals, it ensures that the robot can move directly in front of the base station 100, improving the accuracy and reliability of guiding the robot back to its charging station, and helping to accurately confine the robot to the signal overlap area 150 directly in front of the base station 100.

[0058] The shielding portion 160 can have various structural forms. In some embodiments, the shielding portion 160 can be an integral part, which helps to simplify the structure, reduce costs, and maintain precise control of the signal. In other embodiments, the shielding portion 160 can also be a separate part.

[0059] In one optional example, the base station body 100 is provided with a first blocking member 161 and a second blocking member 162, the first blocking member 161 blocking the left side of the first signal, and the second blocking member 162 blocking the right side of the second signal.

[0060] As shown in Figure 3, in some implementations, the first transmitter 121 transmits a first signal in front of the base station 100, and the second transmitter 122 transmits a second signal in front of the base station 100. The coverage area of ​​the first signal transmitted by the first transmitter 121 is located between the fifth boundary line 311 on the left and the second boundary line 142 on the right, and the coverage area of ​​the second signal transmitted by the second transmitter 122 is located between the third boundary line 131 on the left and the sixth boundary line 312 on the right. As shown in Figure 3, a first blocking member 161 is provided in the area between the fifth boundary line 311 and the second boundary line 142 on the right, and a second blocking member 162 is provided in the area between the fourth boundary line 132 and the sixth boundary line 312 on the right. The first blocking member 161 is located in front of the left side of the first transmitter 121 to block part of the first signal, and the second blocking member 162 is located in front of the right side of the second transmitter 122 to block part of the second signal. Thus, the first signal and the second signal after blocking form a narrow signal overlap area 150.

[0061] In this implementation scheme, by precisely controlling the signal transmission direction and coverage area of ​​the first and second transmitters, and combining this with the first and second blocking components 161 and 162 installed on the base station body, which respectively block the left side of the first signal and the right side of the second signal, a narrow signal overlap area 150 is formed. This effectively avoids excessive signal diffusion and mutual interference, thereby achieving precise control of the signal coverage area. This not only improves signal utilization but also reduces signal blind spots and enhances overall communication quality.

[0062] The coverage angle of the first signal after being blocked by the first blocking member 161 and the coverage angle of the second signal after being blocked by the second blocking member 162 can be the same or different. In some specific implementations, the first transmitter 121 transmits the first signal directly in front of the base station 100, and the first blocking member 161 blocks half of the area covered by the first signal. The second transmitter 122 transmits the second signal directly in front of the base station 100, and the second blocking member 162 blocks half of the area covered by the second signal. The coverage angle of the first signal is equal to the coverage angle of the second signal.

[0063] In some specific implementations, the first transmitter 121 transmits a first signal directly in front of the base station 100, and the first blocking member 161 blocks half of the area covered by the first signal. The second transmitter 122 transmits a second signal to the side front of the base station 100, and the second blocking member 162 blocks a small portion of the area covered by the second signal (i.e., less than 1 / 2 of the area), and the coverage angle of the first signal is smaller than the coverage angle of the second signal.

[0064] In some other specific implementations, the first transmitter 121 transmits a first signal toward the side front of the base station 100, and the first blocking member 161 blocks a small portion (i.e., less than 1 / 2 of the area) covered by the first signal. The second transmitter 122 transmits a second signal toward the front of the base station 100, and the second blocking member 162 blocks half of the area covered by the second signal. The coverage angle of the second signal is smaller than the coverage angle of the first signal.

[0065] In some specific implementations, the first transmitter 121 transmits a first signal towards the side and front of the base station 100, and the first blocking member 161 blocks a small portion (i.e., less than 1 / 2 of the area) covered by the first signal. The second transmitter 122 transmits a second signal towards the side and front of the base station 100, and the second blocking member 162 blocks a small portion of the area covered by the second signal. The coverage angle of the second signal can be equal to the coverage angle of the first signal.

[0066] The above four implementation methods, by setting the first blocking component 161 and the second blocking component 162, can accurately control the coverage range of the first signal and the second signal, avoid over-coverage or under-coverage of the signal, thereby improving the accuracy and efficiency of signal transmission.

[0067] Unlike the above-mentioned method of having a first blocking member 161 and a second blocking member 162 on the base station body 100, as another optional example, the base station body 100 is only provided with a first blocking member 161. The first blocking member 161 is used to block the left side of the first signal, and the transmission direction of the second signal is tilted towards the transmission direction of the first signal.

[0068] As shown in Figure 4a, in some implementations, the first transmitter 121 transmits a first signal directly in front of or to the right front of the base station 100. A first blocking member 161 is provided in front of the first transmitter 121, which blocks part of the first signal. The second transmitter 122 transmits a second signal to the left front of the base station 100 (i.e., the second transmitter 122 transmits the signal to the left, and the angle of radiation of the second signal is 40 degrees to 80 degrees). The transmission direction of the second signal is tilted towards the transmission direction of the first signal, and the coverage angle of the first signal is greater than the coverage angle of the second signal.

[0069] Unlike the above-mentioned method where the base station body 100 is provided with a first blocking member 161 and a second blocking member 162, there is also an optional example where the base station body 100 is provided with only a second blocking member 162. The second blocking member 162 is used to block the right side of the second signal, and the transmission direction of the first signal is tilted towards the transmission direction of the second signal.

[0070] As shown in Figure 4b, in some implementations, the second transmitter 122 transmits a second signal in front of or to the left front of the base station 100. A second blocking member 162 is provided in front of the second transmitter 122, which blocks part of the second signal. The first transmitter 121 transmits a first signal to the side front of the base station 100, and the transmission direction of the first signal is tilted towards the transmission direction of the second signal.

[0071] Both of the above implementation methods do not require setting two blocking components on the base station body 100. Instead, they combine setting one blocking component on the base station body 100 with adjusting the signal transmission direction to block the left side of the first signal or the right side of the second signal. This not only avoids over-coverage or under-coverage of the signal, but also helps to improve the adaptability and flexibility of the base station structure, while maintaining precise signal control.

[0072] In some implementations, the base station body 110 further includes a housing 170, which is fitted over the first transmitter 121 and the second transmitter 122. The housing 170 has a first through-hole 171 for transmitting the first signal and the second signal, and a portion of the housing around the first through-hole 171 forms a first shield 161 and / or a second shield 162.

[0073] As shown in Figure 5a, in some implementations, a first shielding member 161 and / or a second shielding member 162 are formed in part of the housing around the first through-hole 171 to shield part of the first signal and / or part of the second signal, so that the signal overlap area 150 forms a narrow and elongated region. Using the housing 170 to form the first shielding member 161 and / or the second shielding member 162 helps to integrate the base station structure, simplify the design of the base station structure, and improve integration.

[0074] As shown in Figure 5b, in some other implementations, the housing 170 has a first through hole 171 for the first signal to be emitted and a second through hole 172 for the second signal to be emitted. A portion of the housing around the first through hole 171 forms a first shield 161, and / or a portion of the housing around the second through hole 172 forms a second shield 162. By emitting the first signal and the second signal through different through holes, interference between the two transmitted signals can be effectively isolated, ensuring that each signal can be transmitted independently and clearly.

[0075] Another alternative example is that the base station body 100 includes a housing 170, with a first shielding member 161 and / or a second shielding member 162 disposed inside the housing 170.

[0076] As shown in Figure 5c, the housing 170 contains a first shielding member 161 and / or a second shielding member 162. The first shielding member 161 and / or the second shielding member 162 are located on the left front of the first transmitter 121 and / or the right front of the second transmitter 122 to shield part of the first signal and / or the second signal, thereby forming a narrow signal overlap area 150. The housing 170 protects the first shielding member 161 and the second shielding member 162, helping to prevent the shielding members from being affected by the external environment, improving their stability and service life. Furthermore, the separate, independent shielding member design provides a more flexible shielding method, adaptable to different installation and usage environments. This helps improve the system's adaptability and flexibility while maintaining precise signal control.

[0077] In addition, there is an alternative example in which the transmission direction of the first signal is tilted toward the transmission direction of the second signal, and the transmission direction of the second signal is tilted toward the transmission direction of the first signal.

[0078] As shown in Figure 6, in some implementations where the base station body 110 does not have an obstruction part 160, the first transmitter 121 transmits the first signal biased to the right, tilting the transmission direction of the first signal towards the transmission direction of the second signal. The second transmitter 122 transmits the signal biased to the left, tilting the transmission direction of the second signal towards the transmission direction of the first signal. The coverage angles of the first and second signals are both between 40 and 80 degrees. By setting appropriate tilt angles for the first transmitter 121 and the second transmitter 122 (e.g., setting the tilt angle between 20 and 50 degrees), a narrow signal overlap region 150 is formed between the first boundary line 141 and the fourth boundary line 132. By adjusting the installation angles of the first transmitter 121 and the second transmitter 122, the transmission direction of the first signal can be tilted towards the transmission direction of the second signal, and vice versa. A narrow intermediate region covered by the overlap of the first and second signals is obtained, such that the included angle between the two opposite sides of the signal overlap region 150 is less than a first preset angle. This adjustment method has a simple structure, requires no excessive structural components, and can optimize signal distribution.

[0079] In some specific implementations, the left and right boundary lines of the signal overlap area 150 are parallel to each other, and the width between the left and right boundary lines is between 5mm and 30mm, both perpendicular to the front of the base station 100. This arrangement creates a narrow signal overlap area 150, i.e., a recharge alignment area, allowing the robot to accurately determine the preset charging position (recharge interface) of the base station from a distance, thereby improving the robot's recharge accuracy and success rate.

[0080] Figure 7 is a schematic diagram of the constituent units / partial constituent units of a recharge system provided in an embodiment of this application. As shown in Figure 7, the recharge system 700 includes:

[0081] Base station 100 and robot 720.

[0082] The robot 720 is equipped with a signal receiving unit 730, which is used to receive the first signal and / or the second signal sent by the base station 100 to guide the robot back to the base station.

[0083] It should be understood that in this application example, the robot 720 is guided back to the base station 100, that is, the robot 720 is guided back to the preset charging position of the base station 100 to achieve automatic recharging.

[0084] Specifically, since the first and second signals only cover the left region 130 of the second signal, the right region 140 of the first signal, and the signal overlap region 150, when the signal receiving unit 730 detects only the first signal, it indicates that the robot 720 is located in the right region 140, and the robot 720 needs to be controlled to rotate counterclockwise at a large linear speed; when the signal receiving unit 730 detects only the second signal, it indicates that the robot 720 is located in the left region 130, and the robot 720 needs to be controlled to rotate clockwise at a large linear speed; when the signal receiving unit 730 detects both the first and second signals, the robot 720 needs to be controlled to move in a straight line; when the signal receiving unit 730 does not detect either the first or second signal, the robot 720 needs to be controlled to move to the area covered by the signal. Since the approximate location of the robot 720 can be determined by the signal received by the signal receiving unit 730, unnecessary movement and search time can be reduced, and the robot can be guided to move quickly to the front of the base station. This embodiment helps to reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0085] In some alternative implementations, the signal receiving unit 730 may include a first receiver 721 and a second receiver 722. The first receiver 721 is used to receive a first signal and / or a second signal, and the second receiver 722 is used to receive the first signal and / or the second signal.

[0086] Referring to Figures 8a and 8b, in some implementations, the signal receiving unit 730 of the robot 720 includes at least two receivers, corresponding to the two infrared transmitters configured in the base station 100. The receivers can be infrared receivers. Based on these infrared receivers, the robot 720 can receive and identify the received infrared signals, and can also identify the signal strength of the infrared signals.

[0087] In this application example, by setting a first receiver 721 and a second receiver 722, and using the first receiver 721 to receive the first signal and / or the second signal, and using the second receiver 722 to receive the first signal and / or the second signal, it is helpful to enhance the redundancy of signal reception and improve the stability and anti-interference capability of the system.

[0088] It should be understood that if the first receiver 721 and the second receiver 722 are typically close together, interference may occur between the two receivers, affecting the accuracy of signal reception. In some implementations, the robot 720 may also include a third blocking member 723. The third blocking member 723 is located in front of the first receiver 721 and the second receiver 722, and is used to block a portion of the first signal and / or the second signal between the first receiver 721 and the second receiver 722 to avoid signal interference between the first receiver 721 and the second receiver 722. This helps ensure the independence and accuracy of signal reception and improves the overall performance of the system.

[0089] In some implementations, the distance between the first receiver 721 and the second receiver 722 is greater than the distance between the first transmitter 121 and the second transmitter 122 of the base station 100, which allows each receiver to detect a larger signal range. This helps improve the system's adaptability and ensures that the robot 720 can accurately recharge in areas with varying signal coverage widths.

[0090] In some implementations, the distance between the first receiver 721 and the second receiver 722 is less than the width of the signal overlap area formed by the base station 100.

[0091] Referring to Figure 9, the distance between the first receiver 721 and the second receiver 722 is less than the width of the signal overlap area formed by the base station 100. That is, the distance between the first receiver 721 and the second receiver 722 is less than the distance between the first boundary line 141 and the fourth boundary line 132. In this way, when the robot 720 is located in the signal overlap area, it can be ensured that the signal receiving unit 730 can receive both the first signal and the second signal.

[0092] It should be understood that the robot 720 in the embodiments of this application is located in the signal overlap region 150, which can mean that the entire body of the robot 720 is located in the signal overlap region, or that the signal receiving unit 730 of the robot 720 (i.e., the first receiver 721 and the second receiver 722) is located in the signal overlap region.

[0093] In some implementations, the signal receiving unit 730 may include multiple receivers. Any receiver may receive a first signal and / or a second signal. The first receiver 721 may be any one of the multiple receivers, and the second receiver 722 may be any one of the multiple receivers that is different from the first receiver. By providing multiple receivers, the redundancy of signal reception is enhanced.

[0094] It should be noted that the signal receiving unit, which includes multiple receivers, can be referred to as the first detection device. In some implementations, the robot 720 may also include a second detection device for determining the distance between the robot 720 and the base station 100. The second detection device may include one or more of the following detection methods: Global Positioning System (GPS), Real-Time Kinematic (RTK) module, visual sensor, LiDAR, ultrasonic radar, millimeter-wave radar, and magnetic field detection. Among these, GPS can provide accurate geographical location, vehicle speed, and precise time information anywhere in the world and in near-Earth space. RTK technology mainly combines GPS with data transmission technology, and through real-time calculation and data processing, it can obtain high-precision location information in low-altitude environments in a very short time.

[0095] When robot 720 is in the non-signal-guided area corresponding to the first detection device, the pose of robot 720 (i.e., the position and orientation of robot 720) can be obtained through the second detection device. Based on the pose of base station 100 (the position and orientation of the base station) and the pose of robot 720, the movement parameters of robot 720 are adjusted to control robot 720 to move towards the signal overlap area 150.

[0096] Specifically, in some embodiments, the robot 720 is equipped with an environmental perception unit 724. The environmental perception unit 724 can be one or more of a visual sensor (such as a monocular camera, binocular camera, etc.), a laser sensor (such as LiDAR), an ultrasonic sensor, or a millimeter-wave sensor. The robot 720 can use the environmental perception unit 724 to detect the distance between the robot 720 and the base station 100. The perception area 725 is the area where the environmental perception unit 724 can acquire feature information of the base station, as shown by the double-dotted line in Figure 9. For example, the distance between the robot 720 and the base station 100 can be obtained from a historical map; or, the distance can be determined based on the magnetic field information detected by the robot 720. The magnetic field information is generated by an energized wire installed on the base station 100. A combination of the above technologies can also be used to obtain the distance between the robot and the base station, which helps improve control accuracy.

[0097] In some implementations, if the first receiver 721 does not receive either the first signal or the second signal, and the second receiver 722 does not receive either the first signal or the second signal, the environmental perception unit 724 can be used to obtain the characteristic information of the base station 100. The characteristic information of the base station 100 may include part or all of the information in the location information of the base station 100, the distance and orientation information between the robot 720 and the base station 100; based on the characteristic information of the base station 100, the robot 720 is controlled to move towards the signal overlap area 150.

[0098] In some implementations, the mobile robot 720 may also be equipped with an RTK positioning device. When the mobile robot 720 needs to recharge, it may be far from the base station or in a non-signal guidance area not covered by either the first or second signal. Based on the satellite positioning signal detected by the RTK and / or the environmental information detected by the environmental perception unit 724, the mobile robot 720 can be controlled to move to the signal guidance area of ​​the first and second signals, and then guided to recharge based on the first and second signals.

[0099] In some implementations, the environmental perception unit 724 can also be used to determine whether there are obstacles in the direction of movement of the robot 720. If there are obstacles, the environmental perception unit 724 is used to obtain the characteristic information of the obstacles; based on the characteristic information, the robot 720 is controlled to enter the obstacle avoidance mode, and after the robot 720 obtains the first signal and / or the second signal, it exits the obstacle avoidance mode and continues to guide the robot 720 to move towards the signal overlap area 150 using the first signal and / or the second signal.

[0100] The following example illustrates this application using a lawnmower robot as an example, with a first and second transmitter configured on the base station, and a first and second receiver, an RTK positioning device, and an environmental sensing unit configured on the lawnmower robot. The first and second transmitters form a signal guiding area covering the first signal and / or the second signal. The signal guiding area includes a left area, a right area, and a signal overlap area.

[0101] The preset charging location in front of the base station is situated within the signal overlap area of ​​the first and second signals, serving as a charging and return point for the lawnmower robot. When the lawnmower robot needs to return to its charging position, it is controlled to move to the preset charging location based on satellite signals detected by the RTK positioning device and / or environmental feature information detected by the environmental sensing unit.

[0102] Specifically, in the initial stage of recharging, the lawnmower may be far from the base station and in a non-signal-guided area. During the recharging process, in areas with good satellite signal, the lawnmower's movement is controlled by satellite signal; in areas with poor satellite signal, environmental feature information detected by the environmental sensing unit can be used to control the lawnmower's movement from the non-signal-guided area to the signal-guided area. Alternatively, in areas with poor satellite signal, both satellite signal and environmental information detected by the visual sensor can be used to control the lawnmower's movement to the signal-guided area.

[0103] Within the signal-guided area, a preset algorithm controls the lawnmower to move towards a preset charging location. Once the lawnmower accurately reaches the preset charging location, the robot's speed is reduced, its posture (direction) is finely adjusted, and it moves approximately in a straight line until it docks with the base station (charging station).

[0104] In this embodiment, the first and second transmitters of the base station respectively transmit a first signal and a second signal with different encoded information. Based on the coverage of the first and second signals, a signal overlap area in the middle region, as well as left and right regions, are formed in front of the base station, providing clear positioning guidance for the robot. The robot is equipped with a signal receiving unit that can receive the first and second signals emitted by the base station. This embodiment reduces unnecessary movement and search time, guiding the robot to quickly move to the front of the base station, helping to reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0105] The base station and return-to-base system embodiments of this application have been described in detail above with reference to Figures 1-9. The mobility control method embodiments of this application are described in detail below with reference to Figures 10-21. This mobility control method can be operated or implemented in a return-to-base system shown in Figure 7 to control a robot to move towards a base station. It should be understood that the descriptions of the following mobility control method embodiments correspond to the descriptions of the base station and return-to-base system embodiments. Therefore, for any parts not described in detail in the mobility control method embodiments, please refer to the foregoing base station and return-to-base system embodiments.

[0106] In this application example, the motion control method is used to control a robot to move towards a base station. The base station is equipped with a signal transmitting unit, which includes a first transmitter and a second transmitter. The first transmitter transmits a first signal, and the second transmitter transmits a second signal. The robot is equipped with a signal receiving unit, which receives the first signal and / or the second signal. The motion control method of this application embodiment will be described in detail below with reference to Figure 10. It should be noted that the sequence number of each step in this application embodiment does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application embodiment.

[0107] Figure 10 is a flowchart illustrating a motion control method provided in an embodiment of this application. As shown in Figure 10, the motion control method of this embodiment mainly includes the following steps:

[0108] Step S1010: When the robot needs to return to its station, control the robot to move to the preset position.

[0109] It should be understood that the preset position, also known as the signal guiding area, is the area that covers the first signal and / or the second signal. The signal guiding area is the area that can be guided according to the first signal and / or the second signal, and includes the left area, the right area, and the signal overlapping area as mentioned above.

[0110] Step S1020: At a preset location, acquire the signal status received by the signal receiving unit.

[0111] Step S1030: Determine the robot's movement parameters based on the signal conditions received by the signal receiving unit.

[0112] Step S1040: Based on the movement parameters, control the robot to move towards the signal overlap area.

[0113] The signal overlap region is the region that simultaneously covers the first signal and the second signal, and the included angle between the boundary lines of the signal overlap region is less than a first preset angle.

[0114] This motion control method aims to precisely guide the robot towards the base station. Specifically, it achieves precise control of the robot's movement path through the interaction between the base station's signal transmitting unit and the robot's signal receiving unit, ensuring that the robot can return to the base station efficiently and accurately.

[0115] The base station is equipped with a signal transmitting unit comprising a first transmitter and a second transmitter, which transmit a first signal and a second signal, respectively. These two signals can be the same or different types of signals, such as infrared signals, laser signals, radio frequency signals, etc., and employ different encoding information so that the robot's signal receiving unit can distinguish them. The robot's signal receiving unit can receive the first signal and / or the second signal. By analyzing the received first signal and / or the second signal, the robot can determine its current relative position and orientation with respect to the base station.

[0116] When the robot needs to return to the base station, it will first be controlled to move to a preset location. This preset location is a signal guidance area that covers the first and / or second signal. Within this preset location, the robot can receive signals from the base station or obtain signal information from the signal receiving unit, thus providing guidance for subsequent robot movements.

[0117] Furthermore, after acquiring the signal conditions received by the signal receiving unit—which may include signal strength, frequency, encoding information, etc.—the robot analyzes these signal conditions to determine its movement parameters, such as linear velocity, angular velocity, and rotation direction. For example, if the signal strength received by the signal receiving unit is weak, it indicates that the robot is far from the base station, in which case a larger linear velocity, angular velocity, and rotation direction can be determined; or, if the direction of the signal received by the signal receiving unit changes, it may be necessary to adjust the robot's rotation direction.

[0118] Finally, based on the determined movement parameters, the robot is controlled to move towards the signal overlap area. It should be understood that, as described in the foregoing embodiments, the signal overlap area is the region that simultaneously covers the first and second signals, and the angle between the boundary lines of this overlap area is less than a first preset angle. Due to the overlap of the two signals, the signals within this overlap area are more stable and accurate, providing the robot with more precise navigation information. Within this signal overlap area, the robot can more accurately determine its position relative to the base station, thereby achieving efficient and accurate return to the base station.

[0119] In some implementations, the signal receiving unit includes a first receiver and a second receiver. The movement parameters include linear velocity, angular velocity, and direction of rotation; the magnitude of the linear velocity includes multiple ranges, the magnitude of the angular velocity includes multiple ranges, and the direction of rotation includes clockwise and counterclockwise.

[0120] It should be understood that in the examples of this application, the linear velocity is divided into multiple levels, each representing a range or value of linear velocity. As the robot moves towards the base station, it can select different linear velocity levels depending on the situation. For example, when the robot is far from the base station, a higher linear velocity level can be selected to quickly approach the base station; when the robot is close to the base station or in a signal overlap area, a lower linear velocity level can be selected to more accurately adjust its position.

[0121] It should be understood that in the examples of this application, the magnitude of the angular velocity also includes multiple levels, each representing a range of angular velocities or a single angular velocity value. Angular velocity determines the robot's rotational speed. Different angular velocity levels allow the robot to adjust its direction more flexibly. For example, when the robot needs to change direction significantly, a higher angular velocity level can be selected. Conversely, when the robot only needs to make minor adjustments to its direction, a lower angular velocity level can be selected.

[0122] It should also be understood that, in the examples of this application, the rotation direction includes clockwise and counterclockwise. The robot can determine which rotation direction to choose based on the received signal conditions in order to move towards the base station more efficiently.

[0123] In step S1030, the robot's movement parameters are determined based on the signal received by the signal receiving unit. This can be achieved using the following method:

[0124] Based on the signal received by the signal receiving unit, the robot's linear velocity level, angular velocity level, and rotation direction are determined.

[0125] First, the robot analyzes the signals received by the signal receiving unit to obtain signal conditions. These signal conditions can reflect changes in the distance, direction, and relative position between the robot and the base station. As an example and not a limitation, these signal conditions may include, but are not limited to, signal strength, frequency, encoding information, and the time difference between the signals received by the two receivers.

[0126] Depending on the signal conditions received by the signal receiving unit, if the robot is far from the base station and the signal strength is weak, a higher linear speed setting can be selected to quickly approach the base station; if the robot is close to the base station or in a signal overlap area, a lower linear speed setting can be selected to avoid collisions and adjust the position more accurately.

[0127] If the robot's direction deviates significantly from the base station's direction, a higher angular velocity setting can be selected to quickly adjust the direction; if the robot's direction deviates slightly from the base station's direction, a lower angular velocity setting can be selected for fine-tuning.

[0128] Based on the direction of the signal received by the signal receiving unit and the robot's current direction, it can be determined whether the robot should choose a clockwise or counterclockwise rotation direction. For example, if the robot needs to adjust its direction to the left to approach the base station, but its current direction is to the right, then a counterclockwise rotation direction can be chosen.

[0129] In this embodiment, the first and second transmitters of the base station transmit a first signal and a second signal, respectively, forming a signal overlap area in the middle region, as well as left and right regions, in front of the base station, providing clear positioning guidance for the robot. The robot is equipped with a signal receiving unit that can receive the first and second signals emitted by the base station. Based on the signal conditions received by the signal receiving unit, the robot's movement parameters are determined, and the robot is controlled to move towards the signal overlap area. This embodiment reduces unnecessary movement and search time, enabling the robot to quickly move to the front of the base station, helping to reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0130] The mobility control method of this application will be further described below with reference to some possible implementations of the embodiments. For ease of explanation, the models of the base station and robot involved in the embodiments of this application are first simplified.

[0131] Figure 11 is a possible simplified schematic diagram of the base station in Figure 7. As shown in Figure 11, the base station 100 may include two transmitters (i.e., a first transmitter 121 and a second transmitter 122). The following description takes two transmitters as infrared transmitters, which can transmit infrared signals.

[0132] Each of the two transmitters emits a first and a second signal with different codes, both of which are infrared signals. The first and second signals form a rectangular overlapping area 150, the width of which can be 5 centimeters. The angle of the fan-shaped area of ​​the infrared signal emitted by each transmitter is 60 degrees; that is, the angles of the left area 130 and the right area 140 are both 60 degrees, for a total signal coverage angle of approximately 120 degrees. The effective range of the infrared signal varies depending on the intensity of sunlight, generally ranging from 1 to 10 meters.

[0133] Figure 12 is a simplified schematic diagram of a model of the recharge system of Figure 7. The recharge system in Figure 12 uses a simplified model of the base station 100 in Figure 11. In the simplified base station model and robot model, left and right are defined with the robot 720 positioned in front of and facing the base station 100. The second signal emitted by the second transmitter 122 can be referred to as the left signal (relative to the left side of the robot), and the first signal emitted by the first transmitter 121 can be referred to as the right signal (relative to the right side of the robot). The first signal and the second signal form a signal overlap region 150, a left region 130, and a right region 140.

[0134] The main body of robot 720 is shown by the arrow in Figure 12. Robot 720 is equipped with a first receiver 721 and a second receiver 722, as shown by the diamond-shaped blocks on the left and right sides of the arrow, respectively. Corresponding to the two infrared emitters, the first receiver 721 and the second receiver 722 are infrared receivers, capable of receiving two types of infrared signals simultaneously. The first receiver 721 is located on the left side of robot 720, and can also be called the left receiver. The second receiver 722 is located on the right side of robot 720, and can be called the right receiver. The distance between the two receivers is very close, about 3 centimeters. The two receivers have corresponding receiving angle ranges, each receiving signals from its respective side. The infrared receivers have no receiving distance and can sense any incoming infrared signal.

[0135] During operation, the first and second receivers may receive a variety of signal combinations, including receiving two infrared signals, any one infrared signal, or none of them. Since the two receivers operate independently, there are a total of 16 possible combinations. When the first receiver receives a left signal, it indicates that the first receiver may be in the left sector (sector 130). When the second receiver receives a right signal, it indicates that the second receiver may be in the right sector (sector 140). The specific signal combinations received by the first and second receivers are shown in Table 1 below.

[0136] Table 1

[0137] If we consider "Yes" in Table 1 as "1" and "No" in Table 1 as "0", then the signal states received by the first and second receivers can be combined as follows:

[0138] 1) First receiver (1,1), second receiver (1,1): This means that both the first receiver and the second receiver simultaneously receive the first signal and the second signal;

[0139] 2) First receiver (1, 1), second receiver (0, 1): This means that the first receiver receives both the first and second signals simultaneously, while the second receiver only receives the first signal;

[0140] 3) First receiver (1, 0), second receiver (1, 1): This means that the first receiver only receives the second signal, while the second receiver receives both the first and second signals simultaneously.

[0141] 4) First receiver (1,1), second receiver (0,0): This means that the first receiver receives both the first and second signals simultaneously, while the second receiver does not receive any signals.

[0142] 5) First receiver (0,0), second receiver (1,1): This means that the first receiver did not receive a signal, while the second receiver received both the first and second signals.

[0143] 6) First receiver (1, 0), second receiver (1, 0): This means that the first receiver only receives the second signal and the second receiver only receives the second signal;

[0144] 7) First receiver (0, 1), second receiver (0, 1): This means that the first receiver only receives the first signal and the second receiver only receives the first signal;

[0145] 8) First receiver (1, 0), second receiver (0, 0): This means that the first receiver only received the second signal, and the second receiver did not receive the signal;

[0146] 9) First receiver (0, 0), second receiver (0, 1): This means that the first receiver did not receive a signal, and the second receiver received the first signal;

[0147] 10) First receiver (0, 1), second receiver (0, 0): This means that the first receiver only received the first signal, and the second receiver did not receive the signal;

[0148] 11) First receiver (0, 0), second receiver (1, 0): This means that the first receiver did not receive a signal, and the second receiver received the second signal;

[0149] 12) First receiver (0,0), second receiver (0,0): This means that the first receiver did not receive a signal, and the second receiver also did not receive the second signal;

[0150] 13) First receiver (1,1), second receiver (1,0): This means that the first receiver receives both the first and second signals simultaneously, while the second receiver only receives the second signal;

[0151] 14) First receiver (0, 1), second receiver (1, 1): This means that the first receiver receives the first signal, and the second receiver receives both the first and second signals simultaneously.

[0152] 15) First receiver (0, 1), second receiver (1, 0): This means that the first receiver receives the first signal and the second receiver receives the second signal;

[0153] 16) First receiver (1, 0) and second receiver (0, 1): This means that the first receiver receives the second signal and the second receiver receives the first signal;

[0154] In summary, the signal received by the receiver has 16 possible combinations, each reflecting a specific relative position of the robot at the base station. For example, the combination of signal states can indicate the robot's position within the signal overlap area 150, the left area 130, or the right area 140. Therefore, the robot's movement parameters can be determined based on the signal received by the signal receiving unit, allowing the robot to move towards the base station according to these parameters. These movement parameters can be decomposed into linear and rotational parameters. The linear parameters include linear velocity v (in meters per second). The rotational parameters include angular velocity w (in radians per second) and rotational direction, which can be clockwise or counterclockwise.

[0155] In some implementations, angular velocity and linear velocity can be divided into multiple levels, with the appropriate speed adjusted for different application scenarios. Each level of linear velocity can represent a range of linear velocities or a single linear velocity value, and each level of angular velocity can represent a range of angular velocities or a single angular velocity value.

[0156] Specifically, the magnitude of linear velocity includes three levels: first linear velocity (i.e., the first level of linear velocity, which can represent a range of linear velocities or a single linear velocity value), second linear velocity (i.e., the second level of linear velocity, which can represent a range of linear velocities or a single linear velocity value), and zero. The first level of linear velocity is greater than the second level of linear velocity. Based on the above description, the levels of the movement parameters are shown in Table 2 below.

[0157] Table 2

[0158] By analyzing the signals received by the signal receiving unit, the robot's linear velocity, angular velocity, and rotation direction can be determined, enabling flexible and precise movement control of the robot. This meets the movement requirements in different scenarios and improves the robot's operational efficiency and response speed.

[0159] In one optional example, the robot's linear velocity level, angular velocity level, and rotation direction are determined based on the signal received by the signal receiving unit, including:

[0160] If the first receiver receives the first signal and the second signal, and the second receiver also receives the first signal and the second signal, then the linear velocity is determined to be the second linear velocity, and the angular velocity is zero.

[0161] If the first receiver receives the first signal and the second signal, and the second receiver only receives the first signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the second angular velocity, and the rotation direction is counterclockwise.

[0162] If the first receiver receives only the second signal, and the second receiver receives both the first and second signals, then the linear velocity is determined to be the second linear velocity, the angular velocity to be the second angular velocity, and the rotation direction to be clockwise.

[0163] If the first receiver receives the first signal and the second signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity to be the first angular velocity, and the rotation direction to be counterclockwise.

[0164] If the first receiver does not receive either the first signal or the second signal, and the second receiver receives both the first and second signals, then the linear velocity is determined to be the second linear velocity, the angular velocity to be the first angular velocity, and the rotation direction to be clockwise.

[0165] If the first receiver receives only the first signal and the second receiver receives only the first signal, then the linear velocity is determined to be the first linear velocity, the angular velocity to be the second angular velocity, and the rotation direction to be clockwise.

[0166] If the first receiver receives only the second signal and the second receiver receives only the second signal, then the linear velocity is determined to be the first linear velocity, the angular velocity to be the second angular velocity, and the rotation direction to be counterclockwise.

[0167] If the first receiver only receives the second signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be the first linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is counterclockwise.

[0168] If the first receiver does not receive either the first signal or the second signal, and the second receiver only receives the first signal, then the linear velocity is determined to be the first linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is clockwise.

[0169] If the first receiver receives only the first signal and the second receiver does not receive either the first or the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity to be the first angular velocity, and the rotation direction to be counterclockwise.

[0170] If the first receiver does not receive either the first signal or the second signal, and the second receiver only receives the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is clockwise.

[0171] If the first receiver does not receive either the first signal or the second signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be zero, the angular velocity to be the second angular velocity, and the rotation direction to be clockwise or counterclockwise.

[0172] The following section explains the movement parameters determined by the above-mentioned 16 combinations of states, which include the linear velocity level, angular velocity level, and rotation direction of the robot based on the signal received by the signal receiving unit.

[0173] 1) The signal status is first receiver (1,1) and second receiver (1,1).

[0174] If the first receiver receives both the first and second signals, it indicates that robot 720 is at the centerline (i.e., the signal overlap area 150) and facing base station 100, as shown in Figure 13a. In this case, the robot needs to approach base station 720 directly. Therefore, the linear velocity setting is determined to be the second linear velocity, which, relative to the first linear velocity, indicates that robot 720 needs a slower forward speed. Simultaneously, the angular velocity setting is zero, meaning that robot 720 does not need to rotate.

[0175] 2) The signal states are: first receiver (1, 1) and second receiver (0, 1).

[0176] If the first receiver receives both the first and second signals, and the second receiver only receives the first signal and not the second signal (left infrared signal), it indicates that the robot 720 is in the signal overlap region 150 (centerline), slightly to the right front, as shown in Figure 13b. In this case, the robot 720 needs to move counterclockwise towards the base station 100. Therefore, the linear velocity is determined to be the second linear velocity, which, relative to the first linear velocity, indicates that the robot 720 needs a slower forward speed; the angular velocity is determined to be the second angular velocity, which, relative to the first angular velocity, indicates that the robot 720 needs a smaller rotational speed to adjust its direction; and the rotation direction is counterclockwise, indicating that the robot 720 needs to rotate counterclockwise to move and approach the base station 100.

[0177] 3) The signal status is first receiver (1, 0) and second receiver (1, 1).

[0178] If the first receiver only receives the second signal and not the first signal (right infrared signal), and the second receiver receives both the first and second signals, this state corresponds to robot 720 being in the signal overlap area 150 (centerline), slightly to the left and forward, as shown in Figure 13c. In this case, robot 720 needs to move clockwise towards base station 100. Therefore, the linear velocity is determined to be the second linear velocity, which, relative to the first linear velocity, indicates that robot 720 needs a slower forward speed; the angular velocity is determined to be the second angular velocity, which, relative to the first angular velocity, indicates that robot 720 needs a smaller rotational speed to adjust its direction; and the rotation direction is clockwise, indicating that robot 720 needs to rotate clockwise to move and approach base station 100.

[0179] 4) The signal status is first receiver (1, 1) and second receiver (0, 0).

[0180] If the first receiver receives both the first and second signals, and the second receiver does not receive either the first or second signal, this state corresponds to the robot 720 being in the signal overlap region 150 (centerline), but somewhat to the right and parallel to the base station 100, as shown in Figure 13d, requiring a large turn. The linear velocity is determined by the second linear velocity, which, relative to the first linear velocity, indicates that the robot 720 needs a slower forward speed; the angular velocity is determined by the first angular velocity, which, relative to the second angular velocity, indicates that the robot 720 needs a larger rotational speed to adjust its direction; the rotation direction is counterclockwise, indicating that the robot 720 needs to rotate counterclockwise to move towards and approach the base station 100.

[0181] 5) The signal status is first receiver (0, 0) and second receiver (1, 1).

[0182] If the first receiver fails to receive either the first signal or the second signal, and the second receiver receives both the first and second signals, this state corresponds to the robot 720 being in the signal overlap region 150 (centerline), but somewhat to the left and parallel to the base station 100, as shown in Figure 13e, requiring a large turn. The linear velocity is determined to be the second linear velocity, relative to the first linear velocity, indicating that the robot 720 needs a slower forward speed; the angular velocity is determined to be the first angular velocity, relative to the second angular velocity, indicating that the robot 720 needs a larger rotational speed to adjust its direction; the rotation direction is clockwise, indicating that the robot 720 needs to rotate clockwise to move towards and approach the base station 100.

[0183] 6) The signal status is first receiver (1, 0) and second receiver (1, 0).

[0184] If both the first and second receivers receive only the second signal, this state corresponds to robot 720 being in the left region 130, as shown in Figure 13f, and it needs to move forward to approach the signal overlap region 150. Therefore, the linear velocity is determined to be the first linear velocity, which, relative to the second linear velocity, indicates that robot 720 needs a faster forward speed; the angular velocity is determined to be the second angular velocity, which, relative to the first angular velocity, indicates that robot 720 needs a smaller rotational speed to adjust its direction; the rotation direction is counterclockwise, indicating that robot 720 needs to rotate counterclockwise to move towards and approach base station 100.

[0185] 7) The signal status is first receiver (0, 1) and second receiver (0, 1).

[0186] If both the first and second receivers receive only the first signal, this state corresponds to robot 720 being in the right region 140, as shown in Figure 13g, and it needs to move forward to approach the signal overlap region 150. Therefore, the linear velocity is determined to be the first linear velocity, which, relative to the second linear velocity, indicates that robot 720 needs a faster forward speed; the angular velocity is determined to be the second angular velocity, which, relative to the first angular velocity, indicates that robot 720 needs a smaller rotational speed to adjust its direction; the rotation direction is clockwise, indicating that robot 720 needs to rotate clockwise to move towards and approach base station 100.

[0187] 8) The signal status is first receiver (1, 0) and second receiver (0, 0).

[0188] If the first receiver receives only the second signal and not the first signal, and the second receiver receives neither the first nor the second signal, this state corresponds to robot 720 being located in the left region 130 and far from base station 100, with robot 720 approximately parallel to base station 100, as shown in Figure 13h. In this case, the linear velocity is determined to be the first linear velocity, relative to the second linear velocity, indicating that robot 720 needs a faster forward speed; the angular velocity is determined to be the first angular velocity, relative to the second angular velocity, indicating that robot 720 needs a larger rotational speed to adjust its direction; the rotation direction is counterclockwise, indicating that robot 720 needs to rotate counterclockwise to move towards and approach base station 100.

[0189] 9) The signal status is first receiver (0, 0) and second receiver (0, 1).

[0190] If the first receiver fails to receive either the first signal or the second signal, and the second receiver only receives the first signal, this state corresponds to robot 720 being located in the right region 140 and far from base station 100, with robot 720 approximately parallel to base station 100, as shown in Figure 13j. In this case, the linear velocity is determined to be the first linear velocity, which, relative to the second linear velocity, indicates that robot 720 needs a faster forward speed; the angular velocity is determined to be the first angular velocity, which, relative to the second angular velocity, indicates that robot 720 needs a larger rotational speed to adjust its direction; the rotation direction is clockwise, indicating that robot 720 needs to rotate clockwise to move towards and approach base station 100.

[0191] 10) The signal status is first receiver (0, 1) and second receiver (0, 0).

[0192] If the first receiver only receives the first signal, and the second receiver does not receive either the first or second signal, this state corresponds to the robot 720 being at the edge of the right region 140, as shown in Figure 13k. The robot 720 needs to be guided into the right region 140. Therefore, the linear velocity is determined to be the second linear velocity, which, relative to the first linear velocity, indicates that the robot 720 needs a slower forward speed; the angular velocity is determined to be the first angular velocity, which, relative to the second angular velocity, indicates that the robot 720 needs a larger rotational speed to adjust its direction; the rotation direction is counterclockwise, indicating that the robot 720 needs to rotate counterclockwise to move towards and approach the base station 100.

[0193] 11) The signal status is first receiver (0, 0) and second receiver (1, 0).

[0194] If the first receiver fails to receive either the first signal or the second signal, and the second receiver only receives the second signal, this state corresponds to the robot 720 being at the edge of the left area 130, as shown in Figure 13m. The robot 720 needs to be guided into the left area 130. Therefore, the linear velocity is determined to be the second linear velocity, which, relative to the first linear velocity, indicates that the robot 720 needs a slower forward speed; the angular velocity is determined to be the first angular velocity, which, relative to the second angular velocity, indicates that the robot 720 needs a larger rotational speed to adjust its direction; the rotation direction is clockwise, indicating that the robot 720 needs to rotate clockwise to move towards and approach the base station 100.

[0195] 12) The signal status is first receiver (0, 0) and second receiver (0, 0).

[0196] If neither the first nor the second receiver receives either the first or the second signal, this state corresponds to the robot 720 potentially facing away from the base station 100, as shown in Figure 13n. It can attempt to find an infrared signal by rotating. In this case, the linear velocity is determined to be zero, indicating that the robot 720 has stopped moving forward. The angular velocity is the second angular velocity, relative to the first angular velocity, indicating that the robot 720 is attempting to find a signal at a relatively small rotational speed. The rotation direction is either clockwise or counterclockwise, indicating that the robot 720 randomly selects a rotation direction to attempt to find a signal.

[0197] If rotated counterclockwise, it will enter the scenario corresponding to 8) or 10), continuing to rotate counterclockwise until it eventually faces the base station. If rotated clockwise, it will enter the scenario corresponding to 9) or 11), continuing to rotate clockwise until it eventually faces the base station.

[0198] Understandably, there are some signal combination states that are impossible to exist. For example, the first receiver (1,1) and the second receiver (1,0), the first receiver (0,1) and the second receiver (1,1), the first receiver (0,1) and the second receiver (1,0), and the first receiver (1,0) and the second receiver (0,1). Among these, if there is specular reflection of the signal, the state of the first receiver (1,0) and the second receiver (0,1) may occur.

[0199] The various implementation options described above demonstrate the robot's ability to intelligently adjust its movement parameters, including linear velocity, angular velocity, and rotation direction, based on real-time received signal conditions. This adaptive movement control strategy enables the robot to move efficiently and safely to areas where signals overlap, improving operational efficiency and reducing energy waste caused by improper path planning.

[0200] In some implementations, the robot further includes an environmental perception unit. If the first receiver fails to receive either the first signal or the second signal, and the second receiver also fails to receive either the first signal or the second signal, the robot may be located in a non-signal-guided area outside the signal-guided area, or the robot may be located in the signal-guided area but facing away from the base station. In this case, the mobility control method of this application embodiment may further include the following method steps:

[0201] During the process of controlling the robot's rotation, the environmental perception unit is used to obtain the characteristic information of the base station;

[0202] Based on the characteristic information of the base station, the robot is controlled to move towards the signal overlap area.

[0203] By integrating an environmental perception unit into the robot, when the robot fails to receive the necessary signal within the signal guidance area, it can use the environmental perception unit to identify the characteristic information of the base station, thereby accurately determining its own position and guiding the robot to move towards the signal overlap area. This enhances the robot's positioning ability and navigation accuracy in complex environments, and improves the reliability and accuracy of the robot returning to the base station in complex environments.

[0204] Optionally, during the process of controlling the robot's rotation, the robot's environmental perception unit (e.g., a vision sensor) continuously acquires image information of the surrounding environment to obtain the base station's feature information. It should be understood that the purpose of controlling the robot's rotation is to expand the search range of the vision sensor, making it more likely to locate the base station.

[0205] As an example, and not a limitation, the base station's characteristic information includes its shape, color, and specific markings. By identifying these characteristics, the robot can determine the base station's location and orientation. Then, based on the determined relative position and orientation, the robot controls its movement towards the signal overlap area. Since the signal overlap area simultaneously covers both the first and second signals and is the robot's ultimate target area, the robot adjusts its movement parameters, including linear velocity, angular velocity, and rotation direction, towards the signal overlap area to ensure it accurately returns to the base station.

[0206] In some implementations, if the first receiver fails to receive either the first signal or the second signal, and the second receiver also fails to receive either the first signal or the second signal, the motion control method of this application embodiment may further include the following method steps:

[0207] Obtain several position points on the circumference of a circle centered on the robot's current position and with a preset radius;

[0208] Control the robot to move to several location points to obtain a first signal and / or a second signal.

[0209] When neither the robot's first nor second receiver receives the first and second signals, it indicates that the robot is currently in a state of complete signal loss with the base station. To regain base station signal, the following measures can be taken:

[0210] First, several location points are identified on the circumference of a circle centered on the robot's current position and with a preset radius. The extent of this circle defines the robot's search area. The preset radius can be adjusted based on actual conditions, such as the maximum possible distance between the robot and the base station, or the signal propagation characteristics. Furthermore, in this example, the location points on the circumference can be evenly distributed to ensure the robot can comprehensively search for signals.

[0211] Next, the robot is controlled to move to several locations on a circle. At each location, the robot's signal receiver attempts to acquire a first signal and / or a second signal. By controlling the robot to search at different locations, the likelihood and reliability of the robot re-receiving the base station signal are increased. For example, if the robot receives a signal at a certain location, it can determine its movement parameters based on the received signal and then continue moving towards the base station, eventually returning to it. Furthermore, if no signal is received at any location, the search area can be expanded or other navigation strategies can be adopted, such as using other environmental perception units or other visual sensors integrated into the robot to locate the base station.

[0212] As shown in Figure 14, six position points are identified on the circumference of a circle with a preset radius centered on the current position of robot 720. The robot is then controlled to move to these six position points to acquire a first signal and / or a second signal. This ensures that even when neither the first nor the second receiver receives the first or second signal, the search radius is expanded by controlling the robot to move to several position points on the circumference of the preset radius, thereby increasing the success rate of signal reception and enhancing the stability and reliability of communication. When the robot is outside the signal guidance area, using a software algorithm to attempt to acquire the first signal and / or the second signal helps reduce costs.

[0213] In some implementations, the above-mentioned control of the robot to move to several location points can be achieved through the following steps:

[0214] Starting from the current position, control the robot to move to the first position point on the circumference. The first position point can be any one of several position points.

[0215] The robot is controlled to move from a first position point to other positions along a circle to obtain a first signal and / or a second signal.

[0216] In this example, when the robot needs to move to several points on the circumference of a circle with its current position as the center and a preset radius to search for signals, it first moves to the first point on the circumference, starting from the current position. This first point can be any one of several points; the selection of the first point can be random, or it can be selected from several points according to certain rules, such as selecting the point on the circumference closest to the robot's current position.

[0217] Furthermore, the robot is controlled to move along a circle from a first position point to other positions. This circumferential movement ensures that the robot systematically searches for signals throughout the entire circumference. During the movement, the robot's signal receiver remains active, continuously attempting to acquire the first signal and / or the second signal.

[0218] By sequentially traversing each point on the circumference, the robot can cover the area where a signal might exist to the greatest extent possible. If a signal is successfully received at a certain point, the robot can determine its movement parameters based on the received signal strength, moving towards the direction of a stronger signal or towards the base station. This increases the likelihood of the robot re-establishing communication with the base station and returning to it.

[0219] Furthermore, after the robot moves to each location point, if it does not receive the first or second signal, it can be controlled to rotate in place or around each location point to try to obtain the first and / or second signal. This avoids the problem of failing to receive the signal due to the robot's incorrect search direction and can improve the success rate of establishing communication between the robot and the base station.

[0220] As shown in Figure 14, the first position point can be point A. Moving clockwise, points F, E, etc., can be reached successively. Moving counter-clockwise, points B, C, etc., can be reached successively, with only point B located within the signal guidance area. By starting from the current position, first moving to the first position point on the circumference, and then moving along the circumference to other position points, the robot can maintain the continuity and stability of its movement while acquiring the first and / or second signals, thereby optimizing the efficiency and accuracy of signal acquisition.

[0221] In some implementations, after controlling the robot to move along a circle from a first position point to other position points, the motion control method of this application embodiment may further include:

[0222] If the robot fails to acquire the first signal and / or the second signal after moving one full circle, control the robot to move in the opposite direction along the circumference in order to acquire the first signal and / or the second signal.

[0223] After controlling the robot to move along the circumference from the first position point to other positions, it means that the robot has completed a complete search of the circumference centered on the current position and with a preset radius. If the robot still fails to acquire the first signal and / or the second signal in this round of search, it may be that there is no first signal and / or the second signal in the current search direction, or the first signal and / or the second signal are so weak that they cannot be detected.

[0224] Therefore, since signal propagation may be affected by environmental factors, signal strength may vary in different directions. In order to obtain the first signal and / or the second signal when attempting to search again, the robot can be controlled to move in the opposite direction along the circumference, allowing the robot to search for signals in new directions and increasing the probability of obtaining the first signal and / or the second signal.

[0225] The reverse-direction search strategy provided in this implementation can effectively expand the robot's search range and increase the probability of acquiring the first and / or second signals in complex environments. If the first and / or second signals are still not acquired during the reverse-direction movement, the robot can consider adopting other more complex search strategies, such as expanding the radius of the search circle, adjusting the distribution of search position points, or combining other sensors (such as LiDAR) to assist in locating the base station.

[0226] As shown in Figure 15, none of the six points are located within the signal guidance area, but a portion of the circumference between points B and A is within it. The first position point could be A. If moving counter-clockwise, points B, C, etc., can be reached successively. However, since the robot is facing away from the base station, it may fail to receive a signal during the journey from A to B. If moving clockwise, points F and B can be reached successively. During the journey from B to A, the robot faces the base station and may receive a signal. Since the receiving unit has a certain field of view, it's possible that a signal may still not be received after one full rotation (clockwise or counter-clockwise). In this case, controlling the robot to move one full rotation in the opposite direction (clockwise or counter-clockwise) can help acquire a signal.

[0227] In some implementations, if the first receiver fails to receive either the first signal or the second signal, and the second receiver also fails to receive either the first signal or the second signal, the motion control method of this application embodiment may further include:

[0228] During the process of controlling the robot's rotation, it is determined whether the first receiver and the second receiver simultaneously receive either the first signal or the second signal.

[0229] If the first receiver and the second receiver simultaneously receive one of the first signals and the second signal, the robot's first pose is obtained;

[0230] The robot is controlled to continue rotating to determine whether the first and second receivers simultaneously receive the first and second signals.

[0231] If the first receiver and the second receiver simultaneously receive the first signal and the second signal, control the robot to stop rotating and control the robot to move forward in the current direction.

[0232] If the first receiver and the second receiver do not receive the first signal and the second signal simultaneously, determine whether the first receiver and the second receiver simultaneously receive the other signal between the first signal and the second signal. If the first receiver and the second receiver simultaneously receive the other signal between the first signal and the second signal, obtain the robot's second pose.

[0233] The robot's direction of movement is determined based on the first and second poses.

[0234] In this example, when neither the robot's first receiver nor its second receiver receives either the first signal or the second signal, the robot takes the following series of actions to determine its direction of movement in order to re-establish contact with the base station:

[0235] First, during the process of controlling the robot's rotation, it is continuously determined whether the first receiver and the second receiver simultaneously receive one of the first and second signals. By controlling the robot to rotate continuously, the receiving range of the receivers can be expanded, increasing the probability that the first and second receivers will receive the signal, so that the first and second receivers have the opportunity to receive the possible signal from different angles.

[0236] If the first receiver and the second receiver simultaneously receive one of the first signals and the second signal, the robot's first pose is obtained. This first pose is used to determine the relative positional relationship between the robot and the base station. The first pose includes the robot's position information and attitude information, such as its coordinates and orientation in space.

[0237] After acquiring the robot's first pose, the robot continues to rotate, and signal detection is performed again to determine whether the first and second receivers simultaneously receive the first and second signals. If no signal is received, it is further determined whether the first and second receivers simultaneously receive the other signal between the first and second signals. If the first and second receivers simultaneously receive the other signal between the first and second signals, the robot's second pose is acquired. This first pose includes the robot's position information and attitude information.

[0238] Based on the first and second poses, the robot's direction of movement can be determined by calculating the difference between the two poses and their relative position to the base station. For example, the robot's angle relative to the base station can be determined based on the two poses, thus determining which direction to move in to get closer to the base station. In this way, the robot can move in the determined direction to re-enter the signal overlap area and eventually return to the base station.

[0239] In the above-mentioned optional implementation methods, by utilizing the robot's rotation and pose detection, if the two receivers fail to receive the same signal at the same time, but receive different signals respectively, the robot's movement direction can be effectively determined in the event of signal loss by acquiring and analyzing the two poses, ensuring that the robot can move forward along the predetermined path, improving the efficiency and accuracy of the robot re-establishing contact with the base station, and improving the robot's recharging efficiency.

[0240] In some implementations, different control strategies can be employed for different distances, which helps to improve control accuracy and reduce recharge time. Before step S1040, which controls the robot to move towards the signal overlap region based on the movement parameters, the movement control method of this application embodiment may further include the following method steps:

[0241] Obtain the distance between the robot and the base station;

[0242] Adjust the robot's movement parameters based on the distance.

[0243] In this example, before controlling the robot to move towards the signal overlap area, the distance between the robot and the base station is obtained, providing an important reference for the robot's movement. Obtaining distance information and adjusting movement parameters before controlling the robot to move towards the signal overlap area can make the robot's movement more intelligent and efficient, and improve the success rate of the robot returning to the base station.

[0244] Based on the distance between the robot and the base station, the robot's movement parameters can be adjusted. For example, if the robot is far from the base station, it may be necessary to increase the linear speed to approach the base station more quickly. Simultaneously, the angular velocity and rotation direction can also be adjusted according to the distance to better align with the base station.

[0245] For example, if the robot is close to the base station, to avoid collisions and more accurately enter the signal overlap area, its linear velocity and angular velocity can be reduced, allowing the robot to move more smoothly. This ensures that the robot can accurately locate and enter the signal overlap area as it approaches the base station, improving the accuracy and reliability of its return to the base station.

[0246] In some implementations, there are multiple ways to obtain the distance between the robot and the base station. Using an appropriate distance detection method for different robot configurations can be effective under various environmental conditions, helping to improve applicability and reduce costs. This can include any one or a combination of the following methods:

[0247] Acquire the signal strength of the first signal and / or the second signal; determine the distance between the robot and the base station based on the mapping relationship between signal strength and distance; or,

[0248] The distance between the robot and the base station is detected using an environmental sensing unit;

[0249] Alternatively, the distance between the robot and the base station can be obtained from historical maps; or...

[0250] The distance between the robot and the base station is determined based on the magnetic field information detected by the robot. The magnetic field information is generated by the energized wires installed on the base station.

[0251] In one implementation of this application, the signal strengths of a first signal and / or a second signal are first acquired. Typically, signal strength decreases with increasing distance. Therefore, a mapping relationship between signal strength and distance can be established. This mapping relationship is used to determine the distance between the robot and the base station based on the detected signal strength. For example, a strong signal strength indicates that the robot is likely close to the base station; conversely, a weak signal strength indicates that the robot is far from the base station.

[0252] In another implementation, the distance between the robot and the base station can be determined by image recognition and analysis of the base station by the environmental perception unit. For example, technologies such as binocular vision or depth cameras can be used to calculate the distance between the robot and the base station based on feature points and parallax information in the acquired images.

[0253] In another implementation, if the robot stores a historical map containing information about the robot's previous locations and the location of the base station, the distance between the robot and the base station can be determined based on the robot's current location and the location of the base station in the historical map.

[0254] In another implementation, the energized wires on the base station generate magnetic field information. The robot can determine its distance to the base station by detecting this magnetic field information. The specific calculation can be based on the relationship between the variation of magnetic field strength and distance. This method is relatively stable and less susceptible to environmental interference.

[0255] In some implementations, adjusting the robot's movement parameters based on distance can include the following steps:

[0256] Adjust the linear velocity and angular velocity to be positively correlated with the distance.

[0257] Adjusting movement parameters based on the distance between the robot and the base station aims to enable the robot to move towards the base station more efficiently and accurately. By appropriately adjusting linear and angular velocities, the robot can adopt the most suitable movement strategy at different distances. Adjusting linear and angular velocities to a positive correlation with distance allows the robot to dynamically adjust its movement parameters based on its distance from the base station, improving the efficiency and accuracy of its return journey.

[0258] Specifically, the greater the distance between the robot and the base station, the higher the linear velocity and angular velocity can be adjusted. Conversely, the smaller the distance, the lower the linear velocity and angular velocity can be adjusted. This helps improve control precision and reduce recharge time.

[0259] In some implementations, before controlling the robot to move to a preset position, the movement control method of this application embodiment may further include:

[0260] Determine whether the robot can obtain the location information of the preset location, which can be a signal-guided area;

[0261] If location information cannot be obtained, obtain the historical location information of the base station;

[0262] Based on the robot's current and historical location information, a return path for the robot is planned, and the robot is controlled to move along the return path.

[0263] When the signal receiving unit can detect the first signal and / or the second signal, the robot's movement parameters are determined based on the signal conditions received by the signal receiving unit.

[0264] Based on the movement parameters, the robot is controlled to move towards the signal overlap area.

[0265] Before controlling the robot to move to the preset position, it is first determined whether the robot can obtain the position information of the preset position. This preset position is a signal guidance area, covering the first signal and / or the second signal, and plays an important guiding role in the robot's return to the station.

[0266] If the robot cannot obtain the location information of the preset location, it indicates that the information may not be directly obtainable due to certain reasons (such as environmental changes, signal interference, etc.). In this case, the historical location information of the base station should be obtained. This historical location information can be previously recorded location data of the base station at different points in time, or the possible location range of the base station inferred based on past experience and patterns.

[0267] In some situations, the robot may passively leave the base station without being able to detect the preset location. If the robot cannot obtain location information from the base station, a return path for the robot is planned based on the relative positional relationship between the robot's current location and the base station's historical location information. For example, a path planning algorithm, such as Dijkstra's algorithm, can be used to plan an optimal path from the robot's current location to near the base station's historical location, and the robot is controlled to move along the planned return path.

[0268] During movement, when the signal receiving unit detects the first signal and / or the second signal, it indicates that the robot has entered the coverage area of ​​the base station signal. Based on the signal conditions received by the signal receiving unit, the robot's movement parameters are determined (consistent with the aforementioned method of determining movement parameters based on signal conditions, including determining linear velocity, angular velocity, and rotation direction). Finally, based on the determined movement parameters, the robot is controlled to move towards the signal overlap area, which simultaneously covers the first and second signals. This is the robot's final target area to achieve accurate return to the base station.

[0269] This implementation method ensures that even when the robot cannot directly obtain the preset location information, it can still plan its return path by utilizing the historical location information of the base station, adjust its movement parameters after detecting the base station signal, and ultimately return to the base station.

[0270] In some implementations, during the process of controlling the robot to move towards the signal overlap region, the movement control method of this application embodiment may further include the following method steps:

[0271] Determine if there are obstacles in the robot's direction of movement;

[0272] If obstacles exist, obstacle avoidance sensors (such as environmental sensing units) are used to obtain the characteristic information of the obstacles;

[0273] Based on feature information, control the robot to enter obstacle avoidance mode;

[0274] Once the robot receives the first signal and / or the second signal, it exits obstacle avoidance mode and uses the first signal and / or the second signal to guide the robot's movement.

[0275] During the process of controlling the robot to move towards the signal overlap area, it is necessary to determine whether there are obstacles in the robot's direction of movement in order to ensure that the robot can move smoothly to the base station and avoid damage or failure to return to the base station due to collision with obstacles.

[0276] If an obstacle is detected in the robot's direction of movement, the robot's obstacle avoidance sensors acquire characteristic information about the obstacle, such as its shape, size, and location. By analyzing this information, the robot can more accurately understand the obstacle situation. When the robot enters obstacle avoidance mode, it can take a series of measures to avoid collisions with obstacles. For example, the robot can adjust its direction of movement, reduce its speed, or pause its movement to find a suitable path to bypass the obstacle.

[0277] When the robot receives the first and / or second signal, it indicates that it has re-entered the coverage area of ​​the base station signal. At this point, the robot exits obstacle avoidance mode and uses the first and / or second signal to guide its movement. This first and / or second signal provides the robot with accurate position and orientation information, enabling it to continue moving towards the signal overlap area and ultimately achieve its goal of returning to the base station.

[0278] Because the robot's operating conditions are complex and it often encounters obstacles, the above-mentioned optional implementation methods can be used to control the robot to enter obstacle avoidance mode to automatically avoid obstacles and return to the return path or replan the robot's return path if there are obstacles in the return path. This can ensure that the robot can effectively avoid obstacles when moving towards the signal overlap area, which helps the robot to plan the return path smoothly and improves the robot's recharging efficiency.

[0279] In this embodiment, the first and second transmitters of the base station respectively transmit a first signal and a second signal, forming a signal overlap area in the middle region, as well as left and right regions, in front of the base station, providing clear positioning guidance for the robot. The robot is equipped with a signal receiving unit that can receive the first and second signals emitted by the base station. Based on the signal conditions received by the signal receiving unit, the robot's movement parameters are determined, and the robot is controlled to move towards the signal overlap area. This embodiment reduces unnecessary movement and search time, guiding the robot to quickly move to the front of the base station, helping to reduce positioning errors and improve the recharging efficiency and accuracy of the mobile robot during the recharging process.

[0280] In some implementations, the robot uses pure infrared signals for guidance back to the base station. It turns and approaches the base station entirely based on the received infrared signals, a linear approximation of the centerline without overshoot. Figure 16 is a schematic diagram of a possible guidance effect of the movement control method in Figure 10. Specifically, as shown in Figure 16, when the robot 720 finally returns to its charging position, it may not be perpendicular to the base station 100. For example, if the robot is positioned to the side of the base station and too close, exceeding the adjustment range, the two may not be perpendicular.

[0281] Based on the constraints of adjusting the movement parameters (linear velocity and angular velocity) and the robot's distance relative to the base station, the robot's recharging will not exceed a preset docking angle. The positional relationship can be abstracted as shown in Figure 17. Figure 17 is a schematic diagram of the preset charging positions of the recharging system in Figure 12. In front of the base station 100, the dashed lines on both sides represent the boundaries of the base station's first and second signals. The preset charging position 1710 is directly in front of the base station 100, and the angle of the preset charging position 1710 is less than the preset docking angle, which can be, for example, 30°, 45°, or 50°. If the movement parameters and distance relative to the base station are adjusted, and the robot recharges and stops at the preset charging position 1710, it indicates a successful return to its original position. If the robot recharges and stops at the second position 1720 or the third position 1730 to the left or right of the preset charging position 1710, although the distance is close, the direction may be incorrect, potentially leading to charging failure.

[0282] Compared to infrared signals, the environmental information detected by the environmental perception unit can comprehensively reflect the distance and orientation relationship between the robot and the base station. In some implementations, the environmental perception unit is a visual sensor. By training and building an AI visual model, it can roughly determine the robot's characteristic information relative to the base station. This characteristic information can include the distance and angle between the two. During the recharging process, the robot's position relative to the base station is continuously adjusted based on this characteristic information, ultimately allowing the robot to successfully move to the preset charging location for recharging.

[0283] In some implementations, the robot is equipped with an environmental perception unit, which can be, for example, a visual sensor, a lidar, or other sensor capable of sensing the environment. During the process of controlling the robot to move towards a signal overlap region, the movement control method of this application embodiment may further include the following method steps:

[0284] Determine whether the environmental sensing unit can acquire the characteristic information of the base station;

[0285] If the feature information of the base station can be obtained, it can be determined whether the robot's deviation angle is greater than the second preset angle;

[0286] If the robot's deviation angle is greater than the second preset angle, the robot's movement parameters are adjusted based on the base station's feature information.

[0287] The second preset angle can be, for example, 30° or 45°, or it can be a preset docking angle, as described in the previous example, which can be, for example, 30°, 45°, or 50°. As shown in Figure 18, the deviation angle refers to the angle by which the robot's position deviates from the centerline of the signal overlap area. The sensing area 725 is the area where the environmental sensing unit can acquire the base station's feature information. By acquiring the base station's feature information in real time through the environmental sensing unit, the robot can accurately adjust its direction when moving towards the signal overlap area, avoiding excessive deviation. By adjusting the movement parameters, the robot can enter the signal overlap area more precisely, improving the accuracy and efficiency of movement control.

[0288] In this implementation, firstly, it is determined whether the environmental perception unit can acquire the base station's feature information. If it can acquire the base station's feature information, it indicates that the robot has been able to perceive the base station's presence. Next, it is determined whether the robot's deviation angle is greater than a second preset angle. It should be understood that this deviation angle refers to the angle between the robot's current direction of movement and the direction pointing towards the base station. The second preset angle is a pre-set threshold used to determine whether the robot has deviated from the correct return path.

[0289] If the robot's deviation angle is greater than the second preset angle, it indicates that the robot has deviated from the correct return direction and needs adjustment. At this point, the robot's movement parameters are adjusted based on the base station's characteristic information. These adjustments may include adjusting linear velocity, angular velocity, and rotation direction. For example, if the robot's deviation angle is large, the linear velocity can be appropriately reduced while the angular velocity is increased, allowing the robot to quickly adjust its direction and move towards the base station.

[0290] In the above-mentioned optional implementation methods, by obtaining base station feature information and determining the deviation angle through the environmental perception unit, the robot's movement parameters can be adjusted in a timely manner to ensure that the robot always moves in the correct direction, thereby improving the efficiency and accuracy of returning to the station.

[0291] In other implementations, before adjusting the robot's movement parameters, the movement control method provided in this application embodiment further includes the following method steps:

[0292] Determine whether the base station's feature information meets preset conditions;

[0293] If the feature information of the base station does not meet the preset conditions, control the robot to move so that the environmental perception unit can obtain the feature information of the base station that meets the preset conditions.

[0294] Optionally, it can be determined whether the base station's feature information meets preset conditions, namely, whether complete base station feature information has been obtained, whether the base station's feature information is clear, and whether there is distortion. The preset conditions can include obtaining complete base station feature information, ensuring the base station's feature information is clear, and identifying the absence of distortion.

[0295] Before adjusting the robot's movement parameters, it is necessary to determine whether the base station's feature information meets the preset conditions. These preset conditions can be a series of standards set according to specific application scenarios and requirements to determine whether the base station feature information perceived by the robot is accurate and reliable enough for subsequent movement parameter adjustments.

[0296] If the base station's feature information does not meet the preset conditions, meaning the base station feature information acquired by the robot may be inaccurate, incomplete, or unreliable. For example, environmental interference or sensor errors may cause the base station feature information to be unclear or inconsistent with expectations. In this case, the robot is controlled to move, such as adjusting its position, changing its direction, or moving closer to the base station, so that the environmental perception unit can acquire base station feature information that meets the preset conditions.

[0297] In the above implementation, before adjusting the robot's movement parameters, it is first determined whether the base station's feature information meets preset conditions. If not, the robot is controlled to move until the environmental perception unit can acquire base station feature information that meets the preset conditions. These steps ensure the accuracy and reliability of the base station feature information upon which the robot relies. Only when feature information meeting the preset conditions is acquired are subsequent movement parameter adjustments performed, thereby improving the stability and reliability of the entire movement control process.

[0298] Furthermore, in some implementations, before controlling the robot's movement, the movement control method provided in this application embodiment further includes the following method steps:

[0299] Obtain the first distance between the base station and the robot, and the first angle between the base station and the robot;

[0300] Based on a first distance and / or a first angle, determine the robot's movement strategy.

[0301] Before controlling the robot to move, obtaining the first distance and first angle between the base station and the robot, and determining the robot's movement strategy based on the first distance and / or the first angle, can help the robot determine how to move towards the base station efficiently.

[0302] The initial distance between the base station and the robot determines the robot's required movement speed and approach. If the initial distance is greater than a pre-defined distance threshold, the robot needs to move at a faster speed and choose a more direct path towards the base station. If the initial distance is less than a pre-defined distance threshold, the robot needs to move more cautiously and may need to reduce its speed to ensure accurate entry into the signal overlap area.

[0303] The first angle between the base station and the robot represents the deviation between the robot's current orientation and the base station's orientation. If the first angle between the base station and the robot is large (e.g., the first angle is greater than a preset angle threshold), the robot needs to rotate significantly to align with the base station; if the first angle between the base station and the robot is small (e.g., the first angle is less than a preset angle threshold), the robot only needs to rotate significantly to align with the base station.

[0304] Based on a first distance and / or a first angle, a robot movement strategy is determined. By way of example and not limitation, this movement strategy may include selecting appropriate linear velocity levels, angular velocity levels, and rotational direction, among other movement parameters. For instance, if the first distance is large and the first angle deviation is significant, the robot may choose a higher linear velocity and a larger angular velocity to quickly move a certain distance towards the base station, and then gradually adjust the angle. If the first distance is short and the first angle deviation is small, the robot may choose a lower linear velocity and a smaller angular velocity for fine-tuning to accurately enter the signal overlap area.

[0305] By obtaining the specific distance and angle information between the base station and the robot, a more precise movement strategy can be formulated, enabling the robot to move along a predetermined trajectory and direction. This allows for more intelligent control of the robot's movement towards the base station, improving the efficiency and accuracy of its return journey.

[0306] In some implementations, as an optional embodiment, the robot's movement strategy is determined based on a first distance and / or a first angle, including:

[0307] Determine whether the first distance is within the first preset range;

[0308] If the first distance is not within the first preset range, the robot needs to be controlled to move forward or backward so that the first distance between the base station and the robot is within the first preset range; and / or,

[0309] Determine whether the first angle is within the second preset range;

[0310] If the first angle is not within the second preset range, the robot needs to be rotated so that the first angle of the base station relative to the robot is within the second preset range.

[0311] In this implementation, firstly, it is determined whether the first distance between the base station and the robot is within a first preset range. The first preset range is set according to the specific application scenario and requirements, ensuring that the robot efficiently receives base station signals and moves accurately within a certain distance range. Optionally, the aforementioned first preset range can be, for example, 1m to 1.2m. The first preset range can be shown as the dotted line area in Figure 19, and can be symmetrically distributed about the center line of the base station 100. If the first distance is not within the first preset range, it indicates that the distance between the robot and the base station is unsuitable and needs to be adjusted. At this time, the robot needs to be controlled to move forward or backward so that the first distance between the base station and the robot is within the first preset range.

[0312] In another implementation, it is determined whether the first angle between the base station and the robot is within a second preset range. The second preset range is also set based on actual conditions to ensure the robot moves towards the base station. Optionally, the second preset range can be 0 degrees to 90 degrees. If the first angle is not within the second preset range, it indicates a significant deviation between the robot's orientation and the base station's direction, requiring adjustment of the first angle between the base station and the robot. In this case, the robot needs to be rotated to bring the first angle between the base station and the robot within the second preset range.

[0313] In addition, there are some alternative implementation methods that can consider both the first distance and the first angle to determine the robot's movement strategy. For example, if neither the first distance between the base station and the robot nor the first angle between the base station and the robot is within the corresponding preset range, the robot can be controlled to move forward or backward based on the first distance between the base station and the robot, and then the robot can be controlled to rotate based on the first angle between the base station and the robot, so as to gradually adjust the robot's position and orientation, enabling the robot to move towards the base station more efficiently.

[0314] By determining that the first distance between the base station and the robot, and the first angle between the base station and the robot, are both outside the corresponding preset range, and by controlling the robot to move forward, backward, or rotate as needed, the robot can be adjusted to a suitable position and orientation so that it can accurately move to the signal overlap area and return to the base station for recharging.

[0315] Furthermore, in some implementations, controlling the robot's movement includes:

[0316] When the first distance is not within the first preset range and the first angle is not within the second preset range, the robot needs to be rotated first so that the first angle is within the second preset range.

[0317] Then control the robot to move forward or backward so that the first distance is within the first preset range.

[0318] In this implementation, when both the initial distance and the initial angle between the base station and the robot are outside the preset range, the robot is first controlled to rotate to adjust the angle, and then its forward or backward movement is controlled to adjust the distance. By prioritizing angle adjustment before distance adjustment, the robot can reach the predetermined position and angle requirements more quickly, improving the response speed and efficiency of motion control.

[0319] Specifically, when the first distance between the base station and the robot is not within the first preset range and the first angle is not within the second preset range, the robot is first controlled to rotate so that the first angle is within the second preset range. This is because if the robot's orientation deviates significantly from the base station's direction, it will be difficult to move accurately toward the base station even if the distance is adjusted first. Therefore, prioritizing the adjustment of the angle can make the robot's orientation closer to the base station's direction, providing the correct direction of movement for subsequent distance adjustments.

[0320] Once the first angle is within the second preset range, the robot is then controlled to move forward or backward to bring the first distance within the first preset range. At this point, since the robot's orientation is already pointing towards the base station relatively accurately, adjusting the distance allows the robot to get closer to or within a suitable signal reception range, enabling it to better receive base station signals and move towards the signal overlap area, ultimately achieving accurate return to the station.

[0321] In some implementations, adjusting the robot's movement parameters based on the base station's characteristic information may include:

[0322] Based on the characteristic information of the base station, obtain the second distance between the base station and the robot, as well as the fixed location of the base station;

[0323] Obtain the circumference of a circle centered at a fixed position and with a second distance as its radius;

[0324] The partial circle of the signal overlap area connecting the robot's location is used to determine the robot's movement path;

[0325] Adjust the robot's movement parameters according to the movement path.

[0326] In this implementation, based on the base station's characteristic information, the second distance between the base station and the robot is first obtained. It should be understood that this second distance can be determined in various ways, such as using the mapping relationship between signal strength and distance, visual sensor measurements, magnetic field information, etc. Simultaneously, the fixed position of the base station is determined. Again, it should be understood that this fixed position can be its absolute position in the robot's coordinate system or its position relative to a certain reference point.

[0327] After obtaining the fixed position, a circle with that fixed position as the center and a second distance as the radius is further obtained. The portion of this circle connecting the robot's position to the signal overlap area is determined as the robot's movement path. It should be understood that this circle represents a geometric relationship between the robot and the base station at a specific distance. Based on the positional relationship between the robot's current position, the base station's position, and the signal overlap area, the robot's movement path is determined by the portion of this circle connecting the robot's position to the signal overlap area. Specifically, the portion of the circle connecting the robot and the signal overlap area allows the robot to move along a more reasonable curve towards the signal overlap area, avoiding obstacles or inappropriate directional choices that might be encountered during straight-line movement.

[0328] Finally, based on the determined movement path, the robot's movement parameters are adjusted. These parameters include linear velocity, angular velocity, and rotation direction. The purpose of adjusting these parameters is to enable the robot to move efficiently and accurately along the determined path to the signal overlap area, ultimately achieving the goal of controlling the robot to return to the base station.

[0329] One possible movement path is shown by the dashed arrow in Figure 20. This provides the robot with a defined movement path, enabling it to move along an optimal path towards the signal overlap area. By adjusting the movement parameters, the robot can move more precisely along this path, improving the accuracy and efficiency of movement control.

[0330] Furthermore, in some implementations, determining a portion of the circumference of the overlapping signal region connecting the robot's location as the robot's movement path may include:

[0331] Obtain the centerline of the signal overlap region;

[0332] The partial circumference of the center line of the overlapping signal area where the robot is located is determined as the robot's movement path.

[0333] In this example, the signal overlap region is the area that simultaneously covers the first and second signals, and the angle between its boundary lines is less than a first preset angle. Obtaining the center line of the signal overlap region can help the robot determine a more specific target direction. It should be understood that this center line usually represents the core location of the signal overlap region or the most ideal movement path direction. Using this center line as a reference can make the robot's movement more targeted and accurate.

[0334] When determining the circumference of the signal overlap area as the robot's movement path, the centerline of the signal overlap area is further considered. The circumference of the robot connecting to this centerline is then used as the final movement path, as shown by the dashed line with arrows in Figure 21. By obtaining the centerline of the signal overlap area and determining the circumference of the robot's position connected to the centerline as the movement path, the robot can move closer to the center of the signal overlap area during movement. This improves the stability and quality of signal reception, provides the robot with a clear, stable, and adaptable movement direction, and helps the robot move more efficiently towards the signal overlap area and eventually return to the base station. Furthermore, the movement path determined in this way better matches actual movement requirements, improving the rationality and effectiveness of movement control.

[0335] This application also provides a computer device. Figure 22 is a schematic diagram of the constituent units / partial constituent units of the computer device provided in this application embodiment. As shown in Figure 22, the computer device 2200 includes: a memory 2210 and at least one processor 2220.

[0336] The memory 2210 is used to store code or computer programs.

[0337] The processor 2220 is connected to the memory 2210 and is used to execute the code or computer program stored in the memory 2210 so that the computer device 2200 performs any of the methods described above.

[0338] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 2210 and executed by processor 2220 to complete this application.

[0339] Those skilled in the art will understand that FIG22 is merely an example of computer device 2200 and does not constitute a limitation on the computer device. It may include more or fewer components than shown, or combine certain components, or different components.

[0340] The processor 2220 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0341] The computer device 2200 provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0342] This application also provides a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above.

[0343] This application provides a computer program product that, when run on an electronic device, enables the electronic device to perform the steps described in the various method embodiments above.

[0344] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above method embodiments of this application can be implemented by a computer program instructing related hardware. This computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographic device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and optical data storage devices. The computer-readable storage medium mentioned in this application can be a non-volatile storage medium; in other words, it can be a non-transient storage medium.

[0345] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0346] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0347] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0348] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0349] Furthermore, in the description of this application and the appended claims, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0350] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A base station, characterized in that, include: Base station body; A signal transmitting unit is disposed on the base station body. The signal transmitting unit includes a first transmitter and a second transmitter. The first transmitter transmits a first signal, and the second transmitter transmits a second signal. Wherein, the first signal and the second signal form a signal overlap region that simultaneously covers the first signal and the second signal, and the included angle between the boundary lines of the signal overlap region is less than a first preset angle.

2. The base station according to claim 1, characterized in that, The base station body is provided with a blocking part, which is used to block part of the first signal and / or the second signal.

3. The base station according to claim 2, characterized in that, The base station body is provided with a first blocking component and a second blocking component. The first blocking component blocks the left side of the first signal, and the second blocking component blocks the right side of the second signal.

4. The base station according to claim 2, characterized in that, The base station body is equipped with only a first blocking component, which blocks the left side of the first signal, and the transmission direction of the second signal is tilted towards the transmission direction of the first signal.

5. The base station according to claim 2, characterized in that, The base station body is equipped with only a second blocking component, which blocks the right side of the second signal, and the transmission direction of the first signal is tilted towards the transmission direction of the second signal.

6. The base station according to any one of claims 3 to 5, characterized in that, The base station body includes a housing, which is sleeved outside the first transmitter and the second transmitter. The housing has a first through hole for the first signal and the second signal to be emitted. The portion of the housing around the first through hole forms the first shielding member and / or the second shielding member.

7. The base station according to any one of claims 3 to 5, characterized in that, The base station body includes a housing, and the first shielding member and / or the second shielding member are disposed inside the housing.

8. The base station according to claim 1, characterized in that, The direction of transmission of the first signal is tilted toward the direction of transmission of the second signal, and the direction of transmission of the second signal is tilted toward the direction of transmission of the first signal.

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

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

11. The return station system according to claim 10, characterized in that, The distance between the first receiver and the second receiver is less than the width of the signal overlap area.

12. A motion control method, characterized in that, For controlling a robot to move towards a base station, the base station is equipped with a signal transmitting unit, the signal transmitting unit including a first transmitter and a second transmitter, the first transmitter transmitting a first signal, the second transmitter transmitting a second signal, and the robot being equipped with a signal receiving unit that receives the first signal and / or the second signal. The movement control method includes: When the robot needs to return to its original position, control the robot to move to a preset location; At the preset position, the signal status received by the signal receiving unit is obtained; The movement parameters of the robot are determined based on the signal received by the signal receiving unit. Based on the movement parameters, the robot is controlled to move towards the signal overlap region; The signal overlap region is the region that simultaneously covers the first signal and the second signal, and the included angle between the boundary lines of the signal overlap region is less than a first preset angle.

13. The motion control method according to claim 12, characterized in that, The signal receiving unit includes a first receiver and a second receiver. The movement parameters include linear velocity, angular velocity, and rotation direction. The linear velocity has multiple ranges, the angular velocity has multiple ranges, and the rotation direction includes clockwise and counterclockwise. Determining the robot's movement parameters based on the signal received by the signal receiving unit includes: Based on the signal received by the signal receiving unit, the robot's linear velocity level, angular velocity level, and rotation direction are determined.

14. The motion control method according to claim 13, characterized in that, The linear velocity has three levels: a first linear velocity, a second linear velocity, and zero. The angular velocity also has three levels: a first angular velocity, a second angular velocity, and zero. Determining the robot's linear velocity level, angular velocity level, and rotation direction based on the signal received by the signal receiving unit includes: If the first receiver receives the first signal and the second signal, and the second receiver receives the first signal and the second signal, then the linear velocity is determined to be the second linear velocity, and the angular velocity is zero. If the first receiver receives both the first signal and the second signal, and the second receiver only receives the first signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the second angular velocity, and the rotation direction is counterclockwise. If the first receiver receives only the second signal, and the second receiver receives both the first signal and the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the second angular velocity, and the rotation direction is clockwise. If the first receiver receives both the first signal and the second signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is counterclockwise. If the first receiver does not receive either the first signal or the second signal, and the second receiver receives both the first signal and the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is clockwise. If the first receiver only receives the first signal and the second receiver only receives the first signal, then the linear velocity is determined to be the first linear velocity, the angular velocity is determined to be the second angular velocity, and the rotation direction is clockwise; If the first receiver receives only the second signal and the second receiver receives only the second signal, then the linear velocity is determined to be the first linear velocity, the angular velocity is determined to be the second angular velocity, and the rotation direction is counterclockwise. If the first receiver only receives the second signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be the first linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is counterclockwise. If the first receiver does not receive either the first signal or the second signal, and the second receiver only receives the first signal, then the linear velocity is determined to be the first linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is clockwise. If the first receiver only receives the first signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is counterclockwise. If the first receiver does not receive either the first signal or the second signal, and the second receiver only receives the second signal, then the linear velocity is determined to be the second linear velocity, the angular velocity is determined to be the first angular velocity, and the rotation direction is clockwise. If the first receiver does not receive either the first signal or the second signal, and the second receiver does not receive either the first signal or the second signal, then the linear velocity is determined to be zero, the angular velocity is the second angular velocity, and the rotation direction is clockwise or counterclockwise.

15. The motion control method according to claim 14, characterized in that, The robot further includes a vision sensor. If the first receiver fails to receive either the first signal or the second signal, and the second receiver also fails to receive either the first signal or the second signal, the method further includes: During the process of controlling the robot's rotation, the visual sensor is used to acquire the feature information of the base station; Based on the characteristic information of the base station, the robot is controlled to move towards the signal overlap area.

16. The motion control method according to claim 14, characterized in that, If the first receiver fails to receive either the first signal or the second signal, and the second receiver also fails to receive either the first signal or the second signal, the method further includes: Obtain several position points on the circumference of a circle centered on the robot's current position and with a preset value as the radius; The robot is controlled to move to several of the stated locations to obtain the first signal and / or the second signal.

17. The motion control method according to claim 16, characterized in that, Controlling the robot to move to several of the specified locations includes: Starting from the current position, the robot is controlled to move to a first position point on the circumference, where the first position point is any one of the plurality of position points; The robot is controlled to move from the first position point along the circumference to other position points in order to obtain the first signal and / or the second signal.

18. The motion control method according to claim 17, characterized in that, After controlling the robot to move from the first position point to other positions along the circumference, the method further includes: If the robot fails to acquire the first signal and / or the second signal after moving one full circle, the robot is controlled to move in the opposite direction along the circumference in order to acquire the first signal and / or the second signal.

19. The motion control method according to claim 14, characterized in that, If the first receiver fails to receive either the first signal or the second signal, and the second receiver also fails to receive either the first signal or the second signal, the method further includes: During the process of controlling the robot's rotation, it is determined whether the first receiver and the second receiver simultaneously receive one of the first signal and the second signal; If the first receiver and the second receiver simultaneously receive one of the first signal and the second signal, the first pose of the robot is obtained; The robot is controlled to continue rotating to determine whether the first receiver and the second receiver simultaneously receive the first signal and the second signal; If neither the first receiver nor the second receiver simultaneously receives the first signal and the second signal, determine whether the first receiver and the second receiver simultaneously receive the other signal between the first signal and the second signal; If the first receiver and the second receiver simultaneously receive the first signal and the other signal of the second signal, the second pose of the robot is obtained; Based on the first pose and the second pose, the robot's direction of movement is determined.

20. The motion control method according to any one of claims 12 to 19, characterized in that, Before controlling the robot to move towards the signal overlap region based on the movement parameters, the procedure includes: Obtain the distance between the robot and the base station; The robot's movement parameters are adjusted based on the distance.

21. The motion control method according to claim 20, characterized in that, The step of obtaining the distance between the robot and the base station includes: Obtain the signal strength of the first signal and / or the second signal; Based on the mapping relationship between signal strength and distance, the distance between the robot and the base station is determined; Alternatively, a visual sensor can be used to detect the distance between the robot and the base station; Alternatively, the distance between the robot and the base station can be obtained from a historical map; Alternatively, the distance between the robot and the base station can be determined based on the magnetic field information detected by the robot, wherein the magnetic field information is generated by an energized wire installed on the base station.

22. The motion control method according to claim 20, characterized in that, Adjusting the robot's movement parameters based on the distance includes: The linear velocity and angular velocity are adjusted to be positively correlated with the distance.

23. The motion control method according to any one of claims 12 to 19, characterized in that, Before controlling the robot to move to the preset position, the method further includes: Determine whether the robot can obtain the location information of the preset position; If the location information cannot be obtained, obtain the historical location information of the base station; Based on the robot's current location information and historical location information, a return path for the robot is planned, and the robot is controlled to move along the return path. When the signal receiving unit is able to detect the first signal and / or the second signal, the movement parameters of the robot are determined according to the signal condition received by the signal receiving unit. Based on the movement parameters, the robot is controlled to move towards the signal overlap area.

24. The motion control method according to any one of claims 12 to 19, characterized in that, The robot also includes a vision sensor, and the method includes, during the process of controlling the robot to move towards the signal overlap region: Determine whether there are obstacles in the direction of the robot's movement; If the obstacle exists, the visual sensor is used to acquire the feature information of the obstacle; Based on the aforementioned feature information, the robot is controlled to enter obstacle avoidance mode; Upon receiving the first signal and / or the second signal, the robot exits the obstacle avoidance mode and uses the first signal and / or the second signal to guide the robot's movement.

25. The motion control method according to claim 12, characterized in that, The robot is equipped with an environmental perception unit, and the method for controlling the robot to move towards the signal overlap area includes: Determine whether the environmental sensing unit can acquire the feature information of the base station; If the feature information of the base station can be obtained, it can be determined whether the deviation angle of the robot is greater than the second preset angle; If the robot's deviation angle is greater than the second preset angle, the robot's movement parameters are adjusted according to the feature information of the base station.

26. The motion control method according to claim 25, characterized in that, Before adjusting the robot's movement parameters, the method further includes: Determine whether the feature information of the base station meets the preset conditions; If the feature information of the base station does not meet the preset conditions, the robot is controlled to move so that the environmental perception unit can obtain the feature information of the base station that meets the preset conditions.

27. The motion control method according to claim 26, characterized in that, Before controlling the robot's movement, the method further includes: Obtain the first distance between the base station and the robot, and the first angle between the base station and the robot; Based on the first distance and / or the first angle, the robot's movement strategy is determined.

28. The motion control method according to claim 27, characterized in that, Determining the robot's movement strategy based on the first distance and / or the first angle includes: Determine whether the first distance is within a first preset range; If the first distance is not within the first preset range, the robot needs to be controlled to move forward or backward so that the first distance between the base station and the robot is within the first preset range; And / or, Determine whether the first angle is within the second preset range; If the first angle is not within the second preset range, the robot needs to be rotated so that the first angle of the base station relative to the robot is within the second preset range.

29. The motion control method according to claim 28, characterized in that, Controlling the robot's movement includes: When the first distance is not within the first preset range and the first angle is not within the second preset range, the robot needs to be rotated first so that the first angle is within the second preset range. Then control the robot to move forward or backward so that the first distance is within the first preset range.

30. The motion control method according to any one of claims 25 to 29, characterized in that, The step of adjusting the robot's movement parameters based on the feature information of the base station includes: Based on the feature information of the base station, the second distance of the base station relative to the robot and the fixed position of the base station are obtained; Obtain a circle with the fixed position as the center and the second distance as the radius; The circumference of the circle connecting the robot's location to the overlapping area of ​​the signals is defined as the robot's movement path; The robot's movement parameters are adjusted according to the movement path.

31. The motion control method according to claim 30, characterized in that, The step of determining the portion of the circumference connecting the robot's location to the signal overlap area as the robot's movement path includes: Obtain the center line of the signal overlap region; The circumference of the circle connecting the robot's location to the center line of the signal overlap area is defined as the robot's movement path.

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