WO2023045749A1 - Charging device, self-moving device, charging method and system, and storage medium - Google Patents

Abstract

The present disclosure belongs to the technical field of automatic control. Provided are a charging device, a self-moving device, a charging method and system, and a storage medium. The charging method comprises: transmitting a preset pattern by means of a charging device, and a self-moving device acquiring an environmental image, which is collected by the self-moving device; if the environmental image comprises an image of the preset pattern, determining pose information of the charging device on the basis of the image of the preset pattern; forming the preset pattern on a shielding object; and in response to an instruction for charging the self-moving device, controlling, according to the pose information, the self-moving device to move to the charging device for charging. The problem of the determination of pose information of a charging device being inaccurate due to a signal that is transmitted by a self-moving device interfering with a signal that is transmitted by the charging device can be solved. Since the signal that is transmitted by the self-moving device usually does not constitute a preset pattern, the signal that is transmitted by the self-moving device can be distinguished from the signal that is transmitted by the charging device, thereby improving the accuracy of the self-moving device determining the position of the charging device.

Description

Charging device, mobile device, charging method, system and storage medium

This disclosure claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on September 26, 2021, with the application number 202111139423.8, and the title of the invention is "charging equipment, self-moving equipment, charging method, system and storage medium" ; the entire content of the above patent application is incorporated by reference in this disclosure.

technical field

The disclosure belongs to the technical field of automatic control, and in particular relates to a charging device, a self-moving device, a charging method, a system, and a storage medium.

Background technique

With the development of electronic science and technology, self-mobile devices such as sweeping robots and mopping robots have gradually entered people's daily lives. In order to improve user experience, self-mobile devices usually have an automatic recharge function. The automatic recharging function refers to the function that the mobile device automatically finds the charging device for charging.

The traditional self-mobile device recharging method includes: an infrared transmitter is installed in the charging device, and an infrared signal is transmitted to the front of the charging device through the infrared transmitter; The infrared receiver detects the infrared signal; when the infrared signal is detected, the position of the charging device is determined based on the position of the infrared signal.

However, since the self-mobile device may also be equipped with an infrared transmitter for functions such as obstacle avoidance, if the infrared transmitter also emits an infrared signal during the recharging process of the self-mobile device, it will cause the self-mobile device to misidentify the infrared signal as a The infrared signal emitted by the charging device can determine the inaccurate position of the charging device.

Contents of the invention

Therefore, the technical problem to be solved in the present disclosure is that the signal transmitted from the mobile device interferes with the signal transmitted by the charging device, resulting in inaccurate determination of the pose information of the charging device.

In order to solve the above technical problems, the present disclosure provides a charging device, which includes: an image transmitting component,

The signal emission direction of the image emitting component is the direction of the shield relative to the image emitting component, so that the signal emitted by the image emitting component forms a preset pattern on the shield, so that the self-mobile device can The preset pattern determines the position of the charging device.

Optionally, the shield includes a shield located above the charging device, and the signal transmission direction is above the charging device.

Optionally, the preset pattern includes direction indication information, and the direction indication information is used to indicate the direction of the charging device relative to the mobile device.

Optionally, the preset image includes a plurality of direction indicating information located at different positions, and the direction indicating information at different positions is different.

Optionally, the preset pattern includes device identification information, and the device identification information is used to indicate a mobile device compatible with the charging device.

Optionally, the preset pattern includes charging surface identification information, and the charging surface identification information is used to indicate the charging surface on the charging device;

The charging surface refers to the side opposite to the self-moving device when the charging device charges the self-moving device.

In another aspect, the present disclosure also provides a self-mobile device, and the self-mobile device includes:

An image acquisition component, the image acquisition component is used to acquire an image of a preset pattern formed on the shield, and the preset pattern is formed by a signal emitted by an image emitting component on the charging device;

A processor connected in communication with the image acquisition component, used for:

Acquiring the environmental image collected by the image acquisition component;

If the environment image includes an image of the preset pattern, determining pose information of the charging device based on the image of the preset pattern;

In response to an instruction to charge the self-mobile device, control the self-mobile device to move to the charging device for charging according to the pose information.

Optionally, the preset pattern includes direction indication information, and determining the pose information of the charging device based on the image of the preset pattern includes:

determining the direction of the charging device relative to the self-moving device based on the direction indication information;

The distance to the charging device is determined based on images of the preset pattern collected at different locations.

Optionally, the preset pattern includes device identification information, and the processor is further configured to:

determining whether the self-moving device is compatible with the charging device based on the device identification information;

In the case that the self-moving device is compatible with the charging device, the step of determining the pose information of the charging device based on the image of the preset pattern is triggered.

Optionally, the preset pattern includes charging surface identification information, and determining the pose information of the charging device based on the image of the preset pattern includes:

Determine the direction and distance of the charging surface of the charging device relative to the self-moving device based on the charging surface identification information.

Optionally, for the pose information corresponding to the image of each preset pattern, the pose information is associated with the position when the preset pattern is collected;

The responding to the instruction of charging the self-mobile device, controlling the self-mobile device to move to the charging device for charging according to the pose information includes:

When the self-mobile device moves to a position where the preset image is captured, read the pose information associated with the position where the preset image is captured;

Predicting the device position of the charging device based on the position where the preset image is collected and the pose information;

Controlling the self-moving device to move toward the device position until the self-moving device stops moving when the self-moving device moves to the charging device.

In another aspect, the present disclosure also provides a charging method of a self-mobile device, the method comprising:

Obtaining the environmental image collected from the mobile device;

In the case that the environment image includes an image of a preset pattern, determine the pose information of the charging device based on the image of the preset pattern; the preset pattern is formed on an obstruction, and the preset pattern is formed by the preset pattern The formation of the signal emitted by the signal transmitter installed in the above-mentioned charging equipment;

In response to an instruction to charge the self-mobile device, control the self-mobile device to move to the charging device for charging according to the pose information.

On the other hand, the present disclosure also provides a computer-readable storage medium, wherein a program is stored in the storage medium, and when the program is executed by a processor, the above-mentioned method for charging the self-mobile device is implemented.

On the other hand, the present disclosure also provides a charging system for a self-moving device, the charging system includes a charging device and a self-moving device;

The charging device includes the above-mentioned charging device;

The self-moving device includes the above-mentioned self-moving device.

The technical solution provided by the present disclosure has the following advantages:

The environmental image collected from the mobile device is obtained from the mobile device by transmitting a preset pattern through the charging device; when the environmental image includes an image of the preset pattern, the pose information of the charging device is determined based on the image of the preset pattern; the preset pattern Formed on the shield; in response to the command to charge the self-mobile device, control the mobile device to move to the charging device for charging according to the pose information; it can solve the problem that the signal emitted by the mobile device interferes with the signal emitted by the charging device, resulting in The problem of inaccurate determination of the pose information of the charging device; since the signal transmitted from the mobile device usually does not form a preset pattern, in this way, the signal transmitted from the mobile device can be distinguished from the signal transmitted from the charging device, and the determination of charging from the mobile device can be improved. The accuracy of the location of the device.

In addition, by setting the shielding object including the shielding object located above the charging device, in the case that the self-mobile device includes a sensor for emitting signals, since the sensor on the self-mobile device usually emits signals to the front and bottom of the traveling direction of the self-mobile device, Therefore, the direction of the signal transmitted from the mobile device is different from the direction of the signal transmitted from the charging device, which can avoid the interference of the signal transmitted from the mobile device to the signal transmitted by the charging device, and improve the accuracy of determining the location of the charging device from the mobile device. At the same time, the occluder located above the charging device is usually not blocked by the charging device itself, so that the preset pattern will not be blocked by the charging device itself, and there will be no blind area in the recognition range of the preset image, which improves the location determination of the charging device. Effect.

In addition, by setting the preset pattern to include direction indication information, in this way, the self-mobile device can determine the direction of the charging device relative to the self-mobile device based on the direction indication information, without using the preset path planning algorithm to calculate the direction of the charging device during the movement process. Relative to the direction of the mobile device, the complexity of determining the direction of the charging device relative to the mobile device can be reduced, saving device resources.

In addition, by setting the preset pattern to include device identification information, the self-mobile device can determine whether the self-mobile device is compatible with the charging device based on the device identification information; in the case that the self-mobile device is compatible with the charging device, trigger execution The step of determining the pose information of the charging device based on the image of the preset pattern can ensure that the charging device for the self-moving device is compatible with the self-moving device, which can save device resources and ensure charging safety.

In addition, by setting the preset pattern to include the charging surface identification information, the self-mobile device can determine the direction and distance of the charging surface of the charging device relative to the self-mobile device based on the charging surface identification information; The charging surface can improve the charging efficiency.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some implementations of the present disclosure. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.

FIG. 1 is a schematic structural diagram of a charging system for a mobile device provided by an embodiment of the present disclosure;

FIG. 2 is a flow chart of a charging method for a self-mobile device provided by an embodiment of the present disclosure;

Fig. 3 is a block diagram of a charging device for self-mobile equipment provided by an embodiment of the present disclosure;

Fig. 4 is a block diagram of a charging device for a mobile device provided by another embodiment of the present disclosure.

Detailed ways

The technical solutions of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present disclosure, rather than all of them. Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

In this disclosure, unless stated to the contrary, the use of orientation words such as "up, down, top, bottom" generally refers to the direction shown in the drawings, or refers to the vertical, vertical, or vertical orientation of the component itself. In terms of vertical or gravitational direction; similarly, for the convenience of understanding and description, "inside and outside" refer to inside and outside relative to the outline of each component itself, but the above orientation words are not used to limit the present disclosure.

FIG. 1 is a schematic structural diagram of a self-mobile device charging system provided by an embodiment of the present disclosure. According to FIG. 1 , the system at least includes: a charging device 10 and a self-mobile device 20 .

The charging device 10 is installed in the working area where the self-mobile device 20 is located, and is used for charging the self-mobile device 20 .

Optionally, the charging device 10 charges the self-mobile device 20 in a wired manner, or charges the self-mobile device 20 in a wireless manner, and this embodiment does not limit the charging method of the charging device 10 .

Optionally, the self-moving device 20 may be a device with an automatic movement function such as a sweeper, a mopping machine, and a floor washing machine. This embodiment does not limit the type of the self-moving device 20 .

In this embodiment, an image emitting component 101 is installed on the charging device 10 . The signal emission direction of the image emission component is the direction of the shield relative to the image emission component, so that the signal emitted by the image emission component forms a preset pattern on the shield, so that the mobile device can determine the position of the charging device according to the preset pattern.

In other words, there is an obstruction around the charging device 10 , and the image emitting component 101 emits a preset image in the direction of the obstruction.

Optionally, the preset pattern can be in the shape of a two-dimensional code, a circle, a rectangle, etc. The shape of the preset pattern is different from that formed by signals emitted by traditional sensors (such as dots and lines). This embodiment does not The shape of the preset pattern is limited.

Correspondingly, the self-mobile device 20 includes an image acquisition component 201 and a processor 202 connected in communication with the image acquisition component.

The image acquisition component 201 is used to acquire the image of the preset pattern formed on the barrier.

The processor 202 is configured to acquire the environmental image collected by the image acquisition component 201; if the environmental image includes an image of a preset pattern, determine the pose information of the charging device 10 based on the image of the preset pattern; 20 to carry out the instruction of charging, according to the posture information control to move from the mobile device 20 to the charging device 10 for charging.

Wherein, the signal transmitted by the image transmitting component 101 includes but not limited to: visible light signal (such as laser signal), and/or invisible light signal (such as infrared signal), this embodiment does not limit the type of signal transmitted by the image transmitting component 101. The image acquisition component 201 can acquire the signal transmitted by the image transmission component 101 .

In the case where the mobile device 20 is equipped with a sensor that emits the above-mentioned signal, since the signal emitted by the sensor usually does not form a preset pattern, in this embodiment, the mobile device 20 can be based on whether the preset pattern is collected to determine the location of the charging device 10 . In this way, the signal transmitted from the mobile device 20 can be distinguished from the signal transmitted from the charging device 10, the signal transmitted from the mobile device 20 can be avoided from interfering with the signal transmitted from the charging device 10, and the accuracy of determining the position of the charging device 10 from the mobile device 20 can be improved. accuracy.

In one example, after the processor 202 acquires the environmental image collected by the image acquisition component 201, it identifies whether the environmental image includes an image of a preset pattern; if yes, determines the pose information of the charging device 10 based on the image of the preset pattern; If not, continue to control the mobile device 20 to move and perform the steps of acquiring the environmental image captured by the image acquisition component 201 and identifying whether the environmental image includes an image of a preset pattern.

Wherein, identifying whether the environment image includes an image of a preset pattern includes: using a target detection algorithm to detect whether the environment image includes an image of a preset pattern; or performing grayscale processing on the environment image to determine whether the grayscale processed image includes pixels An image area whose value is greater than a preset threshold; if included, it is determined that the environment image includes an image of a preset pattern; if not included, it is determined that the environment image does not include an image of a preset pattern.

Optionally, the target detection algorithm includes, but is not limited to: support vector machines (support vector machines, SVM), or a classification algorithm based on deep learning. This embodiment does not limit the type of the target detection algorithm.

The grayscale processing includes: setting the pixel points in the environment image whose pixel values are greater than the grayscale threshold to 255; setting the pixel points in the environment image whose pixel values are less than or equal to the grayscale threshold to 0. Correspondingly, the preset threshold is 0. Since the grayscale value of the preset pattern is usually higher than the grayscale value of the occluder (such as the ceiling), identifying whether the preset pattern is included through grayscale processing can reduce the difficulty of recognizing the preset pattern and improve the recognition efficiency.

Optionally, the shield includes a shield located above the charging device 10 , and the emission direction of the image emitting component 101 is above the charging device 10 . At this time, if the self-mobile device 20 includes a sensor that emits a signal, since the sensor on the self-mobile device 20 usually emits a signal forward and downward in the direction of travel of the self-mobile device 20, the direction in which the self-mobile device 20 emits a signal Different from the direction of the signal transmitted by the charging device 10 , the interference of the signal transmitted from the mobile device 20 to the signal transmitted by the charging device 10 can be avoided, and the accuracy of determining the location of the charging device 10 from the mobile device 20 can be improved.

In addition, the occluder located above the charging device 10 is usually not blocked by the charging device 10 itself, so that the preset pattern will not be blocked by the charging device 10 itself, and there will be no blind area in the recognition range of the preset image, which improves the charging device. 10 positions determine the effect.

Correspondingly, the collection direction of the image collection component 201 includes from above the mobile device 20 .

Wherein, the top of the charging device 10 may be directly above or obliquely above the charging device 10 , and this embodiment does not limit the formation position of the preset pattern. In the case that the preset pattern is located obliquely above the charging device 10, the angle of the preset pattern relative to the charging device 10 is also stored in the self-mobile device 20, for the self-mobile device 20 according to the angle and the position of the preset pattern, The location of the charging device 10 is determined.

Optionally, in the case that the preset pattern is located directly above the charging device 10 , from above the mobile device 20 includes obliquely above the mobile device 20 . In the case that the preset pattern is located obliquely above the charging device 10 , from above the moving device 20 includes obliquely above or directly above the moving device 20 .

The shields above the charging device 10 include but are not limited to: the ceiling in the working area, the bottom of a sofa, the bottom of a cabinet, etc. This embodiment does not limit the type of shields above the charging device 10 .

In actual implementation, the shielding object may also be a shielding object located obliquely below the charging device 10 , and the emission direction of the image emitting component 101 is obliquely below the charging device 10 .

The shelters located obliquely below the charging device 10 include, but are not limited to: the ground on which the charging device 10 is placed, a desktop, etc., and this embodiment does not limit the type of shields obliquely below the charging device 10 .

In one example, the preset pattern includes direction indication information, and the direction indication information is used to indicate the direction of the charging device 10 relative to the mobile device 20 .

Correspondingly, determining the pose information of the charging device 10 based on the image of the preset pattern includes: determining the direction of the charging device 10 relative to the mobile device 20 based on the direction indication information; The distance between charging devices 10 .

Optionally, the preset image includes a plurality of direction indicating information located at different positions, and the direction indicating information at different positions is different. In this way, when the directions of the self-mobile device 20 relative to the charging device 10 are different, the collected direction indication information is different. For example, when the self-mobile device 20 is located on the left side of the charging device 10, the direction indication information indicates that the charging device 10 is located on the right side of the self-mobile device 20, so that the self-mobile device 20 can determine that the charging device 10 is located on the right side.

Wherein, the direction indication information may be indicated by an arrow or by a code, and this embodiment does not limit the expression manner of the direction indication information.

Schematically, the direction indication information is used to indicate the general direction of the charging device 10 relative to the self-mobile device 20. exact direction.

For example: when the direction indication information indicates that the charging device 10 is located on the right side of the self-mobile device 20, and the distance between the self-mobile device 20 and the self-mobile device 20 is D1, at this time, the self-mobile device 20 takes the current position as the center and the radius as D1 to generate The semicircle R1 located on the right side of mobile device 20 . Afterwards, the charging device 10 continues to move, and the direction indication information still indicates that the charging device 10 is located on the right side of the self-mobile device 20, and the distance between the self-mobile device 20 and the self-mobile device 20 is D2. At this time, the self-mobile device 20 takes the current position as the center of the circle , a semicircle R2 located on the right side of the mobile device 20 is generated with a radius D2, and the tangent point between the semicircle R1 and the semicircle R2 is the position and direction of the charging device 10 relative to the self-mobile device 20 .

In one example, the preset pattern includes device identification information, which is used to indicate the mobile device 20 compatible with the charging device 10 .

Correspondingly, the processor 202 is also configured to determine whether the self-mobile device 20 is compatible with the charging device 10 based on the device identification information; in the case that the self-mobile device 20 is compatible with the charging device 10, trigger execution based on a preset pattern The step of determining the pose information of the charging device 10 from the image.

Optionally, in the case that the self-mobile device 20 is not compatible with the charging device 10, the self-mobile device continues to move until an image including a preset pattern is collected again, and the determination of whether the self-mobile device 20 is based on the device identification information is performed again. Steps for adapting the charging device 10 .

Wherein, the device identification information is represented by a preset graphic in a preset image, or by a preset number, and this embodiment does not limit the representation manner of the device identification information.

Since there may be multiple self-mobile devices 20 running in the same working area, not all self-mobile devices 20 can be charged by the charging device 10 . In order to ensure that the charging device 10 is compatible with the self-mobile device 20, in this embodiment, by setting the device identification information in the preset image, the self-mobile device 20 can determine the charging device 10 that emits the preset image according to the device identification information Whether it is a device capable of charging the self-mobile device 20, and if so, determine the pose information of the charging device 10, which can save the resources of the self-mobile device 20 and ensure the safety of charging.

In one example, the preset pattern includes charging surface identification information, which is used to indicate the charging surface on the charging device 10 .

For example: the position of the charging surface identification information in the preset pattern indicates the position of the charging surface on the charging device 10 .

The charging surface refers to the side opposite to the mobile device 20 when the charging device 10 is charging the mobile device 20 .

The charging surface identification information is different from the direction indication information and the device identification information. The charging surface identification information can be represented by a logo graphic in a preset pattern, or by a coded string. This embodiment does not limit the expression method of the charging surface identification information.

Correspondingly, determining the pose information of the charging device 10 based on the image of the preset pattern includes: determining the direction and distance of the charging surface of the charging device 10 relative to the mobile device 20 based on the charging surface identification information.

In actual implementation, the self-mobile device 20 may also determine the pose information of the charging device 10 in combination with the direction indication information and the charging surface identification information. Specifically, the self-mobile device 20 determines the direction of the charging device 10 relative to the self-mobile device 20 based on the direction indication information; based on the direction of the charging surface identification information in the preset image and the direction of the charging device 10 relative to the self-mobile device 20, determine The direction of the charging surface relative to the self-mobile device 20 ; the distance between the charging surface and the self-mobile device 20 is determined based on the identification information of the charging surface, and the direction and distance of the charging surface relative to the self-mobile device 20 are obtained.

Optionally, for the pose information corresponding to the image of each preset pattern, the pose information is associated with the position when the preset pattern is collected; and the self-mobile device 20 also stores the pose information and the preset pattern corresponding to the collection relationship between time and position.

Afterwards, the processor 202 responds to the instruction to charge the mobile device 20, and controls the mobile device 20 to move to the charging device 10 for charging according to the pose information, including: when the mobile device 20 moves to the position where the preset image is collected In this case, read the pose information associated with the position of the collected preset image; predict the device position of the charging device 10 based on the position and pose information of the collected preset image; control the movement from the mobile device 20 to the device position until When the mobile device 20 moves to the charging device 10, the mobile device 20 stops moving.

Schematically, the pose information is used to indicate the general direction of the charging device 10, such as: front, rear, left front, right front, etc. At this time, the device position predicted from the mobile device 20 is a range, from the mobile device 20 During the moving process, the range is continuously reduced until the mobile device 20 stops moving when moving to the charging device 10 .

It is worth noting that the charging device 10 may also include structural components required for charging, such as a charging structure, a casing, a memory, and a supporting structure; For the structural components required during the moving process, the present embodiment does not describe the structures included in the charging device 10 and the self-moving device 20 one by one.

To sum up, in the charging system for the self-mobile device provided in this embodiment, the self-mobile device can determine the location of the charging device based on whether the preset pattern is collected through the charging device transmitting a preset pattern. Since the signal emitted by the sensor usually does not form a preset pattern, in this way, the signal emitted from the mobile device can be distinguished from the signal emitted by the charging device, which can avoid the signal emitted from the mobile device from interfering with the signal emitted by the charging device, and improve the self- The accuracy with which the mobile device determines the location of the charging device.

In addition, by setting the shielding object including the shielding object located above the charging device, in the case that the self-mobile device includes a sensor for emitting signals, since the sensor on the self-mobile device usually emits signals to the front and bottom of the traveling direction of the self-mobile device, Therefore, the direction of the signal transmitted from the mobile device is different from the direction of the signal transmitted from the charging device, which can avoid the interference of the signal transmitted from the mobile device to the signal transmitted by the charging device, and improve the accuracy of determining the location of the charging device from the mobile device. At the same time, the occluder located above the charging device is usually not blocked by the charging device itself, so that the preset pattern will not be blocked by the charging device itself, and there will be no blind area in the recognition range of the preset image, which improves the location determination of the charging device. Effect.

In addition, by setting the preset pattern to include direction indication information, in this way, the self-mobile device can determine the direction of the charging device relative to the self-mobile device based on the direction indication information, without using the preset path planning algorithm to calculate the direction of the charging device during the movement process. Relative to the direction of the mobile device, the complexity of determining the direction of the charging device relative to the mobile device can be reduced, saving device resources.

In addition, by setting the preset pattern to include device identification information, the self-mobile device can determine whether the self-mobile device is compatible with the charging device based on the device identification information; in the case that the self-mobile device is compatible with the charging device, trigger execution The step of determining the pose information of the charging device based on the image of the preset pattern can ensure that the charging device for the self-moving device is compatible with the self-moving device, which can save device resources and ensure charging safety.

In addition, by setting the preset pattern to include the charging surface identification information, the self-mobile device can determine the direction and distance of the charging surface of the charging device relative to the self-mobile device based on the charging surface identification information; The charging surface can improve the charging efficiency.

FIG. 2 is a flowchart of a charging method for a self-mobile device provided by an embodiment of the present disclosure. This embodiment uses the method in the processor 202 of the self-mobile device 20 shown in FIG. 1 as an example for illustration. The method Include at least the following steps:

Step 21, acquiring the environmental image collected from the mobile device.

Step 22, if the environment image includes an image of a preset pattern, determine the pose information of the charging device based on the image of the preset pattern.

Wherein, the preset pattern is formed on the shield, and the preset pattern is formed by a signal emitted by a signal transmitter installed on the charging device.

Step 23, in response to the command to charge the self-mobile device, control the mobile device to move to the charging device for charging according to the pose information.

For details about this embodiment, refer to the above-mentioned system embodiment.

To sum up, the charging method of the self-mobile device provided by this embodiment uses the charging device to transmit the preset pattern, and the mobile device acquires the environment image collected from the mobile device; when the environment image includes an image of the preset pattern, Determine the pose information of the charging device based on the image of the preset pattern; the preset pattern is formed on the shield; in response to the instruction for charging the self-mobile device, control the mobile device to move to the charging device for charging according to the pose information; can Solve the problem that the signal emitted from the mobile device interferes with the signal emitted by the charging device, resulting in inaccurate determination of the pose information of the charging device; since the signal emitted from the mobile device usually does not constitute a preset pattern, in this way, the self-mobile The signal transmitted by the device is distinguished from the signal transmitted by the charging device, so as to improve the accuracy of determining the location of the charging device from the mobile device.

Fig. 3 is a block diagram of a charging device for a mobile device provided by an embodiment of the present disclosure. The device at least includes the following modules: an image acquisition module 310 , a pose determination module 320 and a regression charging module 330 .

An image acquisition module 310, configured to acquire the environmental image collected from the mobile device;

The pose determination module 320 is configured to determine the pose information of the charging device based on the image of the preset pattern when the environment image includes the image of the preset pattern; the preset pattern is formed on the shield, And the preset pattern is formed by a signal emitted by a signal transmitter installed on the charging device;

Returning to the charging module 330, configured to control the self-mobile device to move to the charging device for charging according to the pose information in response to an instruction to charge the self-mobile device.

Relevant details refer to the above-mentioned examples.

It should be noted that: when the charging device for self-mobile equipment provided in the above-mentioned embodiments is used for charging self-mobile equipment, the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated according to needs. It is completed by different functional modules, that is, the internal structure of the charging device of the self-mobile device is divided into different functional modules to complete all or part of the functions described above. In addition, the self-moving device charging device and the self-moving device charging method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process thereof can be found in the method embodiment, and will not be repeated here.

Fig. 4 is a block diagram of a charging device for a mobile device provided by an embodiment of the present disclosure. The apparatus may be the autonomous mobile device 20 in the charging system for the autonomous mobile device described in FIG. 1 , and the apparatus includes at least a processor 401 and a memory 402 .

The processor 401 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. Processor 401 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. Processor 401 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state. In some embodiments, the processor 401 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor 401 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.

Memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to realize the self-moving provided by the method embodiments of the present disclosure. The charging method for the device.

In some embodiments, the external reference calibration device may optionally further include: a peripheral device interface and at least one peripheral device. The processor 401, the memory 402, and the peripheral device interface may be connected through a bus or a signal line. Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board. Schematically, peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.

Of course, the external reference calibration device may also include fewer or more components, which is not limited in this embodiment.

Optionally, the present disclosure also provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the method for charging a self-mobile device in the above method embodiment .

Optionally, the present disclosure also provides a computer product, the computer product includes a computer-readable storage medium, and a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the above method embodiments A charging method for self-mobile devices.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present disclosure, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the disclosed patents. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the scope of protection of the disclosed patent should be based on the appended claims.

Apparently, the embodiments described above are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, those skilled in the art may make other changes or changes in different forms without creative work, which shall fall within the protection scope of the present disclosure.

Claims (14)

A charging device, characterized in that the charging device includes: an image transmitting component, The signal emission direction of the image emitting component is the direction of the shield relative to the image emitting component, so that the signal emitted by the image emitting component forms a preset pattern on the shield, so that the self-mobile device can The preset pattern determines the position of the charging device. The charging device according to claim 1, wherein the shielding object comprises a shielding object located above the charging device, and the signal transmission direction is above the charging device. The charging device according to claim 1, wherein the preset pattern includes direction indicating information, and the direction indicating information is used to indicate the direction of the charging device relative to the mobile device. The charging device according to claim 3, wherein the preset image includes a plurality of direction indication information located at different positions, and the direction indication information at different positions is different. The charging device according to claim 1, wherein the preset pattern includes device identification information, and the device identification information is used to indicate a mobile device compatible with the charging device. The charging device according to claim 1, wherein the preset pattern includes charging surface identification information, and the charging surface identification information is used to indicate the charging surface on the charging device; The charging surface refers to the side opposite to the self-moving device when the charging device charges the self-moving device. A self-mobile device, wherein the self-mobile device comprises: An image acquisition component, the image acquisition component is used to acquire an image of a preset pattern formed on the shield, and the preset pattern is formed by a signal emitted by an image emitting component on the charging device; A processor connected in communication with the image acquisition component, used for: Acquiring the environmental image collected by the image acquisition component; If the environment image includes an image of the preset pattern, determining pose information of the charging device based on the image of the preset pattern; In response to an instruction to charge the self-mobile device, control the self-mobile device to move to the charging device for charging according to the pose information. The self-mobile device according to claim 7, wherein the preset pattern includes direction indication information, and determining the pose information of the charging device based on the image of the preset pattern includes: determining the direction of the charging device relative to the self-moving device based on the direction indication information; The distance to the charging device is determined based on images of the preset pattern collected at different locations. The self-mobile device according to claim 7, wherein the preset pattern includes device identification information, and the processor is further configured to: determining whether the self-moving device is compatible with the charging device based on the device identification information; In the case that the self-moving device is compatible with the charging device, the step of determining the pose information of the charging device based on the image of the preset pattern is triggered. The self-moving device according to claim 7, wherein the preset pattern includes charging surface identification information, and determining the pose information of the charging device based on the image of the preset pattern includes: Determine the direction and distance of the charging surface of the charging device relative to the self-moving device based on the charging surface identification information. The self-mobile device according to claim 7, wherein, for the pose information corresponding to the image of each preset pattern, the pose information is associated with the position when the preset pattern is collected; The responding to the instruction of charging the self-mobile device, controlling the self-mobile device to move to the charging device for charging according to the pose information includes: When the self-mobile device moves to a position where the preset image is captured, read the pose information associated with the position where the preset image is captured; Predicting the device position of the charging device based on the position where the preset image is collected and the pose information; Controlling the self-moving device to move toward the device position until the self-moving device stops moving when the self-moving device moves to the charging device. A method for charging a self-mobile device, wherein the method includes: Obtaining the environmental image collected from the mobile device; In the case that the environment image includes an image of a preset pattern, determine the pose information of the charging device based on the image of the preset pattern; the preset pattern is formed on an obstruction, and the preset pattern is formed by the preset pattern The formation of the signal emitted by the signal transmitter installed in the above-mentioned charging equipment; In response to an instruction to charge the self-mobile device, control the self-mobile device to move to the charging device for charging according to the pose information. A computer-readable storage medium, wherein a program is stored in the storage medium, and when the program is executed by a processor, the program is used to implement the charging method of the self-moving device as claimed in claim 12 . A charging system for self-moving equipment, characterized in that the charging system includes charging equipment and self-moving equipment; The charging device comprises the charging device described in any one of claims 1 to 6; The self-moving device includes the self-moving device described in any one of claims 7-11.

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