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CN-121987093-A - Base station searching method and device, automatic cleaning equipment and storage medium

CN121987093ACN 121987093 ACN121987093 ACN 121987093ACN-121987093-A

Abstract

The embodiment of the application provides a base station searching method, a device, automatic cleaning equipment and a storage medium, when the automatic cleaning equipment searches the position of a base station, the unknown areas in the map are searched for the base station, and the automatic cleaning device searches for the base station along the outline of the map in a moving way under the condition that the base station is not searched for after all the unknown areas are searched. Compared with the mode that the automatic cleaning equipment advances towards the random direction to search the base station in the prior art, the base station searching efficiency of the automatic cleaning equipment can be improved, the time spent for searching the base station is saved, and the technical problem that the searching efficiency is low in the mode that the automatic cleaning equipment searches the base station in the prior art is solved.

Inventors

  • HUANG DONGZE

Assignees

  • 深圳市杉川机器人有限公司

Dates

Publication Date
20260508
Application Date
20241105

Claims (10)

  1. 1. A base station finding method suitable for an automatic cleaning device, the method comprising: under the condition that a base station return instruction is received, starting to quickly explore; Moving to an unknown area of which the boundary is not scanned in the updated map in the rapid exploration process, and identifying a first target object matched with the shape of a base station in the moving process so as to execute the butt joint process of the automatic cleaning equipment and the base station; Under the condition that the unknown area does not exist in the map, carrying out mobile exploration along the outline of the map, and identifying a second target object matched with the shape of the base station in the mobile exploration process; And moving to a target position where the second target object is located under the condition that the second target object is identified, so as to execute a docking flow of the automatic cleaning equipment and the base station.
  2. 2. The base station finding method as claimed in claim 1, wherein the automatic cleaning apparatus includes an environment collection module for collecting environment information around the automatic cleaning apparatus to update the map, the identifying a first target object matching a shape of the base station during the moving includes: and identifying a target object meeting a first shape condition in the map or identifying the target object meeting the first shape condition according to the environment information when the distance between the current position of the automatic cleaning equipment and the outline of the map is larger than a preset distance, wherein the first shape condition is matched with the front shape of the base station.
  3. 3. The base station searching method of claim 2, further comprising: And under the condition that the distance between the current position of the automatic cleaning equipment and the outline is smaller than or equal to the preset distance, identifying a first target object meeting a second shape condition in the map, or identifying the first target object meeting the second shape condition according to the environment information, wherein the second shape condition is matched with the side shape of the base station.
  4. 4. The base station searching method according to claim 1, wherein the docking procedure of the automatic cleaning device with the base station comprises: Moving to a target position where the first target object is located; In the process of moving to the target position, confirming the distance between the automatic cleaning equipment and the target position and whether the automatic cleaning equipment receives a docking signal, wherein the docking signal is sent by the base station and is used for indicating the automatic cleaning equipment to dock; and under the condition that the distance is in a preset distance range and the docking signal is received, determining that the first target object is a base station, and docking with the base station.
  5. 5. The base station searching method of claim 4, further comprising: And continuously moving to an unknown area of which the boundary is not scanned in the updated map under the condition that the distance is in a preset distance range and the docking signal is not received.
  6. 6. The base station searching method according to claim 4, wherein the target position is a position in a preset direction with respect to a position in which the preset shape of the first target object is located, and the distance is a target distance.
  7. 7. The base station searching method according to claim 1, wherein the base station is further configured to transmit a WIFI signal, the automatic cleaning device further includes a WIFI signal receiving module, the WIFI signal receiving module is configured to receive the WIFI signal, and the automatic cleaning device further includes, during moving: And determining the signal intensity of the WIFI signal in real time, and determining the area with the signal intensity smaller than the preset signal intensity as a forbidden area.
  8. 8. A base station finding apparatus adapted for use with an automatic cleaning device, the base station finding apparatus comprising: the quick exploration module is used for starting quick exploration under the condition that a base station return instruction is received; The first object recognition module is used for moving to an unknown area of which the boundary is not scanned in the updated map in the rapid exploration process, and recognizing a first target object matched with the shape of the base station in the moving process so as to execute the docking flow of the automatic cleaning equipment and the base station; The edge moving module is used for carrying out moving exploration along the outline of the map under the condition that the unknown area does not exist in the map, and identifying a second target object matched with the shape of the base station in the moving exploration process; And the second object recognition module is used for moving to the target position where the second target object is positioned under the condition that the second target object is recognized so as to execute the docking flow of the automatic cleaning equipment and the base station.
  9. 9. A robotic cleaning device comprising a processor and a memory; The memory is used for storing a computer program and transmitting the computer program to the processor; The processor is configured to perform a base station finding method as claimed in any one of claims 1 to 7 according to instructions in the computer program.
  10. 10. A storage medium storing computer executable instructions which, when executed by a computer processor, are adapted to perform a base station finding method as claimed in any one of claims 1 to 7.

Description

Base station searching method and device, automatic cleaning equipment and storage medium Technical Field The embodiment of the application relates to the field of robots, in particular to a base station searching method, a base station searching device, automatic cleaning equipment and a storage medium. Background At present, with the development of technology and the improvement of economic level, automatic cleaning equipment is widely applied to various fields, and the automatic cleaning equipment refers to mechanical equipment capable of automatically or remotely completing cleaning tasks through an automatic technology and an intelligent design. For some automatic cleaning equipment, corresponding base stations are matched, and the base stations can provide functions of charging, remote control, positioning, navigation and the like for the automatic cleaning equipment so as to ensure efficient operation of the automatic cleaning equipment. In the prior art, the automatic cleaning device typically interfaces with the identification base station by receiving infrared signals transmitted by the base station. When the automatic cleaning device is not provided with the map for positioning the base station and is positioned in the infrared signal receiving blind area, the automatic cleaning device can randomly search for the base station, and the time spent is long and the efficiency is low. In summary, the manner of searching the base station by the automatic cleaning device in the prior art has the technical problem of low searching efficiency. Disclosure of Invention The embodiment of the application provides a base station searching method, a base station searching device, automatic cleaning equipment and a storage medium, which can improve the efficiency of searching a base station by the automatic cleaning equipment and solve the technical problem of low searching efficiency in the mode of searching the base station by the automatic cleaning equipment in the prior art. In a first aspect, an embodiment of the present application provides a base station searching method, which is applicable to an automatic cleaning device, and the method includes: under the condition that a base station return instruction is received, starting to quickly explore; Moving to an unknown area of which the boundary is not scanned in the updated map in the rapid exploration process, and identifying a first target object matched with the shape of a base station in the moving process so as to execute the butt joint process of the automatic cleaning equipment and the base station; Under the condition that the unknown area does not exist in the map, carrying out mobile exploration along the outline of the map, and identifying a second target object matched with the shape of the base station in the mobile exploration process; And moving to a target position where the second target object is located under the condition that the second target object is identified, so as to execute a docking flow of the automatic cleaning equipment and the base station. The automatic cleaning device comprises an environment acquisition module, wherein the environment acquisition module is used for acquiring environment information around the automatic cleaning device to update the map, and the first target object matched with the shape of the base station is identified in the moving process, and the automatic cleaning device comprises: and identifying a target object meeting a first shape condition in the map or identifying the target object meeting the first shape condition according to the environment information when the distance between the current position of the automatic cleaning equipment and the outline of the map is larger than a preset distance, wherein the first shape condition is matched with the front shape of the base station. Wherein, still include: And under the condition that the distance between the current position of the automatic cleaning equipment and the outline is smaller than or equal to the preset distance, identifying a first target object meeting a second shape condition in the map, or identifying the first target object meeting the second shape condition according to the environment information, wherein the second shape condition is matched with the side shape of the base station. The docking process of the automatic cleaning equipment and the base station comprises the following steps: Moving to a target position where the first target object is located; In the process of moving to the target position, confirming the distance between the automatic cleaning equipment and the target position and whether the automatic cleaning equipment receives a docking signal, wherein the docking signal is sent by the base station and is used for indicating the automatic cleaning equipment to dock; and under the condition that the distance is in a preset distance range and the docking signal is received, determining that the first target