WO2019206282A1 - 自动返回装置、系统及自动行走设备自动返回方法 - Google Patents

自动返回装置、系统及自动行走设备自动返回方法 Download PDF

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Publication number
WO2019206282A1
WO2019206282A1 PCT/CN2019/084565 CN2019084565W WO2019206282A1 WO 2019206282 A1 WO2019206282 A1 WO 2019206282A1 CN 2019084565 W CN2019084565 W CN 2019084565W WO 2019206282 A1 WO2019206282 A1 WO 2019206282A1
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WO
WIPO (PCT)
Prior art keywords
automatic
sound
acoustic wave
walking device
intensity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/084565
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English (en)
French (fr)
Inventor
佩利萨里弗朗西斯科
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to CN201980028200.9A priority Critical patent/CN112823320A/zh
Priority to EP19793617.2A priority patent/EP3786755A4/en
Priority to US15/734,892 priority patent/US20210223787A1/en
Publication of WO2019206282A1 publication Critical patent/WO2019206282A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

Definitions

  • the invention relates to an automatic return device, an automatic return system and a method for an automatic walking device to return to a charging station.
  • Haskovana has developed a similar automatic lawn mower that automatically mowing and charging the user's lawn without user intervention. Since this automatic working system does not need to be put into management after one setting, it is very popular because it frees users from the tedious and time-consuming work of housework such as cleaning and lawn maintenance.
  • the invention provides a quick return automatic returning device, an automatic returning system and a method for the automatic walking device to return to the charging station, and the method of using the automatic returning system and the automatic walking device to return to the charging station can obtain a better optimized return route. Reduce return time and save energy.
  • an automatic returning method of an automatic walking device for returning to a charging station the charging station is provided with an acoustic wave transmitter for emitting sound waves, and the automatic walking device includes for receiving Acoustic wave receiver of the acoustic wave
  • the automatic returning method of the automatic walking device comprises the following steps:
  • the sound wave transmitter emits sound waves in a direction in which the automatic walking device is docked with the charging station;
  • the acoustic wave receiver rotates and detects the direction A of the sound wave with the strongest sound intensity, and the automatic walking device walks toward the direction A;
  • Steps S3 and S4 are repeated, the acoustic wave receiver continues to rotate, and the automatic walking device changes the walking direction until walking in a direction of docking with the charging station.
  • the acoustic wave transmitter emits sound waves omnidirectionally.
  • the acoustic wave transmitter emits sound waves in a direction
  • the charging station is provided with a stepping motor
  • the sound wave transmitter uses the angle information of the stepping motor to directly emit sound waves.
  • angle information and the synchronization information of the stepping motor are transmitted to the acoustic wave receiver or the automatic traveling device by radio.
  • the acoustic wave emitted by the acoustic wave transmitter ranges from 10 Khz to 80 Khz.
  • the acoustic wave receiver is rotated, and the controller controls the acoustic wave receiver to rotate or oscillate to detect sound waves in different directions.
  • an automatic walking device automatic return method the automatic walking device automatically returns to a charging station, at least one acoustic wave transmitter and at least one acoustic wave receiver are respectively disposed at the charging station and the automatic walking device
  • a processor processing the sound wave received by the sound wave receiver the automatic walking device comprising a controller for controlling the walking of the automatic walking device, the automatic walking device working within a preset working range, the automatic walking device
  • the automatic return method includes the following steps:
  • the acoustic wave receiver continuously detects sound waves emitted by the acoustic wave transmitters in different directions;
  • the processor performs intensity analysis on sound waves in different directions continuously detected by the acoustic wave receiver and obtains a direction of the sound wave with the strongest sound intensity;
  • the controller controls the walking direction of the autonomous walking device according to the direction of the sound wave with the strongest sound intensity, so that the automatic walking device returns to the charging station.
  • the acoustic wave transmitter emits sound waves omnidirectionally.
  • the acoustic wave transmitter directionalally emits sound waves and is connected to a stepping motor, and the sound wave transmitter uses the angle information of the stepping motor to directly emit sound waves.
  • angle information and the synchronization information of the stepping motor are transmitted by radio to the device where the acoustic wave receiver or the acoustic wave receiver is located.
  • the acoustic wave emitted by the acoustic wave transmitter ranges from 10 Khz to 80 Khz.
  • the acoustic wave receiver is rotated, and the controller controls the acoustic wave receiver to rotate or oscillate to detect sound waves in different directions.
  • the controller controls the walking direction of the autonomous walking device according to the direction of the sound wave with the strongest sound intensity, so that the automatic walking device returns to the charging station, including:
  • S11 the controller controls the automatic walking device to walk in a direction in which the sound wave with the strongest sound intensity is located;
  • the acoustic wave device continuously detects sound waves emitted by the sound wave emitters in different directions during the walking of the autonomous walking device in the direction of the sound wave with the strongest sound intensity;
  • S13 The processor continuously performs intensity analysis on the received sound wave, and determines, according to the analysis result, whether a new sound wave with the strongest sound intensity exists in the direction;
  • Steps S12 to S14 are repeated, the acoustic wave receiver continues to rotate, and the automatic walking device changes the traveling direction until walking in a direction of docking with the charging station.
  • an automatic return system including a charging station and an automatic walking device, the automatic return system comprising:
  • An acoustic wave transmitter for emitting sound waves
  • a sound wave receiver wherein the sound wave receiver continuously detects sound waves emitted by the sound wave emitters in different directions when the automatic walking device initiates the return;
  • a processor for performing intensity analysis on sound waves in different directions continuously detected by the sound wave receiver and obtaining a direction of sound waves having the strongest sound intensity
  • a controller configured to control a walking direction of the autonomous walking device according to a direction of a sound wave with the strongest sound intensity, so that the automatic walking device returns to the charging station.
  • the acoustic wave transmitter is an acoustic wave transmitter that emits sound waves in an omnidirectional direction.
  • the acoustic wave transmitter is an acoustic wave transmitter that emits sound waves directionalally
  • the automatic return system includes a stepping motor that uses the angle information of the stepping motor to directionally emit sound waves.
  • angle information and the synchronization information of the stepping motor are transmitted to the acoustic wave receiver or the automatic traveling device by radio.
  • the acoustic wave emitted by the acoustic wave transmitter ranges from 10 Khz to 80 Khz.
  • the sound wave transmitter is disposed on a charging station
  • the sound wave receiver is rotatably disposed on the automatic walking device
  • the controller controls the sound wave receiver to rotate or oscillate to detect different directions Sound waves.
  • an automatic return device comprising:
  • the sound wave receiver is disposed on the casing, and the sound wave receiver is configured to continuously detect external sound waves in different directions when the automatic return device starts to return;
  • a processor for performing intensity analysis on sound waves in different directions continuously detected by the sound wave receiver and obtaining a direction of sound waves having the strongest sound intensity
  • a controller for controlling a walking direction of the automatic returning device according to a direction of the sound wave with the strongest sound intensity, so that the automatic returning device follows the direction of the sound wave with the strongest sound intensity.
  • the acoustic wave receiver is rotatably disposed on the automatic walking device, and the controller controls the acoustic wave receiver to rotate or oscillate to detect sound waves in different directions.
  • the automatic return device, the automatic return system and the method for returning the automatic walking device to the charging station, the system and the method obtain the intensity information of the sound waves in different directions by processing the sound waves, and obtain the direction of the sound signal with the strongest sound intensity, and The strong direction moves, continuously rotates to analyze the intensity of the received sound wave, and moves to the new strongest direction when the strongest direction changes, thereby circulating, and finally reaching the strongest charging docking direction of the signal.
  • the automatic walking device can return to the charging station relatively intelligently, and the method is simple and reliable, and the regression efficiency of the automatic walking device can be improved, and the return time can be saved.
  • Figure 1 is a schematic illustration of the direction A of the intensity of the acoustic wave strength of the automatic walking apparatus with the strongest intensity in the automatic return system of the present invention.
  • FIG. 2 is a schematic view showing that the direction of the sound intensity of the strongest sound intensity is changed from the direction A to the direction B in the automatic walking device of the automatic return system of the present invention.
  • Fig. 3 is a schematic view showing the direction B of the sound wave intensity in which the automatic walking device has the strongest sound intensity in the automatic returning system of the present invention.
  • FIG. 4 is a schematic view showing the walking path of the automatic walking device in the automatic returning system of the present invention to return to the charging station according to the direction of the strongest sound intensity of the sound intensity.
  • FIG. 5 is a system block diagram of the automatic return device of the present invention.
  • Figure 6 is a flow chart of a method of returning a charging device of the autonomous vehicle of the present invention.
  • the invention provides an automatic returning device, an automatic returning system and a method for returning an automatic walking device to a charging station.
  • an automatic returning system and the method of returning to the charging station by the automatic walking device By using the automatic returning system and the method of returning to the charging station by the automatic walking device, a better optimized return route can be obtained, and the return time can be shortened. Save energy.
  • the automatic return device is an automatic walking device, and the automatic return device includes a housing 10, an acoustic wave receiver 20, a moving module 30 at the bottom of the housing 10, and a working module 40 for performing work, for controlling intelligence.
  • the mower automatically operates and moves the controller 50, the processor 60, and an energy module 70 that provides energy to the intelligent mower.
  • the acoustic wave receiver 20 is provided on the housing 10 on the autonomous walking device.
  • the acoustic wave receiver 20 is used to continuously detect sound waves in different directions.
  • the processor 60 is configured to perform intensity analysis on the sound waves in different directions continuously detected by the acoustic wave receiver and obtain the direction of the sound wave with the strongest sound intensity.
  • the controller 50 is configured to control the walking direction of the automatic walking device according to the direction of the sound wave with the strongest sound intensity, so that the automatic walking device follows the direction of the sound wave with the strongest sound intensity, and finally guides the automatic walking device to reach the sound intensity.
  • the direction of the charging station where strong sound waves are located is configured to control the walking direction of the automatic walking device according to the direction of the sound wave with the strongest sound intensity, so that the automatic walking device follows the direction of the sound wave with the strongest sound intensity, and finally guides the automatic walking device to reach the sound intensity.
  • the direction of the charging station where strong sound waves are located.
  • the acoustic wave receiver 20 is rotatably disposed on the autonomous vehicle, and the controller 50 controls the acoustic wave receiver 20 to rotate or oscillate to detect sound waves in different directions.
  • the autonomous apparatus includes a stepper motor (not shown) for powering the acoustic receiver to rotate or oscillate, and the controller 50 can adjust the acoustic receiver 20 to rotate or oscillate. Angle.
  • the acoustic wave receiver 20 can include at least two. By setting a plurality of acoustic wave receivers 20, sound waves in different directions can be detected, thereby improving work efficiency and improving detection accuracy. At least two of the acoustic wave receivers 20 may be arranged to receive acoustic signals in a fixed direction, that is, the acoustic wave receiver 20 is fixedly mounted and cannot be rotated or oscillated. Of course, in another embodiment, at least two of the acoustic wave receivers 20 may also be configured as Rotate or swing.
  • the acoustic wave receiver 20 is an electromagnetic driver, such as a standard microphone, which is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the automatic return system includes an autonomous walking device 100 and a charging station 200.
  • the automatic traveling device 100 is the aforementioned automatic return device.
  • the automatic walking device 100 travels within a preset working range, and the charging station 200 is used for the automatic walking device 100 to stop when not in operation.
  • the charging station 200 is provided with a charging device for the autonomous vehicle 100 to replenish energy when the energy is insufficient.
  • the direction in which the sound intensity is greatest is the orientation of the charging station 200, and in one embodiment, for the automatic traveling device 100 that performs charging, when the sound wave is emitted in the charging docking direction, the direction of the sound wave with the strongest sound intensity is the charging docking direction. In this way, when the automatic walking device 100 walks along the direction of the sound wave with the strongest sound intensity, the charging docking can be directly completed, the charging docking time is shortened, the electric energy of the automatic walking device 100 is saved, and the efficiency of the return charging is improved.
  • the direction of the sound intensity with the strongest sound intensity can be used to determine the direction of the charging station 200, but the specific charging docking direction can be achieved by other means, such as by guiding wire docking or magnetic strip docking.
  • the guiding line is connected to set a guiding line in the charging docking direction, and the guiding line transmits a signal.
  • the automatic walking device 100 is provided with a signal for detecting the signal transmitted on the guiding line, and determines the relative distance from the guiding line according to the signal condition, and then can follow the guiding.
  • the line movement finally completes the charging docking, and the transmitted signal can be an RF signal.
  • the magnetic stripe is specifically arranged to set a magnetic strip in the charging docking direction, and the magnetic sensor is arranged on the automatic walking device 100 to detect the magnetic signal of the magnetic strip, and the relative distance from the magnetic strip is determined according to the magnetic signal condition, and then the magnetic strip can be moved along the magnetic strip to finally complete the charging. Docking.
  • the charging station 200 does not necessarily have a charging device, and the charging station 200 may also be provided with other devices that are coupled to the automatic walking device 100, or the charging station 200 functions only for the automatic walking device 100 not working.
  • the principle of the return of the automatic walking device 100 can also utilize the intensity of the sound wave, detect sound waves in different directions and perform intensity analysis to obtain the direction of the sound wave with the strongest sound intensity, according to the sound wave with the strongest sound intensity.
  • Directional Control The autonomous walking device 10 travels in the direction of the sound wave with the strongest sound intensity, and finally guides the automatic traveling device 100 back to the position of the charging station 200.
  • the direction of the maximum sound intensity is the orientation of the charging station. If there is a docking requirement, the sound wave is emitted in the docking direction, and the direction with the strongest sound intensity is the docking direction.
  • the automatic return system includes an acoustic wave transmitter 80.
  • the acoustic wave transmitter 80 has a sound wave coverage range 300 which is the emission range of the acoustic wave circumferential direction and does not indicate the propagation spread of the sound wave.
  • the charging station 200 is provided with a sound wave generating device.
  • the acoustic wave generating device has at least one of said acoustic wave transmitters 80 for emitting sound waves, and the acoustic wave transmitter 80 emits modulated acoustic signals.
  • the automatic return system includes a frequency adjustment unit for adjusting the frequency or amplitude of the acoustic waves emitted by the acoustic wave transmitter 80. By adjusting the frequency, problems such as distance, boundary, vegetation, etc. can be solved. For example, when the distance is long, low-frequency sound waves can be selected and the sound wave data can be increased; when the distance is relatively close, high-frequency sound waves can be selected.
  • the acoustic wave transmitter 80 may be controlled to perform sound wave transmission by a control circuit, or the control circuit may also control the plurality of sound wave transmitters 80 to simultaneously emit light after alleviating or solving the problem of mutual interference of sound waves. Sound waves.
  • acoustic transmitter 80 is an omnidirectional acoustic transmitter that emits acoustic waves omnidirectionally.
  • the omnidirectional acoustic wave transmitter has a wide transmission range and a large emission angle.
  • the acoustic wave transmitter 80 uses a fixed angle for sound wave emission, that is, the acoustic wave transmitter is directional emission.
  • the automatic return system can be provided with a stepper motor to adjust the angle at which the acoustic wave transmitter rotates.
  • the acoustic wave transmitter uses the angle information of a stepping motor to directly emit sound waves.
  • the angle information and synchronization information of the stepping motor are transmitted by radio to the device of the sound wave receiver or the sound wave receiver, for example, if the sound wave receiver is on the automatic walking device.
  • the angle information and synchronization information of the stepping motor are transmitted to the autonomous walking device by radio.
  • the angle information and synchronization information of the stepping motor can also be transmitted by means of modulation, and the information receiving end only needs to perform demodulation processing to obtain relevant information.
  • the acoustic wave transmitter 80 emits acoustic waves in the frequency range of 10 Khz to 80 Khz.
  • the acoustic transmitter 80 is a standard loudspeaker, such as a tweeter, which is convenient to purchase, simple in structure, convenient to use, and saves on operating costs.
  • the acoustic wave receiver 20 corresponding to the acoustic wave transmitter 80 is an electromagnetic actuator, such as a standard microphone, which is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the acoustic wave transmitter 80 is an ultrasonic transmitter and the corresponding acoustic wave receiver 20 is an ultrasonic receiver.
  • the acoustic wave transmitter 80 includes a plurality of, and the emission angles of the plurality of acoustic wave emitters 80 do not overlap or partially overlap such that the emission range of the acoustic wave transmitter 80 covers the walkable path of the autonomous walking device return.
  • the acoustic wave transmitter 80 When the acoustic wave transmitter 80 includes a plurality of sound waves, the sound waves emitted by the different sound wave transmitters 80 can be modulated by a modulation method to form a distinguishing sound wave transmitter code, and then the modulated signal is transmitted to the signal receiver or the signal is received.
  • the device where the device is located, the receiver can decode the location of the signal transmitter. Or the transmission of synchronization information can be performed by radio.
  • the automatic return system further includes an acoustic wave receiver 20, which is provided on the autonomous walking device 100.
  • the acoustic wave receiver 20 continuously detects the sound waves emitted by the acoustic wave transmitter 80 in different directions.
  • the automatic return system further includes a processor 60 for performing intensity analysis on sound waves in different directions continuously detected by the acoustic wave receiver 20 and obtaining the direction of the sound wave having the strongest sound intensity.
  • the processor 60 is located on an automated walking device.
  • the automatic return system also includes a controller 50 that controls the automated walking device to walk on a predetermined route or a random route.
  • the controller 50 controls the acoustic wave receiver 20 to start and start detecting the acoustic wave signal emitted by the acoustic wave transmitter 80, and the acoustic wave signal received by the processor 60 on the acoustic wave receiver 20 Performing the intensity analysis and obtaining the direction of the sound wave with the strongest sound intensity, the controller 50 controls the automatic walking device 100 to advance according to the direction of the sound wave with the strongest sound intensity, the sound wave receiver 20 continuously detects the sound wave signal, and the processor 60 pairs the sound wave receiver 20 continuously receiving the sound wave signal for intensity analysis and determining whether there is a new sound intensity direction of the strongest sound wave.
  • the controller 50 controls the automatic walking device 100 to adjust the direction and The new sound intensity is the direction in which the strongest sound wave travels, thereby circulating, and finally guides the autonomous walking apparatus 100 to the direction in which the charging station 200 where the sound intensity of the strongest sound is located is located, so that the autonomous traveling apparatus 100 returns to the charging station 200.
  • the direction of the sound wave with the strongest sound intensity detected by the automatic walking device 100 is the direction A
  • the controller 50 controls the automatic traveling device 100 to travel toward the direction A, with the sound wave receiver 20 facing the sound wave.
  • the continuous detection of the signal the processor 60 processes the direction in which the new sound intensity is the strongest, and the direction of the sound wave changes from direction A to direction B, so the controller 50 controls the automatic walking device 100 to travel toward the direction B.
  • the controller 50 controls the automatic walking device 100 to always travel in the direction of the sound with the strongest sound intensity, and finally the automatic traveling device 100 travels to the charging station.
  • the charging station 200 is provided with a charging device for the autonomous vehicle to replenish energy when the energy is insufficient.
  • the direction in which the sound intensity is the greatest is the orientation of the charging station 200, and in one embodiment, for the automatic walking device 100 that performs charging, the direction of the sound wave with the strongest sound intensity can be directly set to the charging docking direction, thus setting, automatically walking When the device 100 walks along the direction of the sound wave with the strongest sound intensity, the charging docking can be directly completed, saving the time of charging docking, saving the electric energy of the automatic walking device 100, and improving the efficiency of the return charging.
  • the direction of the sound intensity with the strongest sound intensity can be used to determine the direction of the charging station 200, but the specific charging docking direction can be achieved by other means, such as by guiding wire docking or magnetic strip docking.
  • the guiding line is connected to set a guiding line in the charging docking direction, and the guiding line transmits a signal.
  • the automatic walking device 100 is provided with a signal for detecting the signal transmitted on the guiding line, and determines the relative distance from the guiding line according to the signal condition, and then can follow the guiding.
  • the line movement finally completes the charging docking, and the transmitted signal can be an RF signal.
  • the magnetic stripe is specifically arranged to set a magnetic strip in the charging docking direction, and the magnetic sensor is arranged on the automatic walking device 100 to detect the magnetic signal of the magnetic strip, and the relative distance from the magnetic strip is determined according to the magnetic signal condition, and then the magnetic strip can be moved along the magnetic strip to finally complete the charging. Docking.
  • the charging station 200 is not necessarily provided with a charging device, and the charging station 200 may be provided with other devices that are mated with the automatic walking device, or the charging station 200 functions only for the automatic walking device 100 not working.
  • the docking, the principle of the automatic walking device 100 return can also use the intensity of the sound wave, detect the sound waves in different directions and analyze the intensity and obtain the direction of the sound wave with the strongest sound intensity, according to the direction of the sound wave with the strongest sound intensity.
  • the automatic walking device 100 is controlled to travel in the direction of the sound wave having the strongest sound intensity, and finally the automatic traveling device 100 is guided back to the position of the charging station 200.
  • the direction in which the sound intensity is greatest is the orientation of the charging station 200.
  • the acoustic wave receiver 20 is rotatably disposed on the autonomous vehicle 100, and the controller 50 controls the acoustic wave receiver 20 to rotate or oscillate to detect sound waves in different directions.
  • the autonomous vehicle 100 includes a stepper motor (not shown) for powering the sound wave receiver 20 to rotate or oscillate, and the controller 50 can adjust the sound wave receiver rotation or The angle of the swing. The rotation or swing of the acoustic wave receiver 20 can be continued.
  • the acoustic wave receiver 20 may have only one, the acoustic wave receiver 20 is rotatably or oscillatedly coupled to the autonomous vehicle, and the acoustic wave receiver 20 has at least two different orientation orientations by rotation or oscillation, thereby having At least two receiving angle ranges.
  • the acoustic wave receiver 20 can include at least two. By setting a plurality of acoustic wave receivers 20, sound waves in different directions can be detected, thereby improving work efficiency and improving detection accuracy. At least two of the acoustic wave receivers 20 may be arranged to receive acoustic signals in a fixed direction, that is, the acoustic wave receiver 20 is fixedly mounted and cannot be rotated or oscillated. Of course, in another embodiment, at least two of the acoustic wave receivers 20 may also be configured as Rotate or swing.
  • the rotation or swing of the acoustic wave receiver 20 is non-continuous, the acoustic wave receiver 20 is fixed to the automatic traveling device 100, and the controller 50 controls the automatic walking device 100 to advance each distance when the automatic traveling device 100 returns. Rotating for one week or within a certain arc range, so that the autonomous device 100 receives the acoustic signal in different orientations, and the processor analyzes the intensity of the acoustic signal received by the acoustic receiver 20 and obtains the direction of the sound with the strongest sound intensity. The controller 50 controls the advancement of the automatic walking device according to the direction of the sound wave having the strongest sound intensity.
  • the acoustic wave receiver 20 rotates one week or continuously oscillates within a certain arc range to detect the acoustic wave signal, and the processor 60 performs intensity analysis on the acoustic wave signal continuously received by the acoustic wave receiver 20 to determine whether there is a new sound intensity.
  • the direction of the strong sound wave if there is a new sound intensity in the direction of the strongest sound wave, the controller 50 controls the automatic walking device 100 to adjust the direction and walk toward the direction of the new strongest sound wave, thereby circulating, and finally guiding the automatic
  • the traveling device 100 reaches the direction in which the charging station 200 where the strongest sound wave is located, so that the autonomous traveling device 100 returns to the charging station 200.
  • the acoustic wave receiver 20 is an electromagnetic actuator, such as a standard microphone, which is convenient to purchase, simple in structure, convenient to use, and saves cost of use.
  • the acoustic wave receiver 20 For at least two solutions of the acoustic wave receiver 20, at least two of the acoustic wave receivers 20 receive the same acoustic wave signal, the same acoustic wave signal has a specific code, and at least two of the acoustic wave receivers 20 receive the acoustic wave signal with a delay time,
  • the position information of the autonomous walking device can be obtained by the delay time.
  • the automatic return system can construct a spatial map by the signals transmitted by the acoustic wave transmitter 80 and the acoustic wave receiver 20 obtained on the charging station 200.
  • the automatic walking device 100 can be selected to select the best. Walking in the direction, shortening the return time, making the automatic walking device 100 more accurate, and adjusting the speed of the automatic walking device according to the distance between the automatic walking device 100 and the charging station 200, when the automatic walking device 100 is close to the charging station 200 The speed is appropriately lowered, and at the same time, when the autonomous traveling apparatus 100 approaches the charging station 200, the rotation speed of the cutter head (the cutter head is one of the working modules) can be lowered or even the rotation of the cutter head can be turned off.
  • the acoustic wave waveform emitted by the acoustic wave transmitter 80 employs a triangular wave.
  • the autonomous walking device 100 may be an automatic lawn mower, a self-moving robot vacuum cleaner, or other automatic walking equipment that requires return or return charging.
  • the automatic lawn mower is provided with an acoustic wave receiver for receiving an acoustic wave signal, and the acoustic wave receiver includes at least two receiving angle ranges.
  • the acoustic wave receiver includes at least two, at least two acoustic wave receivers are oriented in different orientations such that the signal receiving angle ranges between each other do not intersect or partially intersect.
  • the acoustic receiver of the automatic mower may include only one.
  • the controller controls the acoustic receiver to rotate or oscillate within a certain arc range when the automatic mower returns, so that the acoustic receiver receives the acoustic signal in different orientations, and the controller is fixed to the automatic mower for the acoustic receiver. Controlling the automatic mower to rotate one revolution or a certain degree of arc per revolution when the automatic mower returns, so that the automatic mower receives the acoustic signal in different orientations, and the processor receives the acoustic wave receiver The sound wave signal is analyzed for strength and the direction of the sound wave with the strongest sound intensity is obtained.
  • the controller controls the automatic mower to advance according to the direction of the sound wave with the strongest sound intensity, and the sound wave receiver continuously detects the sound wave signal, and the processor continues to the sound wave receiver.
  • the received acoustic wave signal is analyzed for strength and it is determined whether there is a new direction of the strongest sound wave. If there is a new sound intensity with the strongest sound wave direction, the controller controls the automatic mower to adjust the direction and toward the new The sound of the strongest sound wave travels in the direction of the cycle, and finally guides the automatic mower to arrive The direction of the charging station where the intensity of the strongest sound waves, such that the automatic return to the charging station lawnmower. In this way, the automatic mower is returned to the charging station, avoiding the automatic mower returning to the remote road, improving the efficiency of the automatic mower returning to the charging station, and improving the probability of the automatic mower and the charging station.
  • a first automatic returning method for an automatic walking device is provided, which is used for guiding an automatic walking device to return to a charging station, and the charging station is provided with an acoustic wave transmitter for emitting sound waves, and the automatic walking
  • the apparatus includes a sound wave receiver for receiving sound waves, a processor for processing the received sound waves, and a controller.
  • the automatic walking device operates within a preset working range, and the automatic walking device automatic returning method comprises the following steps:
  • the controller controls the acoustic wave receiver to continuously detect sound waves emitted by the acoustic wave transmitters in different directions when the automatic walking device initiates the return;
  • the processor performs intensity analysis on sound waves in different directions continuously detected by the acoustic wave receiver and obtains a direction of the sound wave with the strongest sound intensity;
  • the controller controls the walking direction of the autonomous walking device according to the direction of the sound wave with the strongest sound intensity, so that the automatic walking device returns to the charging station.
  • the controller controls a walking direction of the automatic walking device according to a direction of a sound wave with the strongest sound intensity, so that the automatic The walking device returns to the charging station, including:
  • S11 the controller controls the automatic walking device to walk in a direction in which the sound wave with the strongest sound intensity is located;
  • the acoustic wave device continuously detects sound waves emitted by the sound wave emitters in different directions during the walking of the autonomous walking device in the direction of the sound wave with the strongest sound intensity;
  • S13 The processor continuously performs intensity analysis on the received sound wave, and determines, according to the analysis result, whether a new sound wave with the strongest sound intensity exists in the direction;
  • Steps S12 to S14 are repeated, the acoustic wave receiver continues to rotate, and the automatic walking device changes the traveling direction until walking in a direction of docking with the charging station.
  • the processor is used for analyzing the intensity of the sound waves in different directions continuously detected by the sound wave receiver and obtaining the direction of the sound wave with the strongest sound intensity.
  • the controller controls the automatic walking device to walk according to a predetermined route or a random route.
  • the controller controls the acoustic wave receiver to start and starts detecting the sound wave signal emitted by the sound wave transmitter, and the processor analyzes the intensity of the sound wave signal received by the sound wave receiver and obtains The direction of the sound wave with the strongest sound intensity, the controller controls the advancement of the automatic walking device according to the direction of the sound wave with the strongest sound intensity, the sound wave receiver continuously detects the sound wave signal, and the processor analyzes the intensity of the sound wave signal continuously received by the sound wave receiver. And determining whether there is a new direction of the sound with the strongest sound intensity.
  • the controller controls the automatic walking device to adjust the direction and the direction of the sound with the strongest strongest sound intensity. Walking, in this cycle, finally guides the autonomous walking device to the direction of the charging station where the strongest sound wave is located, so that the autonomous walking device returns to the charging station.
  • a charging device is provided on the charging station for the automatic walking device to replenish energy when the energy is insufficient.
  • the direction in which the sound intensity is the largest is the orientation of the charging station, and in one embodiment, for the automatic walking device that performs charging, the direction of the sound with the strongest sound intensity can be directly set to the charging docking direction, so that the automatic walking device along the direction When walking with the strongest sound wave in the direction of the sound, the charging docking can be directly completed, saving the time of charging docking, saving the electric energy of the automatic walking equipment, and improving the efficiency of the return charging.
  • the direction of the sound intensity with the strongest sound intensity can be used to determine the direction of the charging station 200, but the specific charging docking direction can be achieved by other means, such as by guiding wire docking or magnetic strip docking.
  • the guiding line is connected to set a guiding line in the charging docking direction, and the guiding line transmits a signal.
  • the automatic walking device 100 is provided with a signal for detecting the signal transmitted on the guiding line, and determines the relative distance from the guiding line according to the signal condition, and then can follow the guiding.
  • the line movement finally completes the charging docking, and the transmitted signal can be an RF signal.
  • the magnetic stripe is specifically arranged to set a magnetic strip in the charging docking direction, and the magnetic sensor is arranged on the automatic walking device 100 to detect the magnetic signal of the magnetic strip, and the relative distance from the magnetic strip is determined according to the magnetic signal condition, and then the magnetic strip can be moved along the magnetic strip to finally complete the charging. Docking.
  • the charging device is not necessarily provided with a charging device, and other devices connected to the automatic walking device may be disposed on the charging station, or the charging station functions only
  • the principle of returning the automatic walking device can also utilize the intensity of the sound wave to detect sound waves in different directions and analyze the intensity and obtain the direction of the sound wave with the strongest sound intensity, according to the sound intensity.
  • the direction of the strongest sound wave controls the autonomous walking device to walk in the direction of the sound wave with the strongest sound intensity, and finally guides the automatic walking device to return to the charging station position.
  • the direction of maximum sound intensity is the orientation of the charging station.
  • the acoustic wave transmitter emits sound waves omnidirectionally.
  • the acoustic wave transmitter emits an acoustic signal having a certain frequency or amplitude.
  • the acoustic wave transmitter can emit acoustic signals of different frequencies or amplitudes.
  • the acoustic wave emitted by the acoustic wave transmitter ranges from 10 Khz to 80 Khz.
  • the acoustic wave transmitter is a standard speaker, such as a high-pitched loudspeaker.
  • the standard speaker is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the acoustic wave transmitter 80 is an ultrasonic transmitter.
  • the acoustic wave transmitter may be controlled to perform sound wave transmission by a control circuit, or the control circuit may also control the plurality of sound wave transmitters to simultaneously emit sound waves after the problem of sound wave mutual interference is alleviated or solved.
  • the acoustic wave transmitter 80 When the acoustic wave transmitter 80 includes a plurality of sound waves, the sound waves emitted by the different sound wave transmitters 80 can be modulated by a modulation method to form a distinguishing sound wave transmitter code, and then the modulated signal is transmitted to the signal receiver or the signal is received.
  • the device where the device is located, the receiver can decode the location of the signal transmitter. Or the transmission of synchronization information can be performed by radio.
  • the omnidirectional acoustic wave transmitter has a wide transmission range and a large emission angle.
  • the acoustic wave transmitter uses a fixed angle for sound wave emission, that is,
  • the acoustic wave emitter is a directional acoustic wave transmitter that emits acoustic waves in a directional manner.
  • a stepping motor can be provided to adjust the angle at which the acoustic wave transmitter rotates.
  • the acoustic wave transmitter uses the angle information of a stepping motor to directly emit sound waves.
  • the angle information and synchronization information of the stepping motor are transmitted by radio to the device of the sound wave receiver or the sound wave receiver, for example, if the sound wave receiver is on the automatic walking device.
  • the angle information and synchronization information of the stepping motor are transmitted to the autonomous walking device by radio.
  • the angle information and synchronization information of the stepping motor can also be transmitted by means of modulation, and the information receiving end only needs to perform demodulation processing to obtain relevant information.
  • the acoustic wave receiver is rotatably disposed on the automatic walking device, and the controller controls the acoustic wave receiver to rotate or oscillate to detect sound waves in different directions.
  • the autonomous vehicle includes a stepper motor for powering the acoustic receiver to rotate or oscillate, and the controller can adjust the angle at which the acoustic receiver rotates or oscillates.
  • the rotation or swing of the acoustic wave receiver can be continuous.
  • the acoustic wave receiver may have only one, the acoustic wave receiver is rotated or oscillated to be connected to the automatic walking device, and the acoustic wave receiver has at least two by rotating or swinging. A different orientation orientation, thus having at least two ranges of receiving angles.
  • the sound wave receiver includes at least two, and by setting a plurality of sound wave receivers, sound waves in different directions can be detected, thereby improving work efficiency and improving detection. accuracy.
  • At least two of the acoustic wave receivers may be arranged to receive acoustic signals in a fixed direction, that is, the acoustic wave receiver is fixedly mounted and cannot be rotated or oscillated.
  • at least two of the acoustic wave receivers may also be set to rotate or oscillate. .
  • the rotation or swing of the acoustic wave receiver is non-continuous, the acoustic wave receiver is fixed to the automatic walking device, and the controller returns to the automatic walking device.
  • the automatic walking device is controlled to rotate one revolution or a certain radius within a certain distance, so that the autonomous walking device receives the acoustic signal in different orientations, and the processor analyzes the intensity of the acoustic signal received by the acoustic receiver and obtains the sound.
  • the strongest sound wave is in the direction, and the controller controls the automatic walking device to advance according to the direction of the sound wave with the strongest sound intensity.
  • the acoustic wave receiver rotates for one week or swings within a certain arc range to detect the sound wave signal
  • the processor analyzes the intensity of the sound wave signal continuously received by the sound wave receiver and determines whether there is a new sound wave with the strongest sound intensity.
  • the controller controls the automatic walking device to adjust the direction and walk toward the direction of the new strongest sound wave, thereby circulating, and finally guiding the automatic walking device to arrive.
  • the charging station direction in which the strongest sound wave is located causes the autonomous walking device to return to the charging station.
  • the acoustic wave transmitter 80 emits sound waves in the direction of charging docking, and the direction of the sound with the strongest sound intensity is the charging docking direction at the charging station.
  • the acoustic wave transmitter is a standard speaker, and the standard speaker is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the acoustic wave transmitter 80 is an ultrasonic transmitter.
  • the acoustic wave waveform emitted by the acoustic wave transmitter employs a triangular wave.
  • the acoustic wave receiver is an electromagnetic actuator, such as a standard microphone, which is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the automatic walking device selects a better return direction according to the space map, shortens the return time, makes the automatic walking device positioning more accurate, and can also be based on the automatic walking device.
  • the speed of the automatic walking device is adjusted with the distance between the charging station, and the speed can be appropriately reduced when the automatic walking device approaches the charging station, and at the same time, when the automatic walking device approaches the charging station, the rotation speed of the cutter head can be reduced even Turn off the cutter to pause the rotation of the cutter.
  • the acoustic wave waveform emitted by the acoustic wave transmitter employs a triangular wave.
  • the automatic walking device includes a frequency adjusting unit for adjusting the frequency of the sound wave emitted by the acoustic wave transmitter.
  • the acoustic wave receiver comprises at least two, and the processor obtains position information according to a coding mode and a delay time specified by the plurality of acoustic wave receivers.
  • the acoustic wave transmitter emits sound waves using different frequencies.
  • At least two of the sonic receivers receive the same acoustic signal, the same acoustic signal having a particular code, and at least two of the acoustic receivers receiving the acoustic signal having a delay time through which the delay Time can get the location information of the autonomous walking device.
  • the present invention also provides a second automatic walking device automatic returning method, as shown in FIGS. 1 to 4, FIGS. 1 to 4 express the return line of the automatic walking device automatic returning method of the embodiment, and the automatic walking device automatically returns a method for returning to a charging station, the charging station being provided with an acoustic wave transmitter for emitting sound waves, the automatic walking device comprising an acoustic wave receiver for receiving sound waves, the automatic walking device automatic returning method comprising the following steps :
  • the sound wave transmitter emits sound waves in a direction in which the automatic walking device is docked with the charging station;
  • the acoustic wave receiver rotates and detects the direction A of the sound wave with the strongest sound intensity, and the automatic walking device walks toward the direction A;
  • Steps S3 and S4 are repeated, the acoustic wave receiver continues to rotate, and the automatic walking device changes the walking direction until walking in a direction of docking with the charging station.
  • the acoustic wave transmitter emits sound waves in the direction of charging docking, and the sound wave with the strongest sound intensity is in the charging docking direction at the charging station.
  • the acoustic wave transmitter emits sound waves omnidirectionally.
  • the angle of rotation of the acoustic transmitter can be adjusted by a stepper motor.
  • the acoustic wave transmitter emits an acoustic signal having a certain frequency or amplitude.
  • the acoustic wave transmitter can emit acoustic signals of different frequencies or amplitudes.
  • the acoustic wave emitted by the acoustic wave transmitter ranges from 20 Khz to 24 Khz.
  • the acoustic wave transmitter is a standard speaker, such as a high-pitched loudspeaker.
  • the standard speaker is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the acoustic wave transmitter 80 is an ultrasonic transmitter.
  • the acoustic wave transmitter comprises a plurality of sound waves
  • the acoustic wave transmitter can be controlled to transmit the sound waves in turn, or after the problem of mutual interference of the sound waves is alleviated or solved, the control circuit can also control the plurality of sound wave transmitters to simultaneously emit the sound waves.
  • the omnidirectional acoustic wave transmitter has a wide transmission range and a large emission angle. Compared with the omnidirectional acoustic wave transmitter, in one embodiment of the second automatic walking device automatic return method, the acoustic wave transmitter adopts a fixed angle.
  • the emission of sound waves that is, the acoustic wave transmitter is a directional acoustic wave transmitter that emits sound waves in a directional manner.
  • a stepping motor can also be provided to adjust the angle of emission of the acoustic wave transmitter.
  • the autonomous vehicle includes a processor and a controller that process the received sound waves.
  • the acoustic wave receiver is rotatably disposed on the automatic walking device, and the controller controls the acoustic wave receiver to rotate or oscillate to detect sound waves in different directions.
  • the autonomous vehicle includes a stepper motor for powering the acoustic receiver to rotate or oscillate, and the controller can adjust the angle at which the acoustic receiver rotates or oscillates. The rotation or swing of the acoustic wave receiver can be continuous.
  • the acoustic wave receiver may have only one, the acoustic wave receiver is rotated or oscillated and connected to the automatic walking device, and the acoustic wave receiver has at least two by rotating or swinging. A different orientation orientation, thus having at least two ranges of receiving angles.
  • the sound wave receiver includes at least two, and by setting a plurality of sound wave receivers, sound waves in different directions can be detected, thereby improving work efficiency and improving detection. accuracy.
  • At least two of the acoustic wave receivers may be arranged to receive acoustic signals in a fixed direction, that is, the acoustic wave receiver is fixedly mounted and cannot be rotated or oscillated.
  • at least two of the acoustic wave receivers may also be set to rotate or oscillate. .
  • the rotation or swing of the acoustic wave receiver is non-continuous, the acoustic wave receiver is fixed to the automatic walking device, and the controller returns to the automatic walking device.
  • the automatic walking device is controlled to rotate one revolution or a certain radius within a certain distance, so that the autonomous walking device receives the acoustic signal in different orientations, and the processor analyzes the intensity of the acoustic signal received by the acoustic receiver and obtains the sound.
  • the strongest sound wave is in the direction, and the controller controls the automatic walking device to advance according to the direction of the sound wave with the strongest sound intensity.
  • the acoustic wave receiver rotates for one week or swings within a certain arc range to detect the sound wave signal
  • the processor analyzes the intensity of the sound wave signal continuously received by the sound wave receiver and determines whether there is a new sound wave with the strongest sound intensity.
  • the controller controls the automatic walking device to adjust the direction and walk toward the direction of the new strongest sound wave, thereby circulating, and finally guiding the automatic walking device to arrive.
  • the charging station direction in which the strongest sound wave is located causes the autonomous walking device to return to the charging station.
  • the acoustic wave transmitter is a standard speaker, such as a high-pitched loudspeaker.
  • the standard speaker is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the acoustic wave transmitter 80 is an ultrasonic transmitter.
  • the acoustic wave waveform emitted by the acoustic wave transmitter employs a triangular wave.
  • the acoustic wave receiver is an electromagnetic actuator (such as a standard microphone, which is convenient to purchase, simple in structure, convenient to use, and saves the use cost.
  • the automatic walking device selects a better return direction according to the space map, shortens the regression time, makes the automatic walking device positioning more accurate, and can also be based on the automatic walking device.
  • the speed of the automatic walking device is adjusted with the distance between the charging station, and the speed can be appropriately reduced when the automatic walking device approaches the charging station, and at the same time, when the automatic walking device approaches the charging station, the rotation speed of the cutter head can be reduced even Turn off the cutter to pause the rotation of the cutter.
  • the acoustic wave waveform emitted by the acoustic wave transmitter employs a triangular wave.
  • the automatic walking device includes a frequency adjusting unit for adjusting the frequency of the sound wave emitted by the acoustic wave transmitter.
  • the acoustic wave receiver includes at least two, and the processor obtains position information according to a coding mode and a delay time specified by the plurality of acoustic wave receivers.
  • the acoustic wave transmitter emits sound waves using different frequencies.
  • At least two of the sonic receivers receive the same acoustic signal, the same acoustic signal having a particular code, and at least two of the acoustic receivers receiving the acoustic signal having a delay time through which the delay Time can get the location information of the autonomous walking device.

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Abstract

一种自动返回系统，包括充电站（200）及自动行走设备（100），充电站上设有声波发射器（80），自动行走设备包括声波接收器（20）、处理器（60）及控制器（50）。一种自动行走设备自动返回方法，包括步骤：自动行走设备启动回归时，控制器控制声波接收器持续侦测不同方向上的声波发射器发射的声波；处理器对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；控制器根据声强最强的声波所在方向控制自动行走设备的行走方向，使得自动行走设备返回充电站。该系统及方法可以提高自动行走设备的回归效率，节约回归时间，方式简单可靠。

Description

自动返回装置、系统及自动行走设备自动返回方法
相关申请的交叉引用
本发明要求在2018年4月27日提交中国专利局的申请201810394961.3以及在2018年5月3日提交中国专利局的申请201810412363.4的中国专利申请的优先权，其全部内容通过引用结合在本发明中。
技术领域
本发明涉及一种自动返回装置、自动返回系统及自动行走设备返回充电站的方法。
背景技术
随着计算机技术和人工智能技术的不断进步，类似于智能机器人的自动工作系统已经开始慢慢的走进人们的生活。三星、伊莱克斯等公司均开发了全自动吸尘器并已经投入市场。这种全自动吸尘器通常体积小巧，集成有环境传感器、自驱系统、吸尘系统、电池和充电系统，能够无需人工操控，自行在室内巡航，在能量低时自动返回充电站，对接并充电，然后继续巡航吸尘。
同时，哈斯科瓦纳等公司开发了类似的自动割草机，其能够自动在用户的草坪中割草、充电，无需用户干涉。由于这种自动工作系统一次设置之后就无需再投入精力管理，将用户从清洁、草坪维护等枯燥且费时费力的家务工作中解放出来，因此受到极大欢迎。
使用智能的自动吸尘器或者自动割草机的过程中，当电池电量不足时，自动吸尘器或者自动割草机需要返回充电站进行充电。
发明内容
本发明提供一种快速自动返回的自动返回装置、自动返回系统及自动行走设备返回充电站的方法，使用该自动返回系统以及自动行走设备返回充电站的方法，可以获得更佳优化的回归路线，缩短回归时间及节省电能。
为实现上述目的，一个技术方案是：一种自动行走设备自动返回方法，用于返回一充电站，所述充电站上设有用于发出声波的声波发射器，所述自动行走设备包括用于接收声波的声波接收器，所述自动行走设备自动返回方 法包括以下步骤：
S1：所述声波发射器沿自动行走设备与充电站对接的方向发射声波；
S2：所述声波接收器旋转并侦测声强最强的声波所在方向A，所述自动行走设备朝向方向A行走；
S3：在所述自动行走设备朝向方向A行走过程中，所述声波接收器持续旋转并侦测声强最强的声波所在方向的变化；
S4：当所述声波接收器侦测到声强最强的声波所在方向从方向A变化为方向B时，所述自动行走设备改变行走方向并朝向方向B行走；
S5：重复步骤S3和S4，所述声波接收器持续旋转，所述自动行走设备变化行走方向直至沿着与充电站对接的方向行走。
进一步的，所述声波发射器全向发射声波。
进一步的，所述声波发射器定向发射声波，所述充电站上设有步进电机，所述声波发射器利用步进电机的角度信息定向发射声波。
进一步的，所述步进电机的角度信息和同步信息通过无线电传输给声波接收器或者自动行走设备。
进一步的，所述声波发射器发射的声波频率范围为10Khz～80Khz。
进一步的，所述声波接收器转动设置，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
为实现上述目的，一个技术方案是：一种自动行走设备自动返回方法，所述自动行走设备自动返回一充电站，至少一个声波发射器和至少一个声波接收器分别设置在充电站和自动行走设备上，一处理器对声波接收器接收到的声波进行处理，所述自动行走设备包括控制自动行走设备行走的控制器，所述自动行走设备在预设的工作范围内工作，所述自动行走设备自动返回方法包括以下步骤：
所述自动行走设备启动回归时，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
所述处理器对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
所述控制器根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站。
进一步的，所述声波发射器全向发射声波。
进一步的，所述声波发射器定向发射声波并与一步进电机连接，所述声波发射器利用步进电机的角度信息定向发射声波。
进一步的，所述步进电机的角度信息和同步信息通过无线电传输给声波接收器或者声波接收器所在的设备。
进一步的，所述声波发射器发射的声波频率范围为10Khz～80Khz。
进一步的，所述声波接收器转动设置，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
进一步的，所述控制器根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站，包括：
S11：所述控制器控制所述自动行走设备朝向声强最强的声波所在方向行走；
S12：所述自动行走设备朝向声强最强的声波所在方向行走的过程中，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
S13：所述处理器持续对接收到的声波进行强度分析，并根据分析结果确定是否存在新的声强最强的声波所在方向；
S14：若存在新的声强最强的声波所在方向，所述控制器控制所述自动行走设备朝向新的声强最强的声波所在方向行走；
S15：重复步骤S12至S14，所述声波接收器持续旋转，所述自动行走设备变化行走方向直至沿着与充电站对接的方向行走。
为实现上述目的，一个技术方案是：一种自动返回系统，包括充电站及自动行走设备，所述自动返回系统包括：
声波发射器，所述声波发射器用于发出声波；
声波接收器，所述自动行走设备启动回归时，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
处理器，用于对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
控制器，用于根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站。
进一步的，所述声波发射器为全向发射声波的声波发射器。
进一步的，所述声波发射器为定向发射声波的声波发射器，所述自动返回系统包括步进电机，所述声波发射器利用步进电机的角度信息定向发射声波。
进一步的，所述步进电机的角度信息和同步信息通过无线电传输给声波接收器或者自动行走设备。
进一步的，所述声波发射器发射的声波频率范围为10Khz～80Khz。
进一步的，所述声波发射器设于充电站上，所述声波接收器转动设置于所述自动行走设备上，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
为实现上述目的，一个技术方案是：一种自动返回装置，包括：
壳体；
声波接收器，设于壳体上，所述自动返回装置启动回归时，所述声波接收器用于持续侦测不同方向上的外部声波；
处理器，用于对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
控制器，用于根据声强最强的声波所在方向控制所述自动返回装置的行走方向，使得所述自动返回装置跟随声强最强的声波所在方向行走。
进一步的，所述声波接收器转动设置于所述自动行走设备上，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
本发明自动返回装置、自动返回系统及自动行走设备返回充电站的方法，该系统及方法通过对声波进行处理获得不同方向声波的强度信息,获得声强最强的声波信号的方向，并向最强方向移动,持续旋转分析收到的声波的强度，当最强方向变化时向新的最强方向移动，以此循环，最终到达信号最强的充电对接方向。如此使得自动行走设备能够比较智能地就近返回充电站，方式简单可靠，可以提高自动行走设备的回归效率，节约回归时间。
附图说明
下面结合附图和实施例对本发明作进一步说明：
图1是本发明的自动返回系统中自动行走设备朝向声强最强的声波强度所在方向A的示意图。
图2是本发明的自动返回系统中自动行走设备发现声强最强的声波强度所在方向从方向A变化为方向B的示意图。
图3是本发明的自动返回系统中自动行走设备朝向声强最强的声波强度所在方向B的示意图。
图4是本发明的自动返回系统中自动行走设备根据声强最强的声波强度所在方向返回充电站的行走路径示意图。
图5是本发明的自动返回装置的系统框图。
图6是本发明的自动行走设备返回充电站的方法的流程图。
10、壳体；             20、声波接收器；       30、移动模块；
40、工作模块；         50、控制器；           60、处理器；
70、能量模块；         80、声波发射器；       100、自动行走设备；
200、充电站；
具体实施方式
本发明提供一种自动返回装置、自动返回系统及自动行走设备返回充电站的方法，使用该自动返回系统以及自动行走设备返回充电站的方法，可以获得更佳优化的回归路线，缩短回归时间及节省电能。
如图5所示，自动返回装置为自动行走设备，自动返回装置包括壳体10，声波接收器20，位于壳体10底部的移动模块30，用于执行工作的工作模块40，用于控制智能割草机自动工作和移动的控制器50，处理器60，以及为智能割草机提供能量的能量模块70。
声波接收器20设于自动行走设备上的壳体10上。声波接收器20用于持续侦测不同方向上的声波。处理器60用于对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向。控制器50用于根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备跟随声强最强的声波所在方向行走，最终引导自动行走设备到达声强最强的声波所在的充电站方向。
在一个实施例中，声波接收器20转动设置于自动行走设备上，控制器50控制声波接收器20旋转或摆动，从而侦测不同方向上的声波。在一个实施例中，所述自动行走设备包括步进电机(未图示)，所述步进电机用以给声波接收器旋转或摆动提供动力，控制器50可以调节声波接收器20旋转或摆动的角度。
在一个实施例中，声波接收器20可以包括至少两个，通过设置多个声波接收器20，可以对不同方向的声波进行侦测，提高工作效率，提升侦测准确性。至少两个该声波接收器20可以设置为定方向的接收声波信号，即声波接收器20固定安装不能旋转或摆动，当然在另一个实施例中，至少两个该声波接收器20也可以设置为旋转或摆动。
在一个实施例中，声波接收器20为电磁执行器(electromagnetic driver)，比如标准麦克风(standard microphone)，购买方便，结构简单，使用方便， 节约了使用成本。
如图1至图3所示，自动返回系统包括自动行走设备100及充电站200。自动行走设备100即为前述的自动返回装置。自动行走设备100在预设工作范围内行走，充电站200用于供自动行走设备100在不工作时停靠。
在一个实施例中，充电站200上设有充电装置，以供自动行走设备100在能源不足时补充能量。声强最大的方向即为充电站200的方位，且在一个实施例中，对于进行充电的自动行走设备100，当沿充电对接方向发射声波时，声强最强的声波所在方向为充电对接方向，如此设置，自动行走设备100沿着声强最强的声波所在方向行走时，可以直接完成充电对接，缩短了充电对接的时间，节约了自动行走设备100的电能，提高回归充电的效率。在其他实施例中，声强最强的声波所在方向可以用于确定充电站200的方向，但是具体的充电对接方向可以通过其他方式实现，比如通过引导线对接或磁条对接。引导线对接具体为在充电对接方向设置引导线，引导线上发射信号，自动行走设备100上设置传感器检测引导线上发射的信号，根据信号情况判断与引导线的相对距离，然后可以沿着引导线移动最终完成充电对接，该发射的信号可以为RF信号。磁条对接具体为在充电对接方向设置磁条，自动行走设备100上设置磁传感器检测磁条的磁信号，根据磁信号情况判断与磁条的相对距离，然后可以沿着磁条移动最终完成充电对接。
在其他实施例中，充电站200上并不一定设置充电装置，充电站200上还可以设置其他与自动行走设备100配接的装置，或者充电站200的作用仅仅是为了自动行走设备100不工作时的停靠，自动行走设备100返回的原理同样可以利用所述的声波的强度，侦测不同方向的声波并进行强度分析并获得声强最强的声波所在方向，根据声强最强的声波所在方向控制所述自动行走设备10朝向声强最强的声波所在方向行走，最终引导自动行走设备100回到充电站200位置。声强最大的朝向即为充电站的方位，如果有对接需求，声波沿对接方向发射，声强最强的方向即为对接方向。
如图4所示，自动返回系统包括声波发射器80。声波发射器80具有声波覆盖范围300，该范围为声波周向的发射范围，并不表示声波的传播广度。在一个实施例中，充电站200上设有声波发生装置。声波发生装置具有至少一个所述的用于发出声波的声波发射器80，声波发射器80发出有调制的声波信号。在一个实施例中，所述自动返回系统包括频率调节单元，用以调节声波发射器80发射的声波的频率或振幅。通过调节频率，可以解决距离、边界、植被等问题，比如当距离较远时，可以选用低频声波，并增加声波数据；当 距离较近时，可以选用高频声波。
当声波发射器80包括多个时，可以通过一控制电路控制声波发射器轮流进行声波的发射，或者在缓解或解决声波相互干扰的问题后，控制电路也可以控制多个声波发射器80同时发射声波。
在一个实施例中，声波发射器80为全向发射声波的全向声波发射器。
全向声波发射器发射范围较广，发射角较大，相较于全向声波发射器，在一个实施例中，声波发射器80采用固定的角度进行声波的发射，即声波发射器为定向发射声波的定向声波发射器，在该实施方式中，所述自动返回系统可以设置步进电机来调节声波发射器转动的角度。声波发射器利用一步进电机的角度信息定向发射声波，步进电机的角度信息和同步信息通过无线电传输给声波接收器或者声波接收器所在的设备，比如，如果声波接收器在自动行走设备上，则将步进电机的角度信息和同步信息通过无线电传输给自动行走设备。除了利用无线电进行信号传输，还可以通过调制的方式传递步进电机的角度信息和同步信息，信息接收端只需要进行解调处理即可获得相关信息。
在一个实施例中，声波发射器80发射的声波频率范围为10Khz～80Khz。
在一个实施例中，声波发射器80为标准扬声器(standard loudspeaker)，比如高音用扩音器(tweeter)，该标准扬声器购买方便，结构简单，使用方便，节约了使用成本。对应该声波发射器80的声波接收器20为电磁执行器，比如标准麦克风，购买方便，结构简单，使用方便，节约了使用成本。
在另一个实施例中，声波发射器80为超声波发射器，对应的声波接收器20为超声波接收器。
在另一个实施例中，声波发射器80包括多个，多个声波发射器80的发射角不重叠或者部分重叠，使得声波发射器80的发射范围覆盖自动行走设备回归的可行走的路径。
当声波发射器80包括多个时，可以通过调制的方法对不同声波发射器80发射的声波进行调制，形成具有区分作用的声波发射器编码，然后将调制后信号传输给信号接收器或者信号接收器所在的设备，接收端解码后便可知道信号发射端所在位置。或者可以通过无线电进行同步信息的传输。
自动返回系统还包括声波接收器20，声波接收器20设于自动行走设备100上，自动行走设备100启动回归时，声波接收器20持续侦测不同方向上的声波发射器80发射的声波。
参照图5所示，自动返回系统还包括处理器60，处理器60用于对声波接 收器20持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向。在一个实施例中，处理器60设于自动行走设备上。
自动返回系统还包括控制器50，控制器50控制自动行走设备按照预定路线或随机路线行走。当自动行走设备由于电量低等原因需返回充电站时，控制器50控制声波接收器20启动并开始侦测声波发射器80发射的声波信号，处理器60对声波接收器20接收到的声波信号进行强度分析并获得声强最强的声波所在方向，控制器50根据声强最强的声波所在方向控制自动行走设备100前进，声波接收器20持续侦测声波信号，处理器60对声波接收器20持续接收到的声波信号进行强度分析并确定是否存在新的声强最强的声波所在方向，若存在新的声强最强的声波所在方向，控制器50控制自动行走设备100调整方向并朝新的声强最强的声波所在方向行走，以此循环，最终引导自动行走设备100到达声强最强的声波所在的充电站200所在的方向，使得自动行走设备100返回充电站200。
如图1至图3所示，自动行走设备100开始侦测的声强最强的声波所在方向为方向A，控制器50控制自动行走设备100朝向方向A行进，随着声波接收器20对声波信号的持续侦测，处理器60处理获得新的声强最强的声波所在方向从方向A改变为方向B，所以控制器50控制自动行走设备100朝向方向B行进。再如图4所示，随着声波接收器20对声波信号的持续侦测，控制器50控制自动行走设备100一直朝向声强最强的声波所在方向行进，最终自动行走设备100行进到了充电站的位置，并沿冲动对接方向行走。
在一个实施例中，充电站200上设有充电装置，以供自动行走设备在能源不足时补充能量。声强最大的方向即为充电站200的方位，且在一个实施例中，对于进行充电的自动行走设备100，声强最强的声波所在方向可以直接设置为充电对接方向，如此设置，自动行走设备100沿着声强最强的声波所在方向行走时，可以直接完成充电对接，节约了充电对接的时间，节约了自动行走设备100的电能，提高回归充电的效率。在其他实施例中，声强最强的声波所在方向可以用于确定充电站200的方向，但是具体的充电对接方向可以通过其他方式实现，比如通过引导线对接或磁条对接。引导线对接具体为在充电对接方向设置引导线，引导线上发射信号，自动行走设备100上设置传感器检测引导线上发射的信号，根据信号情况判断与引导线的相对距离，然后可以沿着引导线移动最终完成充电对接，该发射的信号可以为RF信号。磁条对接具体为在充电对接方向设置磁条，自动行走设备100上设置磁传感器检测磁条的磁信号，根据磁信号情况判断与磁条的相对距离，然后 可以沿着磁条移动最终完成充电对接。
在其他实施例中，充电站200上并不一定设置充电装置，充电站200上还可以设置其他与自动行走设备配接的装置，或者充电站200的作用仅仅是为了自动行走设备100不工作时的停靠，自动行走设备100返回的原理同样可以利用所述的声波的强度，侦测不同方向的声波并进行强度分析并获得声强最强的声波所在方向，根据声强最强的声波所在方向控制所述自动行走设备100朝向声强最强的声波所在方向行走，最终引导自动行走设备100回到充电站200位置。声强最大的朝向即为充电站200的方位。
在一个实施例中，声波接收器20转动设置于自动行走设备100上，控制器50控制声波接收器20旋转或摆动，从而侦测不同方向上的声波。在一个实施例中，所述自动行走设备100包括步进电机(未图示)，所述步进电机用以给声波接收器20旋转或摆动提供动力，控制器50可以调节声波接收器旋转或摆动的角度。声波接收器20的旋转或摆动可以是持续进行。
在一个实施例中，声波接收器20可以仅仅具有一个，该声波接收器20旋转或摆动连接于自动行走设备上，通过旋转或摆动使得声波接收器20具有至少两个不同的朝向方位，从而具有至少两个接收角度范围。
在一个实施例中，声波接收器20可以包括至少两个，通过设置多个声波接收器20，可以对不同方向的声波进行侦测，提高工作效率，提升侦测准确性。至少两个该声波接收器20可以设置为定方向的接收声波信号，即声波接收器20固定安装不能旋转或摆动，当然在另一个实施例中，至少两个该声波接收器20也可以设置为旋转或摆动。
在另一个实施例中，声波接收器20的旋转或摆动是非持续进行，声波接收器20固定于自动行走设备100上，控制器50在自动行走设备100回归时控制自动行走设备100每前进一段距离时旋转一周或在一定弧度范围内摆动，从而使得自动行走设备100在不同朝向方位接收声波信号，处理器对声波接收器20接收到的声波信号进行强度分析并获得声强最强的声波所在方向，控制器50根据声强最强的声波所在方向控制自动行走设备前进。声波接收器20持续前进一段距离时旋转一周或在一定弧度范围内摆动进行侦测声波信号，处理器60对声波接收器20持续接收到的声波信号进行强度分析并确定是否存在新的声强最强的声波所在方向，若存在新的声强最强的声波所在方向，控制器50控制自动行走设备100调整方向并朝新的声强最强的声波所在方向行走，以此循环，最终引导自动行走设备100到达声强最强的声波所在的充电站200所在的方向，使得自动行走设备100返回充电站200。
在一个实施例中，声波接收器20为电磁执行器，比如标准麦克风，购买方便，结构简单，使用方便，节约了使用成本。
对于至少两个该声波接收器20的方案，至少两个该声波接收器20接收相同的声波信号，相同的声波信号具有特定的代码，至少两个该声波接收器20接收声波信号具有延迟时间，通过该延迟时间可以获得自动行走设备的位置信息。
在一个实施例中，所述自动返回系统通过充电站200上获得的声波发射器80和声波接收器20传递的信号，可以构建空间地图，借助空间地图，可以使得自动行走设备100选择最佳的方向行走，缩短回归时间，使得自动行走设备100定位更加准确，还可以根据自动行走设备100与充电站200之间的距离进行自动行走设备的速度调节，当自动行走设备100靠近充电站200时可以适当的降低速度，同时，当自动行走设备100靠近充电站200时，还可以降低刀盘(刀盘为工作模块的一种)的旋转速度甚至可以关掉刀盘暂停刀盘的旋转。
在一个实施例中，声波发射器80发射的声波波形采用三角波。
在一个实施例中，自动行走设备100可以是自动割草机，也可以是自移动机器人吸尘器，也可以是其他需要回归或回归充电的自动行走设备。
以自动割草机为例，本实施方式中，自动割草机上设有用于接收声波信号的声波接收器，声波接收器包括至少两个接收角度范围。本实施方式中，声波接收器包括至少两个，至少两个声波接收器朝向不同的方位，使得相互之间的信号接收角度范围不相交或部分相交。当然在其他实施例中，自动割草机的声波接收器可以只包括一个。控制器在自动割草机回归时控制声波接收器旋转或在一定弧度范围内摆动，从而使得声波接收器在不同朝向方位接收声波信号，对于声波接收器固定于自动割草机上的情况，控制器在自动割草机回归时控制自动割草机每前进一段距离时旋转一周或在一定弧度范围内摆动，从而使得自动割草机在不同朝向方位接收声波信号，处理器对声波接收器接收到的声波信号进行强度分析并获得声强最强的声波所在方向，控制器根据声强最强的声波所在方向控制自动割草机前进，声波接收器持续侦测声波信号，处理器对声波接收器持续接收到的声波信号进行强度分析并确定是否存在新的声强最强的声波所在方向，若存在新的声强最强的声波所在方向，控制器控制所述自动割草机调整方向并朝新的声强最强的声波所在方向行走，以此循环，最终引导自动割草机到达声强最强的声波所在的充电站方向，使得所述自动割草机返回所述充电站。如此设置，使得自动割草机就 近返回充电站，避免自动割草机绕远路进行回归，提高了自动割草机返回充电站的效率，提高了自动割草机与充电站的对接几率。
如图6所示，还提供了第一种自动行走设备自动返回方法，该方法用以引导自动行走设备返回充电站，所述充电站上设有用于发出声波的声波发射器，所述自动行走设备包括用于接收声波的声波接收器、对接收到的声波进行处理的处理器及控制器。所述自动行走设备在预设的工作范围内工作，所述自动行走设备自动返回方法包括以下步骤：
所述自动行走设备启动回归时，所述控制器控制所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
所述处理器对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
所述控制器根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站。
如图6所示，在该第一种自动行走设备自动返回方法的一个实施例中，所述控制器根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站，包括：
S11：所述控制器控制所述自动行走设备朝向声强最强的声波所在方向行走；
S12：所述自动行走设备朝向声强最强的声波所在方向行走的过程中，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
S13：所述处理器持续对接收到的声波进行强度分析，并根据分析结果确定是否存在新的声强最强的声波所在方向；
S14：若存在新的声强最强的声波所在方向，所述控制器控制所述自动行走设备朝向新的声强最强的声波所在方向行走；
S15：重复步骤S12至S14，所述声波接收器持续旋转，所述自动行走设备变化行走方向直至沿着与充电站对接的方向行走。
自动行走设备自动返回方法中，处理器用于对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向。
自动行走设备自动返回方法中，控制器控制自动行走设备按照预定路线或随机路线行走。当自动行走设备由于电量低等原因需返回充电站时，控制器控制声波接收器启动并开始侦测声波发射器发射的声波信号，处理器对声波接收器接收到的声波信号进行强度分析并获得声强最强的声波所在方向，控制器根据声强最强的声波所在方向控制自动行走设备前进，声波接收器持 续侦测声波信号，处理器对声波接收器持续接收到的声波信号进行强度分析并确定是否存在新的声强最强的声波所在方向，若存在新的声强最强的声波所在方向，控制器控制所述自动行走设备调整方向并朝新的声强最强的声波所在方向行走，以此循环，最终引导自动行走设备到达声强最强的声波所在的充电站方向，使得所述自动行走设备返回所述充电站。
在该第一种自动行走设备自动返回方法的一个实施例中，充电站上设有充电装置，以供自动行走设备在能源不足时补充能量。声强最大的方向即为充电站的方位，且在一个实施例中，对于进行充电的自动行走设备，声强最强的声波所在方向可以直接设置为充电对接方向，如此设置，自动行走设备沿着声强最强的声波所在方向行走时，可以直接完成充电对接，节约了充电对接的时间，节约了自动行走设备的电能，提高回归充电的效率。在其他实施例中，声强最强的声波所在方向可以用于确定充电站200的方向，但是具体的充电对接方向可以通过其他方式实现，比如通过引导线对接或磁条对接。引导线对接具体为在充电对接方向设置引导线，引导线上发射信号，自动行走设备100上设置传感器检测引导线上发射的信号，根据信号情况判断与引导线的相对距离，然后可以沿着引导线移动最终完成充电对接，该发射的信号可以为RF信号。磁条对接具体为在充电对接方向设置磁条，自动行走设备100上设置磁传感器检测磁条的磁信号，根据磁信号情况判断与磁条的相对距离，然后可以沿着磁条移动最终完成充电对接。
在该第一种自动行走设备自动返回方法的其他实施例中，充电站上并不一定设置充电装置，充电站上还可以设置其他与自动行走设备配接的装置，或者充电站的作用仅仅是为了自动行走设备不工作时的停靠，自动行走设备返回的原理同样可以利用所述的声波的强度，侦测不同方向的声波并进行强度分析并获得声强最强的声波所在方向，根据声强最强的声波所在方向控制所述自动行走设备朝向声强最强的声波所在方向行走，最终引导自动行走设备回到充电站位置。声强最大的朝向即为充电站的方位。
在该第一种自动行走设备自动返回方法的一个实施例中，所述声波发射器全向发射声波。
声波发射器发出具有一定频率或振幅的声波信号。声波发射器可以发射不同频率或振幅的声波信号，在一个实施例中，声波发射器发射的声波频率范围为10Khz～80Khz。
在该第一种自动行走设备自动返回方法的一个实施例中，声波发射器为标准扬声器，比如高音用扩音器，该标准扬声器购买方便，结构简单，使用 方便，节约了使用成本。
在另一个实施例中，声波发射器80为超声波发射器。
当声波发射器包括多个时，可以通过一控制电路控制声波发射器轮流进行声波的发射，或者在缓解或解决声波相互干扰的问题后，控制电路也可以控制多个声波发射器同时发射声波。
当声波发射器80包括多个时，可以通过调制的方法对不同声波发射器80发射的声波进行调制，形成具有区分作用的声波发射器编码，然后将调制后信号传输给信号接收器或者信号接收器所在的设备，接收端解码后便可知道信号发射端所在位置。或者可以通过无线电进行同步信息的传输。
全向声波发射器发射范围较广，发射角较大，相较于全向声波发射器，在自动行走设备自动返回方法的一个实施例中，声波发射器采用固定的角度进行声波的发射，即声波发射器为定向发射声波的定向声波发射器，在该实施方式中，可以设置步进电机来调节声波发射器转动的角度。声波发射器利用一步进电机的角度信息定向发射声波，步进电机的角度信息和同步信息通过无线电传输给声波接收器或者声波接收器所在的设备，比如，如果声波接收器在自动行走设备上，则将步进电机的角度信息和同步信息通过无线电传输给自动行走设备。除了利用无线电进行信号传输，还可以通过调制的方式传递步进电机的角度信息和同步信息，信息接收端只需要进行解调处理即可获得相关信息。
在该第一种自动行走设备自动返回方法的一个实施例中，声波接收器转动设置于自动行走设备上，控制器控制声波接收器旋转或摆动，从而侦测不同方向上的声波。在一个实施例中，所述自动行走设备包括步进电机，所述步进电机用以给声波接收器旋转或摆动提供动力，控制器可以调节声波接收器旋转或摆动的角度。声波接收器的旋转或摆动可以是持续进行。
在该第一种自动行走设备自动返回方法的一个实施例中，声波接收器可以仅仅具有一个，该声波接收器旋转或摆动连接于自动行走设备上，通过旋转或摆动使得声波接收器具有至少两个不同的朝向方位，从而具有至少两个接收角度范围。
在该第一种自动行走设备自动返回方法的一个实施例中，声波接收器包括至少两个，通过设置多个声波接收器，可以对不同方向的声波进行侦测，提高工作效率，提升侦测准确性。至少两个该声波接收器可以设置为定方向的接收声波信号，即声波接收器固定安装不能旋转或摆动，当然在另一个实施例中，至少两个该声波接收器也可以设置为旋转或摆动。
在该第一种自动行走设备自动返回方法的另一个实施例中，声波接收器的旋转或摆动是非持续进行，所述声波接收器固定于所述自动行走设备上，控制器在自动行走设备回归时控制自动行走设备每前进一段距离时旋转一周或在一定弧度范围内摆动，从而使得自动行走设备在不同朝向方位接收声波信号，处理器对声波接收器接收到的声波信号进行强度分析并获得声强最强的声波所在方向，控制器根据声强最强的声波所在方向控制自动行走设备前进。声波接收器持续前进一段距离时旋转一周或在一定弧度范围内摆动进行侦测声波信号，处理器对声波接收器持续接收到的声波信号进行强度分析并确定是否存在新的声强最强的声波所在方向，若存在新的声强最强的声波所在方向，控制器控制所述自动行走设备调整方向并朝新的声强最强的声波所在方向行走，以此循环，最终引导自动行走设备到达声强最强的声波所在的充电站方向，使得所述自动行走设备返回所述充电站。
在该第一种自动行走设备自动返回方法的一个实施例中，声波发射器80沿充电对接的方向发射声波，声强最强的声波所在方向为充电站处的充电对接方向。
在该第一种自动行走设备自动返回方法的一个实施例中，声波发射器为标准扬声器，该标准扬声器购买方便，结构简单，使用方便，节约了使用成本。
在另一个实施例中，声波发射器80为超声波发射器。
在一个实施例中，声波发射器发射的声波波形采用三角波。
在该第一种自动行走设备自动返回方法的一个实施例中，声波接收器为电磁执行器，比如标准麦克风，购买方便，结构简单，使用方便，节约了使用成本。
在该第一种自动行走设备自动返回方法的一个实施例中，所述自动行走设备根据空间地图选择较佳的回归方向，缩短回归时间，使得自动行走设备定位更加准确，还可以根据自动行走设备与充电站之间的距离进行自动行走设备的速度调节，当自动行走设备靠近充电站时可以适当的降低速度，同时，当自动行走设备靠近充电站时，还可以降低刀盘的旋转速度甚至可以关掉刀盘暂停刀盘的旋转。
在一个实施例中，声波发射器发射的声波波形采用三角波。
在该第一种自动行走设备自动返回方法的一个实施例中，所述自动行走设备包括频率调节单元，用以调节声波发射器发射的声波的频率。
在该第一种自动行走设备自动返回方法的一个实施例中，所述声波接收 器包括至少两个，所述处理器根据多个声波接收器指定的编码方式和延迟时间获得位置信息。所述声波发射过程中，声波发射器使用不同的频率发射声波。
对于至少两个该声波接收器的方案，至少两个该声波接收器接收相同的声波信号，相同的声波信号具有特定的代码，至少两个该声波接收器接收声波信号具有延迟时间，通过该延迟时间可以获得自动行走设备的位置信息。
本发明还提供了第二种自动行走设备自动返回方法，如图1至4所示，图1至4表达了本实施例的自动行走设备自动返回方法的回归线路，所述自动行走设备自动返回方法，用于返回一充电站，所述充电站上设有用于发出声波的声波发射器，所述自动行走设备包括用于接收声波的声波接收器，所述自动行走设备自动返回方法包括以下步骤：
S1：所述声波发射器沿自动行走设备与充电站对接的方向发射声波；
S2：所述声波接收器旋转并侦测声强最强的声波所在方向A，所述自动行走设备朝向方向A行走；
S3：在所述自动行走设备朝向方向A行走过程中，所述声波接收器持续旋转并侦测声强最强的声波所在方向的变化；
S4：当所述声波接收器侦测到声强最强的声波所在方向从方向A变化为方向B时，所述自动行走设备改变行走方向并朝向方向B行走；
S5：重复步骤S3和S4，所述声波接收器持续旋转，所述自动行走设备变化行走方向直至沿着与充电站对接的方向行走。
在该第二种自动行走设备自动返回方法的一个实施例中，声波发射器沿充电对接的方向发射声波，声强最强的声波所在方向为充电站处的充电对接方向。
在该第二种自动行走设备自动返回方法的一个实施例中，所述声波发射器全向发射声波。可以通过步进电机调节声波发射器转动的角度。
声波发射器发出具有一定频率或振幅的声波信号。声波发射器可以发射不同频率或振幅的声波信号，在一个实施例中，声波发射器发射的声波频率范围为20Khz～24Khz。
在该第二种自动行走设备自动返回方法的一个实施例中，声波发射器为标准扬声器，比如高音用扩音器，该标准扬声器购买方便，结构简单，使用方便，节约了使用成本。
在另一个实施例中，声波发射器80为超声波发射器。
当声波发射器包括多个时，可以通过一控制电路控制声波发射器轮流进 行声波的发射，或者在缓解或解决声波相互干扰的问题后，控制电路也可以控制多个声波发射器同时发射声波。
全向声波发射器发射范围较广，发射角较大，相较于全向声波发射器，在本该第二种自动行走设备自动返回方法的一个实施例中，声波发射器采用固定的角度进行声波的发射，即声波发射器为定向发射声波的定向声波发射器，在该实施方式中，同样可以设置步进电机来调节声波发射器发射的角度。
所述自动行走设备包括对接收到的声波进行处理的处理器及控制器。在该第二种自动行走设备自动返回方法的一个实施例中，声波接收器转动设置于自动行走设备上，控制器控制声波接收器旋转或摆动，从而侦测不同方向上的声波。在一个实施例中，所述自动行走设备包括步进电机，所述步进电机用以给声波接收器旋转或摆动提供动力，控制器可以调节声波接收器旋转或摆动的角度。声波接收器的旋转或摆动可以是持续进行。
在该第二种自动行走设备自动返回方法的一个实施例中，声波接收器可以仅仅具有一个，该声波接收器旋转或摆动连接于自动行走设备上，通过旋转或摆动使得声波接收器具有至少两个不同的朝向方位，从而具有至少两个接收角度范围。
在该第二种自动行走设备自动返回方法的一个实施例中，声波接收器包括至少两个，通过设置多个声波接收器，可以对不同方向的声波进行侦测，提高工作效率，提升侦测准确性。至少两个该声波接收器可以设置为定方向的接收声波信号，即声波接收器固定安装不能旋转或摆动，当然在另一个实施例中，至少两个该声波接收器也可以设置为旋转或摆动。
在该第二种自动行走设备自动返回方法的另一个实施例中，声波接收器的旋转或摆动是非持续进行，所述声波接收器固定于所述自动行走设备上，控制器在自动行走设备回归时控制自动行走设备每前进一段距离时旋转一周或在一定弧度范围内摆动，从而使得自动行走设备在不同朝向方位接收声波信号，处理器对声波接收器接收到的声波信号进行强度分析并获得声强最强的声波所在方向，控制器根据声强最强的声波所在方向控制自动行走设备前进。声波接收器持续前进一段距离时旋转一周或在一定弧度范围内摆动进行侦测声波信号，处理器对声波接收器持续接收到的声波信号进行强度分析并确定是否存在新的声强最强的声波所在方向，若存在新的声强最强的声波所在方向，控制器控制所述自动行走设备调整方向并朝新的声强最强的声波所在方向行走，以此循环，最终引导自动行走设备到达声强最强的声波所在的充电站方向，使得所述自动行走设备返回所述充电站。
在该第二种自动行走设备自动返回方法的一个实施例中，声波发射器为标准扬声器，比如高音用扩音器，该标准扬声器购买方便，结构简单，使用方便，节约了使用成本。
在另一个实施例中，声波发射器80为超声波发射器。
在一个实施例中，声波发射器发射的声波波形采用三角波。
在该第二种自动行走设备自动返回方法的一个实施例中，声波接收器为电磁执行器(，比如标准麦克风，购买方便，结构简单，使用方便，节约了使用成本。
在该第二种自动行走设备自动返回方法的一个实施例中，所述自动行走设备根据空间地图选择较佳的回归方向，缩短回归时间，使得自动行走设备定位更加准确，还可以根据自动行走设备与充电站之间的距离进行自动行走设备的速度调节，当自动行走设备靠近充电站时可以适当的降低速度，同时，当自动行走设备靠近充电站时，还可以降低刀盘的旋转速度甚至可以关掉刀盘暂停刀盘的旋转。
在一个实施例中，声波发射器发射的声波波形采用三角波。
在该第二种自动行走设备自动返回方法的一个实施例中，所述自动行走设备包括频率调节单元，用以调节声波发射器发射的声波的频率。
在该第二种自动行走设备自动返回方法的一个实施例中，所述声波接收器包括至少两个，所述处理器根据多个声波接收器指定的编码方式和延迟时间获得位置信息。所述声波发射过程中，声波发射器使用不同的频率发射声波。
对于至少两个该声波接收器的方案，至少两个该声波接收器接收相同的声波信号，相同的声波信号具有特定的代码，至少两个该声波接收器接收声波信号具有延迟时间，通过该延迟时间可以获得自动行走设备的位置信息。
本领域技术人员可以想到的是，自动返回系统中的具体结构及控制自动行走设备返回充电站的方法可以有很多的变化形式，但其采用技术方案的主要技术特征与本发明相同或相似，均应涵盖于本发明保护范围内。

Claims (21)

  1. 一种自动行走设备自动返回方法，用于返回一充电站，其特征在于：所述充电站上设有用于发出声波的声波发射器，所述自动行走设备包括用于接收声波的声波接收器，所述自动行走设备自动返回方法包括以下步骤：
    S1：所述声波发射器沿自动行走设备与充电站对接的方向发射声波；
    S2：所述声波接收器旋转并侦测声强最强的声波所在方向A，所述自动行走设备朝向方向A行走；
    S3：在所述自动行走设备朝向方向A行走过程中，所述声波接收器持续旋转并侦测声强最强的声波所在方向的变化；
    S4：当所述声波接收器侦测到声强最强的声波所在方向从方向A变化为方向B时，所述自动行走设备改变行走方向并朝向方向B行走；
    S5：重复步骤S3和S4，所述声波接收器持续旋转，所述自动行走设备变化行走方向直至沿着与充电站对接的方向行走。
  2. 根据权利要求1所述的自动行走设备自动返回方法，其特征在于：所述声波发射器全向发射声波。
  3. 根据权利要求1所述的自动行走设备自动返回方法，其特征在于：所述声波发射器定向发射声波并与一步进电机连接，所述声波发射器利用步进电机的角度信息定向发射声波。
  4. 根据权利要求3所述的自动行走设备自动返回方法，其特征在于：所述步进电机的角度信息和同步信息通过无线电传输给声波接收器或者声波接收器所在的设备。
  5. 根据权利要求1所述的自动行走设备自动返回方法，其特征在于：所述声波发射器发射的声波频率范围为10Khz～80Khz。
  6. 根据权利要求1所述的自动行走设备自动返回方法，其特征在于：所述声波接收器转动设置，所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
  7. 一种自动行走设备自动返回方法，其特征在于：所述自动行走设备自动返回一充电站，至少一个声波发射器和至少一个声波接收器分别设置在充电站和自动行走设备上，一处理器对声波接收器接收到的声波进行处理，所述自动行走设备包括控制自动行走设备行走的控制器，所述自动行走设备在预设的工作范围内工作，所述自动行走设备自动返回方法包括以下步骤：
    所述自动行走设备启动回归时，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
    所述处理器对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
    所述控制器根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站。
  8. 根据权利要求7所述的自动行走设备自动返回方法，其特征在于：所述声波发射器全向发射声波。
  9. 根据权利要求7所述的自动行走设备自动返回方法，其特征在于：所述声波发射器定向发射声波并与一步进电机连接，所述声波发射器利用步进电机的角度信息定向发射声波。
  10. 根据权利要求9所述的自动行走设备自动返回方法，其特征在于：所述步进电机的角度信息和同步信息通过无线电传输给声波接收器或者声波接收器所在的设备。
  11. 根据权利要求7所述的自动行走设备自动返回方法，其特征在于：所述声波发射器发射的声波频率范围为10Khz～80Khz。
  12. 根据权利要求7所述的自动行走设备自动返回方法，其特征在于：所述声波接收器转动设置，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
  13. 根据权利要求7所述的自动行走设备自动返回方法，其特征在于：所述控制器根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站，包括：
    S11：所述控制器控制所述自动行走设备朝向声强最强的声波所在方向行走；
    S12：所述自动行走设备朝向声强最强的声波所在方向行走的过程中，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
    S13：所述处理器持续对接收到的声波进行强度分析，并根据分析结果确定是否存在新的声强最强的声波所在方向；
    S14：若存在新的声强最强的声波所在方向，所述控制器控制所述自动行走设备朝向新的声强最强的声波所在方向行走；
    S15：重复步骤S12至S14，所述声波接收器持续旋转，所述自动行走设备变化行走方向直至沿着与充电站对接的方向行走。
  14. 一种自动返回系统，包括充电站及自动行走设备，其特征在于：所述自动返回系统包括：
    声波发射器，所述声波发射器用于发出声波；
    声波接收器，所述自动行走设备启动回归时，所述声波接收器持续侦测不同方向上的声波发射器发射的声波；
    处理器，用于对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
    控制器，用于根据声强最强的声波所在方向控制所述自动行走设备的行走方向，使得所述自动行走设备返回所述充电站。
  15. 根据权利要求14所述的自动返回系统，其特征在于：所述声波发射器为全向发射声波的声波发射器。
  16. 根据权利要求14所述的自动返回系统，其特征在于：所述声波发射器为定向发射声波的声波发射器，所述自动返回系统包括步进电机，所述声波发射器利用步进电机的角度信息定向发射声波。
  17. 根据权利要求16所述的自动返回系统，其特征在于：所述步进电机的角度信息和同步信息通过无线电传输给声波接收器或者声波接收器所在的设备。
  18. 根据权利要求14所述的自动返回系统，其特征在于：所述声波发射器发射的声波频率范围为10Khz～80Khz。
  19. 根据权利要求14所述的自动返回系统，其特征在于：所述声波发射器设于充电站上，所述声波接收器转动设置于所述自动行走设备上，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
  20. 一种自动返回装置，其特征在于：包括
    壳体；
    声波接收器，设于壳体上，所述自动返回装置启动回归时，所述声波接收器用于持续侦测不同方向上的外部声波；
    处理器，用于对声波接收器持续侦测到的不同方向的声波进行强度分析并获得声强最强的声波所在方向；
    控制器，用于根据声强最强的声波所在方向控制所述自动返回装置的行走方向，使得所述自动返回装置跟随声强最强的声波所在方向行走。
  21. 根据权利要求20所述的自动返回装置，其特征在于：所述声波接收器转动设置于所述自动返回装置上，所述控制器控制所述声波接收器旋转或摆动，从而侦测不同方向上的声波。
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