CN111162569A - Charging seat of intelligent autonomous mobile equipment - Google Patents
Charging seat of intelligent autonomous mobile equipment Download PDFInfo
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- CN111162569A CN111162569A CN201811325872.XA CN201811325872A CN111162569A CN 111162569 A CN111162569 A CN 111162569A CN 201811325872 A CN201811325872 A CN 201811325872A CN 111162569 A CN111162569 A CN 111162569A
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- 230000013011 mating Effects 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a charging seat of intelligent autonomous mobile equipment, and belongs to the technical field of robot autonomous mobile charging. The charging seat comprises a charging seat body and at least one group of identification structures; the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body; the identification structure is located on the side plate of the base body, and the identification structure is combined as follows: the mirror comprises a combination of at least one plane mirror surface, at least one non-mirror surface and at least one characteristic picture, or comprises a combination of at least one plane mirror surface, at least one non-mirror surface and at least one groove, or comprises a combination of at least one plane mirror surface, at least one non-mirror surface, at least one characteristic picture and at least one groove, or comprises a combination of at least one characteristic picture and at least one groove; according to the invention, the plurality of groups of different identification structures are arranged on the body of the charging base, so that the charging base is convenient to identify and strong in environmental adaptability.
Description
Technical Field
The invention relates to a charging seat of intelligent autonomous mobile equipment, and belongs to the technical field of robot autonomous mobile charging.
Background
At present, the autonomous mobile smart device generally uses a rechargeable battery to provide power, however, since the battery capacity is limited, the autonomous mobile smart device needs to autonomously move to find a charging seat for charging after working for a certain time, and therefore, a charging seat convenient for the smart device to find needs to be researched and developed. There are three main types of robot charging seats on the market today, and its principle is: one of the recharging seats is provided with an infrared emitter which emits infrared light with specific frequency; the front part or the periphery of the robot is provided with an infrared receiver, and once the infrared receiver of the robot receives the infrared light, the charging seat is indicated to be in a specific direction near the robot; secondly, a special code is arranged on the charging seat, a laser radar is arranged on the intelligent equipment, and the charging seat is identified by laser; thirdly, a special pattern or a two-dimensional code is arranged on the charging seat, and the charging seat is identified through a camera arranged on the robot and then recharged.
However, the three charging seats have certain defects, namely, the charging seat of the infrared emitter has long time for finding the charging seat when the robot recharges remotely, and the robot is required to have the capability of distinguishing wall obstacles and island obstacles; in addition, the resolution of the infrared scheme is related to the number of used infrared receivers, so that more infrared receiving devices are needed to find the charging seat more quickly, and the cost is increased; the laser scanning code can be used for quickly positioning the charging pile, but the laser scanning code has small deviation when being aligned nearby; the special patterns or the two-dimensional codes are identified through the camera, so that the special patterns or the two-dimensional codes are sensitive to light, the requirements on the application environment are strict, and the adaptability and the stability are poor.
Disclosure of Invention
In order to solve the technical problem, the invention provides a charging seat of intelligent autonomous mobile equipment, which comprises a charging base body and at least one identification structure combination;
the base body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate;
the identification structure is located on the side plate of the base body, and the identification structure is combined as follows: the mirror comprises a combination of at least one plane mirror surface, at least one non-mirror surface and at least one characteristic picture, or comprises a combination of at least one plane mirror surface, at least one non-mirror surface and at least one groove, or comprises a combination of at least one plane mirror surface, at least one non-mirror surface, at least one characteristic picture and at least one groove, or comprises a combination of at least one characteristic picture and at least one groove;
in the identification structure combination, the plane of the plane mirror surface is not perpendicular to the plane of the bottom plate;
and when the surface of any object contains surface characteristics which are matched with any identification element in any identification structure combination or all identification elements in any identification structure combination within the error allowable range, determining that any object is a charging seat.
In one embodiment of the present invention, the reflection coefficient of the planar mirror is different from the reflection coefficient of the non-mirror, and the reflection coefficient of the planar mirror is preferably larger than the reflection coefficient of the non-mirror.
In one embodiment of the invention, the plane of the plane mirror surface forms an angle of 1 ° to 89 °, or 91 ° to 179 °, preferably 70 ° to 85 °, or 95 ° to 120 °, with the plane of the base plate.
In an embodiment of the present invention, the feature picture is a two-dimensional code photo or an enterprise logo, or any other photo that can be recognized by a camera.
In one embodiment of the present invention, the charging stand is attached to a wall orthogonal to the ground.
In an embodiment of the present invention, the charging seat is adapted to be disposed on a socket on the wall and electrically connected to the socket.
In an embodiment of the present invention, the charging base is provided with pins, and the charging base is positioned on the wall by the plugging and matching of the pins and the socket.
The charging seat of the intelligent autonomous mobile equipment provided by the invention can be used for the intelligent autonomous mobile equipment containing the laser ranging sensor.
The charging seat of the intelligent autonomous mobile equipment can be used for an intelligent sweeping robot.
The charging seat of the intelligent autonomous mobile equipment provided by the invention can be used for household intelligent equipment.
The determination method of the charging seat comprises the steps of actively acquiring the surface characteristics of surrounding objects, wherein the autonomous mobile charging equipment comprises a laser ranging sensor and a common camera, and when the identification elements are a plane mirror surface, a non-mirror surface or a groove, the distance between the autonomous mobile charging equipment and a sampling point formed on the surrounding objects is measured through the laser ranging sensor so as to acquire the distance characteristics of the corresponding objects. Because the plane of the plane mirror surface is not vertical to the plane of the base plate, the light path distances of the plane mirror surface and the non-mirror surface acquired by the laser ranging sensor are different, when the included angle between the plane of the plane mirror surface and the plane of the base plate is 1-89 degrees, the light path distance to the plane mirror surface needs to be increased by a distance of a section of reflected light, or when the included angle between the plane of the plane mirror surface and the plane of the base plate is 91-179 degrees, the light path distance to the plane mirror surface is very far, and the distance cannot be measured; when the identification element is a groove, a distance difference exists between the distance measured by the laser ranging sensor to the groove and the distance measured by the laser ranging sensor to the side plate of the charging base; and when the identification element is a characteristic picture, photographing through a common camera to obtain a surrounding object image. And when the surface of any object contains surface characteristics which are matched with any identification element in the identification structure combination or all identification elements in the identification structure combination within the error allowable range, determining that the any object is a charging seat of the intelligent autonomous mobile charging equipment.
The invention has the beneficial effects that:
1. according to the invention, the plurality of groups of different identification structures are arranged on the body of the charging base, so that the charging base is convenient to identify and strong in environmental adaptability. The traditional charging base is a single mark, and is easy to have identification faults or identification errors.
2. The charger base provided by the invention skillfully utilizes the optical characteristics to set the identification structure, so that the thickness of the side plate of the charging base body is reduced to a great extent, the charging base is more attached to the wall body, and the space is greatly saved.
3. The invention utilizes the combination of various identification elements and identifies the identification structure through the distance characteristics, so that the identification is more accurate and rapid, and the position of the charging seat can be quickly and accurately found no matter the distance is long or short.
4. The invention can be set to judge that any object is a charging seat of the intelligent autonomous mobile charging equipment when the surface characteristics of any object contain the surface characteristics which are matched with all the identification structures in the identification structure combination within the error allowable range by setting the identification mechanism combination. Therefore, the judgment error is reduced, and the situation of misjudgment can occur when the distance characteristics of other objects are close to the distance characteristics of the charging base with the convex-concave structure in the conventional charging base with the convex-concave structure.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention
FIG. 2 is a schematic structural diagram of an embodiment of the present invention
FIG. 3 is a schematic structural diagram of an embodiment of the present invention
FIG. 4 is a schematic structural diagram of an embodiment of the present invention
In the figure: 1. a base plate; 2. a side plate; 3. a plane mirror surface; 4. a non-specular surface; 5. a feature picture; 6. a charging interface; 7. a pin; 8. and (4) a groove.
Detailed Description
Example 1
A charging seat of intelligent autonomous mobile equipment comprises a charging seat body and an identification structure combination;
the base body comprises a bottom plate 1 and a side plate 2, and a charging interface 6 is arranged on the bottom plate 1 or the side plate 2;
the identification structure is positioned on the side plate 2 of the base body, and the identification structure combination comprises a plane mirror surface 3, a non-mirror surface 4 and a characteristic picture 5;
in the mark structure combination, the plane of the plane mirror surface 3 is not perpendicular to the plane of the bottom plate 1;
and when the surface of any object contains surface characteristics matched with any identification structure combination within the error allowable range, determining that any object is a charging seat of the automatic charging equipment.
The reflection coefficient of the planar mirror 3 is greater than the reflection coefficient of the non-mirror 4. The plane of the plane mirror 3 forms an angle of 75 degrees with the plane of the base plate 1.
The characteristic picture 5 is an enterprise logo, and the charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket.
The judging method of the charging seat comprises the steps that the intelligent autonomous mobile charging equipment comprises a laser ranging sensor, and the distance between the intelligent autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object; the intelligent autonomous mobile charging equipment comprises a common camera, images of surrounding objects are obtained through the common camera, and when the surface of any object contains surface features matched with any identification structure within an error allowable range, any object is judged to be a charging seat of the autonomous mobile charging equipment.
Example 2
A charging seat of intelligent autonomous mobile equipment comprises a charging seat body and an identification structure combination;
the base body comprises a bottom plate 1 and a side plate 2, and a charging interface 6 is arranged on the bottom plate 1 or the side plate 2;
the identification structure is positioned on the side plate 2 of the base 1 body, and the identification structure combination comprises a plane mirror surface 3, a non-mirror surface 4 and a groove 8;
in the mark structure combination, the plane of the plane mirror surface 3 is not perpendicular to the plane of the bottom plate 1;
and when the surface of any object contains surface characteristics matched with any identification structure combination within the error allowable range, determining that any object is a charging seat of the automatic charging equipment.
The reflection coefficient of the planar mirror 3 is greater than the reflection coefficient of the non-mirror 4. The plane of the plane mirror 3 forms an angle of 120 degrees with the plane of the base plate 1. The charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket.
The judging method of the charging stand comprises the steps that the autonomous mobile charging equipment is provided with a laser ranging sensor, and the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object; and acquiring images of surrounding objects through a common camera, and judging that any object is a charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
Example 3
A charging seat of intelligent autonomous mobile equipment comprises a charging seat body and an identification structure combination;
the base body comprises a bottom plate 1 and a side plate 2, and a charging interface 6 is arranged on the bottom plate 1 or the side plate 2;
the identification structure is positioned on the side plate 2 of the base body, and the identification structure combination comprises a plane mirror surface 3, a non-mirror surface 4, a characteristic picture 5 and a groove 8;
in the mark structure combination, the plane of the plane mirror surface 3 is not perpendicular to the plane of the bottom plate 1;
and when the surface of any object contains surface characteristics matched with any identification structure combination within the error allowable range, determining that any object is a charging seat of the automatic charging equipment.
The reflection coefficient of the planar mirror 3 is greater than the reflection coefficient of the non-mirror 4. The plane of the plane mirror 3 forms an angle of 110 degrees with the plane of the base plate 1.
The characteristic picture 5 is a two-dimensional code picture, and the charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket.
The judging method of the charging stand comprises the steps that the autonomous mobile charging equipment is provided with a laser ranging sensor, and the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object; and acquiring images of surrounding objects through a common camera, and judging that any object is a charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
Example 4
A charging seat of intelligent autonomous mobile equipment comprises a charging seat body and an identification structure combination;
the base body comprises a bottom plate 1 and a side plate 2, and a charging interface 6 is arranged on the bottom plate 1 or the side plate 2;
the identification structure is positioned on the side plate 2 of the base body, and the identification structure combination comprises a characteristic picture 5 and a groove 8;
and when the surface of any object contains surface characteristics matched with any identification structure combination within the error allowable range, determining that any object is a charging seat of the automatic charging equipment.
The characteristic picture 5 is a two-dimensional code picture, and the charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket.
The judging method of the charging stand comprises the steps that the autonomous mobile charging equipment is provided with a laser ranging sensor, and the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object; and acquiring images of surrounding objects through a common camera, and judging that any object is a charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A charging seat of intelligent autonomous mobile equipment is characterized by comprising a charging base body and at least one identification structure combination;
the base body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate;
the identification structure combination is located on the side plate of the base body, and the identification structure combination is as follows: the combination comprises at least one plane mirror surface, at least one non-mirror surface and at least one characteristic picture; or a combination of at least one planar mirror and at least one non-mirror and at least one groove; or a combination of at least one planar mirror and at least one non-mirror and at least one characteristic picture and at least one groove; or a combination of at least one characteristic picture and at least one groove;
and when the surface of any object contains surface characteristics which are matched with any identification element in any identification structure combination or all identification elements in any identification structure combination within the error allowable range, determining that any object is a charging seat.
2. The charging dock of claim 1, wherein the plane mirror is not perpendicular to the plane of the base plate in the combination of the presentation structures.
3. The charging dock of an intelligent autonomous mobile device of claim 1 or 2, wherein the reflection coefficient of the planar mirror is greater than the reflection coefficient of the non-mirror.
4. A charging stand for an intelligent autonomous mobile device according to claim 3, wherein the plane of the plane mirror is at an angle of 1 ° to 89 °, or 91 ° to 179 °, preferably 70 ° to 85 °, or 95 ° to 120 ° to the plane of the base plate.
5. The charging dock of an intelligent autonomous mobile device as claimed in any of claims 1-4, wherein the charging dock is attached to a wall orthogonal to the floor.
6. The charging dock of an intelligent autonomous mobile device of claim 5, wherein the charging dock is adapted to be placed on a socket on the wall and electrically connected to the socket.
7. The charging dock of an intelligent autonomous mobile device of claim 6, wherein said charging dock is provided with pins, said charging dock being positioned on said wall by said pins mating with said socket.
8. Use of a charging cradle for an intelligent autonomous mobile device according to any of claims 1-7 on an intelligent autonomous mobile device comprising a laser ranging sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811325872.XA CN111162569A (en) | 2018-11-08 | 2018-11-08 | Charging seat of intelligent autonomous mobile equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811325872.XA CN111162569A (en) | 2018-11-08 | 2018-11-08 | Charging seat of intelligent autonomous mobile equipment |
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| CN111162569A true CN111162569A (en) | 2020-05-15 |
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| CN201811325872.XA Pending CN111162569A (en) | 2018-11-08 | 2018-11-08 | Charging seat of intelligent autonomous mobile equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200389057A1 (en) * | 2019-04-19 | 2020-12-10 | Guru, Inc. | Adaptive roaming and articulating generating unit for wireless power transfer |
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| JP2009201226A (en) * | 2008-02-20 | 2009-09-03 | Nec Access Technica Ltd | Charging device |
| CN104079028A (en) * | 2014-06-08 | 2014-10-01 | 浙江海洋学院 | Integrated charging base for intelligent devices |
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| CN207115189U (en) * | 2017-06-01 | 2018-03-16 | 深圳乐动机器人有限公司 | Robot system |
| CN207202829U (en) * | 2017-03-29 | 2018-04-10 | 深圳乐动机器人有限公司 | Charging device and automatic cleaning apparatus for automatic cleaning apparatus |
-
2018
- 2018-11-08 CN CN201811325872.XA patent/CN111162569A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009201226A (en) * | 2008-02-20 | 2009-09-03 | Nec Access Technica Ltd | Charging device |
| CN104079028A (en) * | 2014-06-08 | 2014-10-01 | 浙江海洋学院 | Integrated charging base for intelligent devices |
| CN105990876A (en) * | 2015-12-21 | 2016-10-05 | 小米科技有限责任公司 | Charging pile and identification method and device thereof and automatic cleaning equipment |
| CN207202829U (en) * | 2017-03-29 | 2018-04-10 | 深圳乐动机器人有限公司 | Charging device and automatic cleaning apparatus for automatic cleaning apparatus |
| CN207115189U (en) * | 2017-06-01 | 2018-03-16 | 深圳乐动机器人有限公司 | Robot system |
Non-Patent Citations (1)
| Title |
|---|
| 刘志雄等: "室内移动机器人自动充电技术" * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20200389057A1 (en) * | 2019-04-19 | 2020-12-10 | Guru, Inc. | Adaptive roaming and articulating generating unit for wireless power transfer |
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