CN205681138U - Charging pile and auto cleaning system - Google Patents
Charging pile and auto cleaning system Download PDFInfo
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- CN205681138U CN205681138U CN201521074570.1U CN201521074570U CN205681138U CN 205681138 U CN205681138 U CN 205681138U CN 201521074570 U CN201521074570 U CN 201521074570U CN 205681138 U CN205681138 U CN 205681138U
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Abstract
The disclosure is directed to a kind of charging pile and auto cleaning system, this charging pile may include that pile body, and the either side surface of described pile body is provided with power supply interface, to supply power to automatic cleaning equipment；Mark structure, described mark structure is positioned at the described either side surface of described pile body, for identifying device identification and determining the position of described power supply interface on described automatic cleaning equipment；Described mark structure includes least one set marker element, often group marker element includes at least one protruding and at least one depression, in described projection and described depression, the retro-reflecting coefficient on any structure surface is less than the retro-reflecting coefficient of another body structure surface, and described mark structure comprises the unmatched surface texture of at least one pair of specification or marker element, each surface texture is the raised or sunken surface texture in any marker element.By the technical scheme of the disclosure, the identification degree of charging pile can be promoted, thus help automatic cleaning equipment to accurately identify and apply charging pile.
Description
Technical field
It relates to automated cleaning technical field, particularly relate to a kind of charging pile and auto cleaning system.
Background technology
In the related, by various automatic cleaning equipments such as Intelligent robot for sweeping floor, intelligence floor-mopping robots, permissible
Realize the operation of various types of automated cleaning, bring experience easily to user.Owing to cleaning region is relatively big, automated cleaning
Equipment is usually mounted with built-in power, it is possible to make automatic cleaning equipment be temporarily disengaged from external power source, it is achieved more liberalization is clear
Clean operation.Correspondingly, before the electricity of built-in power exhausts, outside automatic cleaning equipment should identify voluntarily and accurately return
At portion's power supply, thus thoroughly exempt keeping an eye on and compounding practice of user, it is achieved real automatization's clean operation.
The pattern that the automatic cleaning equipment with LDS can use light and shade rule to change is as the pattern of charging pile identification.
But erroneous judgement usually occurs in the recognition result of the pattern of light and shade rule change, occur and charging pile pattern class because very possible in family
As pattern (LDS identifies light and shade by the reflection light of object, if scanning object, itself have the striped of light and shade, or
The material different by two kinds of intensities of light reflection alternately forms, or sunlight is irradiated to target object through the fence of striated, all can
Make intensity of reflected light produce power change, judge by accident), cause cleaning equipment to be mistakenly considered charging pile, at furniture or wall
On repeatedly find docking with metal charging electrode with certain impulse force, on the one hand damage furniture or wall, the most around
In the case of Wu Ren, robot can not charge and work on, and room is swept half and is parked in the position that should not stop, and Consumer's Experience is very
Bad.
Utility model content
The disclosure provides a kind of charging pile and auto cleaning system, it is therefore an objective to reduce the False Rate of charging pile identification, protection
The domestic environment of user, improves Consumer's Experience.
First aspect according to disclosure embodiment, it is provided that a kind of charging pile, for automatic cleaning equipment, including:
Pile body, the either side surface of described pile body is provided with power supply interface, to supply power to automatic cleaning equipment；
Mark structure, described mark structure is positioned at the described either side surface of described pile body, sets for described automated cleaning
Standby upper identifying device identification and determine the position of described power supply interface；Described mark structure includes least one set marker element,
Often group marker element includes at least one protruding and at least one depression, and in described projection and described depression, any structure surface is converse
Penetrate coefficient less than the retro-reflecting coefficient of another body structure surface, and the reflex reflection that the relatively small body structure surface of retro-reflecting coefficient is formed
Light intensity identifies light intensity not less than the minimum of described identification device；
Wherein, described mark structure comprises the unmatched surface texture of at least one pair of specification or marker element, Mei Yibiao
Face structure is the raised or sunken surface texture in any marker element.
Optionally, the gray value of the surface color of described any structure is more than the gray scale of the surface color of another structure described
Value, so that the retro-reflecting coefficient on described any structure surface is less than the retro-reflecting coefficient of another body structure surface described.
Optionally, described any structure uses first surface structure, another structure described to use second surface structure, so that
The retro-reflecting coefficient on described any structure surface is less than the retro-reflecting coefficient of another body structure surface described.
Optionally, often organizing in marker element, the retro-reflecting coefficient of convex surfaces is less than the retro-reflecting coefficient of sunk surface.
Optionally, the difference between the surface texture of a pair match specifications or the default specifications parameter of marker element is little
Identification error in described identification device；Between a pair unmatched surface texture of specification or the default specifications parameter of marker element
Difference more than the identification error of described identification device.
Optionally, the default specifications parameter of each projection or each depression can recognize that not less than the minimum of described identification device
Distance.
Optionally, the degree of depth difference between protruding surface and the surface of depression in described often group marker element is not less than
The identification error of described identification device.
Optionally, cooperate between bottom surface specification and the sidewall specification of described depression so that described identification device is in advance
If the either side surface to described charging pile in angular range is identified, the sidewall of described depression at most blocks the one of bottom surface
Part so that the bottom surface of described depression be in distinguishable state at least partially, and this at least one of default specification ginseng
Number can recognize that distance not less than the identification error of described identification device and the minimum of described identification device.
Optionally, the projection in marker element is often organized and between depression, between many group marker elements, along described identification device
Default identification line direction arrangement, to be determined the default specifications parameter often organizing marker element successively by described identification device.
Second aspect according to disclosure embodiment, it is provided that a kind of auto cleaning system, including:
Automatic cleaning equipment；
Charging pile as described in arbitrary in above-described embodiment.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
From above-described embodiment, the disclosure is tied by the mark configuring concaveconvex structure composition on the pile body of charging pile
Structure, can based on corresponding unique look promote pile body can identification.Meanwhile, by the protruding and surface configuration of depression
Light and shadow characteristics so that the light effects that other objects that mark structure can be different from working environment generally produce, contributes to
Avoid the misrecognition of automatic cleaning equipment.
It should be appreciated that it is only exemplary and explanatory, not that above general description and details hereinafter describe
The disclosure can be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meet the enforcement of the disclosure
Example, and for explaining the principle of the disclosure together with description.
Fig. 1-3 is the structural representation according to a kind of robot shown in an exemplary embodiment.
Fig. 4 is the structural representation according to a kind of charging pile shown in an exemplary embodiment.
Fig. 5 is the schematic diagram of the mark structure on a kind of charging pile illustrated according to one of exemplary embodiment.
Fig. 6 is the schematic diagram of the mark structure on a kind of charging pile shown according to an exemplary embodiment two.
Fig. 7 is the schematic diagram of the mark structure on a kind of charging pile shown according to an exemplary embodiment three.
Fig. 8 is the schematic diagram of the mark structure on a kind of charging pile shown according to an exemplary embodiment four.
Fig. 9 is the schematic top plan view of the mark structure on a kind of charging pile shown according to an exemplary embodiment five.
Figure 10 is the schematic top plan view of the mark structure on a kind of charging pile shown according to an exemplary embodiment six.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.Explained below relates to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they are only with the most appended
The example of the apparatus and method that some aspects that described in detail in claims, the disclosure are consistent.
Fig. 1-3 is the structural representation according to a kind of robot shown in an exemplary embodiment, as Figure 1-3, machine
Device people 100 can be the automatic cleaning equipment such as sweeping robot, floor-mopping robot, and this robot 100 can comprise machine body
110, sensory perceptual system 120, control system 130, drive system 140, cleaning systems 150, energy resource system 160 and man-machine interactive system
170.Wherein:
Machine body 110 includes forward portion 111 and backward part 112, and having approximate circular shape (is the most all circle
Shape), it is possible to there is other shapes, approximation D-shape round after including but not limited to front.
Sensory perceptual system 120 includes being positioned at the position determining means 121 above machine body 110, is positioned at machine body 110
The buffer 122 of forward portion 111, steep cliff sensor 123 and sonac (not shown), infrared sensor are (in figure
Not shown), magnetometer (not shown), accelerometer (not shown), gyroscope (not shown), speedometer (figure
Not shown in) etc. sensing device, various positional informationes and the movement state information of machine are provided to control system 130.Position is true
Determine device 121 and include but not limited to photographic head, laser ranging system (LDS).Below with the laser ranging system of triangle telemetry
As a example by illustrate how that carrying out position determines.Ultimate principle geometric ratio based on the similar triangles relation of triangle telemetry, at this not
Repeat.
Laser ranging system includes luminescence unit and light receiving unit.Luminescence unit can include the light source launching light, light source
Light-emitting component can be included, such as, launch Infrared or the infrared or luminous ray light emitting diode (LED) of luminous ray.Excellent
Selection of land, light source can be the light-emitting component launching laser beam.In the present embodiment, using laser diode (LD) as the example of light source
Son.Specifically, due to monochrome, orientation and the collimation property of laser beam, use the light source of laser beam so that measure compared to
Other light is the most accurate.Such as, compared to laser beam, Infrared or luminous ray that light emitting diode (LED) is launched are subject to week
Enclose such environmental effects (color of such as object or texture), and may decrease in measurement accuracy.Laser diode
(LD) can be a laser, measure the two-dimensional position information of barrier, it is also possible to be line laser, measure the certain model of barrier
Enclose interior three dimensional local information.
Light receiving unit can include imageing sensor, forms the light being reflected by barrier or scattering on this imageing sensor
Point.Imageing sensor can be the set of single or plurality of rows of multiple unit picture elements.These photo detectors can be by optical signal
Be converted to the signal of telecommunication.Imageing sensor can be complementary metal oxide semiconductors (CMOS) (CMOS) sensor or charge coupled cell
(CCD) sensor, owing to the advantage on cost is preferably complementary metal oxide semiconductors (CMOS) (CMOS) sensor.And, light
Unit can include sensitive lens assembly.The light reflected by barrier or scatter can be advanced via sensitive lens assembly with at figure
As forming image on sensor.Sensitive lens assembly can include single or multiple lens.
Base portion can support luminescence unit and light receiving unit, luminescence unit and light receiving unit and be arranged on base portion and to each other
Every a specific range.For the barrier situation on 360 ° of directions around robot measurement, base portion can be made to be rotatably arranged
In main body 110, it is also possible to base portion itself does not rotates and makes by arranging rotation element transmitting light, reception light rotate.
The angular velocity of rotation rotating element can obtain by arranging optic coupling element and code-disc, and the tooth on optic coupling element sensing code-disc lacks,
Lack time that slips over of spacing by tooth and tooth lacks spacing distance values and is divided by available instantaneous angular velocity.The density that on code-disc, tooth lacks is more
Greatly, the accuracy rate of measurement and precision are also the highest, but the most accurate, and amount of calculation is the highest；Otherwise, tooth lacks
Density the least, the accuracy rate of measurement and precision are the lowest, but structurally can be relatively easy, and amount of calculation is also got over
Little, some costs can be reduced.
The data processing equipment being connected with light receiving unit, such as DSP, by angled relative to the institute on 0 ° of angular direction of robot
Place obstacle distance value record and send the data processing unit in control system 130 to, as comprised the application processor of CPU
(AP), CPU runs location algorithm based on particle filter and obtains the current location of robot, and charts according to this position, for leading
Boat uses.Location algorithm is preferably used instant location and map structuring (SLAM).
Although laser ranging system based on triangle telemetry can measure the infinity beyond certain distance in principle
The distance value of distance, but actually telemeasurement, such as more than 6 meters, realization be the most difficult, be primarily due to light
The size limitation of pixel cell on the sensor of unit, simultaneously the most also by the opto-electronic conversion speed of sensor, sensor and be connected
Data transmission bauds between DSP, the calculating speed impact of DSP.The measured value that laser ranging system temperature influence obtains is also
The change that system can be occurred to can not put up with, the thermal expansion that the structure being primarily due between luminescence unit and light receiving unit occurs becomes
Shape causes the angle between incident illumination and emergent light to change, and luminescence unit and light receiving unit self also can exist temperature drift problem.Swash
After optical range finding apparatus life-time service, due to the accumulation of the many factors such as variations in temperature, vibration, the deformation that causes also can serious shadow
Ring measurement result.The accuracy of measurement result directly determines the accuracy of map making, is that robot carries out strategy further
The basis carried out, particularly important.
The forward portion 111 of machine body 110 can carry buffer 122, and during cleaning, driving wheel module 141 advances
Robot when ground running, buffer 122 via sensing system, such as infrared sensor, the traveling of measuring robots 100
One or more event (or object) in path, robot can be by the event (or object) detected by buffer 122, such as
Barrier, wall, and control driving wheel module 141 and make robot that described event (or object) to be responded, for example away from
Barrier.
Control system 130 is arranged on the circuit main board in machine body 110, including with non-transitory memory, such as
Hard disk, flash memory, random access memory, the computation processor of communication, such as CPU, application processor,
The obstacle information that application processor feeds back according to laser ranging system utilizes location algorithm, such as SLAM, drawing robot institute
Instant map in the environment.And combining buffer 122, steep cliff sensor 123 and sonac, infrared sensor, magnetic
The range information of sensing device feedback, the velocity information comprehensive descision sweepers such as power meter, accelerometer, gyroscope, speedometer are worked as
Before be in which kind of duty, as crossed threshold, upper carpet, be positioned at steep cliff, either above or below is stuck, and dirt box is full, is taken
Rise etc., also can provide next step concrete action policy for different situations so that the work of robot more conforms to owner
Requirement, have more preferable Consumer's Experience.Further, even if control system 130 can be planned based on the cartographic information that SLAM draws
The most efficient and rational cleaning path and the mode of cleaning, be greatly improved the sweeping efficiency of robot.
Energy resource system 160 includes the rechargeable battery being shown on machine body 110 in Fig. 3, and figure does not indicates, position
In the charging pile outside machine body 110.Wherein, rechargeable battery can include Ni-MH battery and lithium battery etc..Rechargeable battery can
Charging control circuit, set of cells charging temperature testing circuit and battery undervoltage observation circuit, charging control circuit, electricity is had to connect
Pond group charging temperature testing circuit, battery undervoltage observation circuit are connected with single chip machine controlling circuit again.Main frame is by being arranged on machine
The charging electrode of body side or lower section is connected with charging pile and is charged.If having attached dust on exposed charging electrode,
The plastics body of electrode perimeter can be caused to melt deformation due to the accumulative effect of electric charge in charging process, even results in electrode
Itself deforms, it is impossible to continue to charge normal.And in the technical scheme of the disclosure, the structure of charging pile has been carried out accordingly
Improve, to help charging pile to realize more preferably identification effect, consequently facilitating robot 100 is to the identification of charging pile and application；Under
Face combines other accompanying drawings, is described in detail the structure of charging pile.
Fig. 4 is the structural representation according to a kind of charging pile shown in an exemplary embodiment, as shown in Figure 4, this charging
Stake is for being charged automatic cleaning equipment, and such as this automatic cleaning equipment can be sweeping robot, floor-mopping robot etc.
Can be automatically obtained the equipment of clean operation, this charging pile may include that
Pile body 1, the either side surface of this pile body 1 is provided with power supply interface 11, (does not shows in figure supplying power to automatic cleaning equipment
Go out)；
Mark structure 2, this mark structure 2 is positioned at any of the above-described side surface of this pile body 1, on this automatic cleaning equipment
Identify device identification and determine the position of this power supply interface 11.
Visible, mark structure on charging pile 2 and power supply interface 11 are positioned at the surface, the same side of pile body 1, such as both
It is respectively positioned on the front side of pile body 1 shown in Fig. 4, and mark structure 2 is positioned at the top of power supply interface 11；Certainly, mark structure 2 and power supply
Optional position relation, such as mark structure 2 can be used between interface 11 can also to be positioned at below power supply interface 11, or both
Between can arrangement etc. in the horizontal direction, this is not limited by the disclosure.
In the technical scheme of the disclosure, the version of mark structure 2 is carried out reasonable disposition so that this mark is tied
Structure 2 can include least one set marker element, and often group marker element includes protruding and a depression, a reflex reflection for this convex surfaces
Coefficient is less than the retro-reflecting coefficient of this sunk surface, and this reflex reflection light intensity convexed to form is not less than above-mentioned identification device
Minimum identification light intensity；Wherein, when retro-reflecting coefficient is the highest, the surface that identification device senses respective objects is the brightest, similar
Ground is when retro-reflecting coefficient is the lowest, and the surface that identification device senses respective objects is the darkest.Therefore, in one embodiment, this is convex
Rise can have dark surface relative to this depression, this depression has the bright surface relative to this projection；Correspondingly, such as Fig. 4 institute
Show, including marker element 2A and marker element 2B totally two groups of marker elements, marker element 2A is made up of protruding 21A and depression 22A,
Marker element 2B is made up of protruding 21B and depression 22B, and the surface of protruding 21A and protruding 21B is dark surface, depression 22A and recessed
The surface falling into 22B is bright surface.
From above-described embodiment, the charging pile in disclosure embodiment possesses following feature, and corresponding technology effect
Really:
1) unique surface structure.By configuring the mark structure 2 of concaveconvex structure composition on the pile body 1 of charging pile, can
With based on corresponding unique look promote pile body 1 can identification, help automatic cleaning equipment find and identify pile body 1.
2) unique light effects.Bright by the surface configuration at protruding 21A and protruding 21B, depression 22A and depression 22B
Dark feature, in particular so that the surface that the surface of protruding 21A and protruding 21B is dark surface, depression 22A and depression 22B is bright table
Face so that the light effect that other objects that mark structure 2 can be different from the working environment of automatic cleaning equipment generally produce
Really (such as alternately arranged for being likewise supplied with concaveconvex structure curtain, the light effects presented be nonreentrant surface be bright surface, recessed
Surface is dark surface, the most contrary with the light effects of the mark structure 2 of the disclosure), help avoid automatic cleaning equipment
Misrecognition.
1, retro-reflecting coefficient configuration
On the one hand, retro-reflecting coefficient is relevant with the surface texture of object and material, microspheroidal, the surface texture tool of micro-taper
There is higher retro-reflecting coefficient；On the other hand, retro-reflecting coefficient relevant with gray value (in other words, relevant with color), gray value
The highest then retro-reflecting coefficient is the lowest, and such as light intensity is that the laser intensity value meeting that the laser of 1 receives after black material reflex reflection is big
Width reduces, and even up to 0.1.
Certainly, the retro-reflecting coefficient on dark surfaces such as satisfied protruding 21A and protruding 21B is less than depression 22A and depression 22B etc.
While the retro-reflecting coefficient on bright surface, it should be ensured that the retro-reflecting coefficient on dark surface is sufficiently high, so that automatic cleaning equipment
On identify device at least can read the converse light intensity being emitted back towards in dark surface.Wherein, in one embodiment, bright dark surface is inverse
The difference of reflection coefficient should reach preset difference value, to guarantee to identify that device can accurately distinguish light intensity difference therebetween.
So, as a example by the laser that light intensity is 1, it can be ensured that its light intensity value after the reflex reflection of dark surface is 0.3, pass through
After the reflex reflection of bright surface, light intensity value is 0.6.So, for the charging pile of the embodiment shown in Fig. 4, identify that device can divide
Do not obtain the surface of the one fixed width certain depth that light intensity is 0.3, and the surface of the one fixed width certain depth that light intensity is 0.6
Alternately exist.Wherein, it should at least ensure that the light intensity value after the reflex reflection of dark surface is not less than 0.05, otherwise identify that device may nothing
Method senses and determines whether corresponding position exists the body structure surface of one fixed width certain depth, the most just cannot detect concavo-convex table
The different depth difference in face.
Bright surface can use all kinds of reflective membrane with specific retro-reflecting coefficient.Such as, in one embodiment, Ke Yixuan
By engineering grade 3200 series of 3M company；Similarly, it is also possible to selecting engineering grade 3400 series of 3M company, superpower level 3930 is
Row, soft level 610SG series etc..
Dark surface can use the material of low retro-reflecting coefficient.Such as, in one embodiment, the bubble of dead color can be selected
Cotton, dark-coloured printing material, dark-coloured sand-blast material, there is the injected plastics material etc. on special grains surface；Wherein, if selecting and having
The injected plastics material on special grains surface, then can select the injected plastics material with irregular shallow erosion stricture of vagina.When selecting dark surface, black
The foam of color is likely to be inappropriate, because its retro-reflecting coefficient is too low, recognition result does not exists with dark surface, visits in other words
It is identical that survey surface is positioned at the result of unlimited distance, it is difficult to determine the distance on this dark surface.
It should be understood that
(1) in the above-described embodiments, " secretly " it is phase between surface with " bright " surface, " high " gray value and " low " gray value
To relation, and the most definitely describe.Such as it is less than the reflex reflection system on depression 22A surface when the retro-reflecting coefficient on protruding 21A surface
During number, the identification device on automatic cleaning equipment can be determined that protruding 21A possesses relative dark surface, the 22A that caves in possesses relatively
Bright surface；And when the retro-reflecting coefficient on protruding 21B surface is less than the retro-reflecting coefficient on depression 22B surface, even if protruding 21B
The retro-reflecting coefficient on surface could possibly be higher than protruding 21A or the retro-reflecting coefficient on depression 22A surface, but identifies that device still should be sentenced
Fixed protruding 21B possesses relative dark surface, the 22B that caves in possesses relative bright surface.
(2) when relating to the comparison of two objects, such as the retro-reflecting coefficient between protruding 21A and depression 22A
Contrast, it should be ensured that the difference of the retroreflective light intensity that both retro-reflecting coefficients produce respectively is more than on automatic cleaning equipment
Identify the identification error of device, be discernible to guarantee the difference of both retro-reflecting coefficients for this identification device.
(3) it will be understood by those skilled in the art that obviously can also be by other means so that each marker element
In projection possess dark surface, depression possess bright surface, this is not limited by the disclosure.
2, marker element
1) quantity that is protruding and that cave in
Although in the embodiment shown in fig. 4, the most only to comprise one protruding and one recessed for marker element 2A and marker element 2B
Fall into, but those skilled in the art should understand that: be only used for illustrating herein；It practice, it is permissible in each marker element
Comprising one or more projection, and one or more depression, the disclosure is not limiting as in each marker element the projection comprised
Quantity with depression.
2) specification coupling
(1) judgment mode
For often organizing the projection and depression comprised in marker element, the gauge relationship existed may include that protruding and depression
Between match specifications, or the specification between protruding and depression do not mates.Wherein, " coupling " was sentenced with " not mating "
Disconnected mode, may include that
As it is shown in figure 5, for the protruding 21A in marker element 2A and depression 22A, owing to protruding 21A and depression 22A is at water
Specifications parameter square upwards is d1, and i.e. protruding 21A is identical (the most only with the 22A specifications parameter in the horizontal direction that caves in
Illustrate as a example by horizontal direction), thus it is believed that match between the protruding 21A of marker element 2A and depression 22A.
Similarly, for the protruding 21B in the marker element 2B shown in Fig. 5 and depression 22B, due to protruding 21B and depression
22B specifications parameter in the horizontal direction is respectively d2 and d1, i.e. protruding 21B and depression 22B specification ginseng in the horizontal direction
Number different (the most only illustrating as a example by horizontal direction), thus it is believed that the protruding 21B of marker element 2B and depression 22B
Between do not mate.
Certainly, owing to the identification device on automatic cleaning equipment has certain identification error, thus based on the most accurate
Identification demand, identification error can be taken into account.Ratio is as shown in Figure 6, although the protruding 21B in marker element 2B and depression
The specifications parameter of 22B is respectively d3 and d1, and d3 with d1 is unequal, but (d0 is to identify the identification of device by mistake due to d3-d1≤d0
The numerical value of difference), thus identify that device actually can not distinguish d3 and d1, will be considered that corresponding protruding 21B and depression 22B
Between match.
So it can be understood as: when default specifications parameter (the most above-mentioned reality of the projection in arbitrary marker element Yu depression
Execute in example use " specifications parameter in horizontal direction ") between difference be not more than identify device identification error, i.e. both
Default specifications parameter for identify for device identical time, it is believed that between projection and the depression in this arbitrary marker element
Coupling；Otherwise, it is believed that do not mate.
Certainly, in addition to " specification is identical " used according to the present embodiment Rule of judgment as " coupling ", at it
His embodiment obviously can also use more Rule of judgment, be such as not more than pre-when the difference of the protruding gauge number with depression
If during numerical value, also can determine that and match between this projection and depression.
(2) version
Based in above-described embodiment for the judge process of " coupling ", when the mark structure on the charging pile in the present embodiment
2 when comprising many group marker elements, is configurable to: the projection of portion identification element and the match specifications of depression, remaining mark
Projection in element is not mated with the specification of depression.
For example, in the embodiment shown in fig. 5, match between the protruding 21A and depression 22A of marker element 2A,
Do not mate between the protruding 21B of marker element 2B with depression 22B.And in the embodiment shown in fig. 6, due to marker element 2A's
Protruding 21A and depression 22A, the protruding 21B of marker element 2B all mate, because being unable to be combined as these public affairs between depression 22B
Open the mark structure 2 of embodiment.
(3) specification configuration
Based on the consideration to the identification error identifying device, as a example by the marker element 2B shown in Fig. 5-6, need projection
The default specifications parameter of 21B, between the default specifications parameter of depression 22B, and the surface of the surface of protruding 21B and depression 22B
Degree of depth difference d4 etc. carry out reasonable disposition, with avoid identify device misrecognition.
On the one hand, the default specifications parameter of protruding 21B, the depression default specifications parameter of 22B, degree of depth difference d4 all can not mistakes
Little.In one embodiment, in the range of identifying device around 360 °, launch detection light (such as laser), with detect its with near
The spacing of object；Wherein, this identification device makes the object of light directive 360 ° by rotation, then identify that device exists one
The unit anglec of rotation preset, such as 0.5 ° etc., this forms corresponding light and irradiates interval after causing exposing to object, thus convex
The default specifications parameter of the default specifications parameter and depression 22B that play 21B all should irradiate interval not less than this light, to avoid nothing
Method is normally detected；Accordingly, it is considered to irradiate interval and above-mentioned identification error d0, the default specification of protruding 21B to this light
The default specifications parameter of parameter and depression 22B can meet further: irradiates interval plus twice not less than the light of twice
Identification error.Similarly, often organizing the projection in marker element and depression to identify and distinguish between exactly, degree of depth difference d4 should
Not less than identifying the device identification error when range measurement, to guarantee that this identification device is recognized accurately depression 22B, and distinguish
In corresponding protruding 21B；Such as, degree of depth difference d4 can meet further: not less than the identification error of twice.
On the other hand, degree of depth difference d4 can not be excessive.As shown in Figure 6, it is assumed that need automatic cleaning equipment maximum in α angle
Time remain able to realize the automatic identification to charging pile, then it should be ensured that automatic cleaning equipment identify the light that device sends
When angle between pile body 1 is α, can be reflexed to by light at least partially bottom depression 22B identifies device, then know
Other device can at least sense and identify the appropriate section bottom depression 22B, thus completes the identification to depression 22B.Therefore,
Should match between bottom surface specification and the sidewall specification of the depression in each marker element so that identify that device is in predetermined angle
In the range of (such as angle [alpha], or other angles that the angle beta shown in Fig. 3 etc. is less than α) the either side surface of charging pile is carried out
During identification, the sidewall of this depression at most blocks a part for bottom surface, so that being at least partially of the bottom surface of this depression can be known
Other state (i.e. light can be reflexed to identify device by least partially, for identifying that device is identified), and this is at least
The default specifications parameter of a part can recognize that distance not less than the minimum of the identification error and described identification device that identify device.
So, based on the mark structure 2 shown in Fig. 5, in one exemplary embodiment, protruding 21A, depression 22A, depression
Size d1 of 22B can be 6cm, size d2 of protruding 21B can be 3cm, degree of depth d4 can be 1.6cm.In another example
Property embodiment in, the size of the protruding 21A in the marker element 2A shown in Fig. 5 and depression 22A can be different, such as protruding 21A
Size can be 5cm, the size of depression 22A can be 6cm, the size of protruding 21B can be 3.5cm, the size of the 22B that caves in
Can be 6cm, the degree of depth can be 1.8cm.
3) orientation
Although in the embodiment shown in Fig. 4-6, between marker element 2A and marker element 2B, in each group marker element
Between protruding and depression, (as between protruding 21A and depression 22A, between protruding 21B and depression 22B) arranges the most in the horizontal direction
Cloth, but this is not obviously limited by the disclosure, can use any arrangement mode according to the actual requirements.Such as Fig. 7 institute
Show, can vertically enter between projection and the depression between marker element 2A and marker element 2B, in each group marker element
Row arrangement；Or, as shown in Figure 8, can arrange in the horizontal direction between marker element 2A and marker element 2B, and protruding
Between 21A and depression 22A, can vertically arrange between protruding 21B and depression 22B.
In one embodiment, often between projection and the depression in group marker element, between many group marker elements, all can be by
According to identifying that on device, the default identification line direction of configuration is arranged, and often organizes marker element to be determined successively by this identification device
Default specifications parameter.The most in the embodiment shown in fig. 5, if the identification device on automatic cleaning equipment uses along level side
To default identification circuit, be identified the most from left to right, thus marker element 2A and marker element 2B it
Between, between protruding 21A and depression 22A, can arrange the most in the horizontal direction between protruding 21B and depression 22B so that this identification dress
Put and identify protruding 21A, depression 22A and the marker element 2A being made up of both successively, and protruding 21B, depression 22B and by two
The marker element 2B of person's composition.
4) version
In the above-described embodiments, the projection in marker element and depression are often organized for being disposed adjacent and have the knot of square-section
Structure；It practice, as long as mark structure 2 disclosure satisfy that above-mentioned " concaveconvex structure " and the feature on " light and shade surface ", the disclosure is not
The version that it is concrete is limited.
For example, in one embodiment, as it is shown in figure 9, projection 21 in one group of marker element in mark structure 2 with
Depression 22 still can use square-section, and can not be disposed adjacent, the most between the two between protruding 21 with depression 22
Predeterminable range can be provided with.And in another embodiment, as shown in Figure 10, in one group of marker element in mark structure 2
Protruding 21 are configurable to triangular prism structure (corresponding cross sectional shape is triangle), and cave in and 22 still can have rectangle and cut
Can non-conterminous arrange between face, and protruding 21 and depression 22.
Based on above-mentioned charging pile structure, the disclosure proposes the identification of the charging pile being applied to automatic cleaning equipment accordingly
Scheme, is described in detail to this identifying schemes below.
For the charging pile of above-described embodiment, the automatic cleaning equipment being matched with this charging pile can pass through following step,
The realization identification to charging pile:
Step A, obtains the surface character of surrounding objects.
Step B, the surface that being matched with within the surface of any object comprises error allowed band presets mark structure is special
When levying, it is determined that described any object is the charging pile of automatic cleaning equipment；Wherein, described default mark structure includes least one set
Marker element, often group marker element includes at least one protruding and at least one depression, and the retro-reflecting coefficient on surface is less than described depression
The retro-reflecting coefficient on surface, and described in the reflex reflection light intensity that convexes to form identify light intensity not less than the minimum of described identification device
Degree；When described default mark structure includes organizing marker element more, the projection of the portion identification elements in many group marker elements with
Projection in the match specifications of depression, remaining marker element is not mated with the specification of depression.
In the present embodiment, surface character can include multiple predefined characteristic type.Such as, in one embodiment,
Surface character can be to preset specifications parameter (such as vertical height, horizontal width, the degree of depth etc.), then automatic cleaning equipment can be distinguished
Obtain each projection on described any object surface and the default specifications parameter of each depression；Wherein, when described any object table
Each projection in face and the default specifications parameter of each depression are matched with appropriate section in described default mark structure respectively
When presetting specifications parameter, determine that described any object is matched with described default mark structure, and judge that described any object is as certainly
The charging pile of dynamic cleaning equipment.For example, it is assumed that on charging pile, include a projection being disposed adjacent and a depression, and convex
The horizontal width risen is 6cm, the horizontal width of depression is 3cm, then automatic cleaning equipment can be surveyed by laser ranging system LDS
Distance between the sampled point formed in amount and surrounding objects, to obtain concavo-convex characteristic and the horizontal width of respective objects, works as inspection
Measure object and comprise a horizontal width when being the depression that the projection of 6cm, a horizontal width are 3cm, it is possible to determine that this object is
Charging pile.
In another embodiment, surface character can be retro-reflecting coefficient, then automatic cleaning equipment can obtain institute respectively
State each projection and the retro-reflecting coefficient of each depression on any object surface；Wherein, each when described any object surface
The retro-reflecting coefficient of protruding and each depression is matched with the retro-reflecting coefficient of appropriate section in described default mark structure respectively
Time, determine that described any object is matched with described default mark structure, and judge that described any object is as automatic cleaning equipment
Charging pile.For example, it is assumed that on charging pile, include a projection being disposed adjacent and a depression, and convex surfaces is converse
Penetrating the laser that coefficient can make intensity be 1 and forming intensity is that the reflex strength of 0.3, the retro-reflecting coefficient of sunk surface can make by force
Degree be 1 laser formed intensity be the reflex strength of 0.6, then automatic cleaning equipment can by laser ranging system LDS to week
Enclose laser that object emission intensity is 1 and receive and reflect light accordingly, when detect object comprise one convex to form anti-
Penetrating intensity is that the reflex strength that formed of 0.3, one depression is when being 0.6, it is possible to determine that this object is charging pile.
Certainly, above-mentioned default specifications parameter and retro-reflecting coefficient can be used as surface character simultaneously, this
Place repeats no more.
So, on the one hand, automatic cleaning equipment can be on pile body based on charging pile outside the uniqueness of the mark structure of configuration
See, promote the identification to pile body；On the other hand, automatic cleaning equipment can bright by the surface configuration at protruding and depression
Dark feature, the light that other objects that mark structure is clearly distinguishable from the working environment of this automatic cleaning equipment are generally produced
Effect, helps avoid the misrecognition of automatic cleaning equipment.
Assuming that automatic cleaning equipment is sweeping robot, then this sweeping robot can identify above-mentioned by following step
Charging pile in embodiment:
Step A ', sweeping robot detects charge requirement.
In the present embodiment, sweeping robot, according to the process logic being pre-configured with, can be judged in several cases
There is charge requirement.Such as, in one case, when the electricity of the portable power source in sweeping robot is less than presetting power threshold
Time, it is possible to determine that for there is charge requirement；In another case, when sweeping robot completes clean up task, it is possible to determine that
For there is charge requirement.
Step B ', sweeping robot judges whether self is positioned near charging pile, the most then proceed to step
E ', otherwise proceeds to step C '.
In the present embodiment, sweeping robot by transferring the map being previously generated and storing, or can generate in real time
The map of working region residing for self, to obtain in self and this map the distance between the charging pile present position of labelling；Its
In, when this distance is less than or equal to predeterminable range, it is possible to determine that for being positioned near charging pile, be otherwise judged to away from charging
Stake.
Step C ', sweeping robot runs near charging pile.
In the present embodiment, sweeping robot can utilize above-mentioned history trendline or the map generated in real time, runs to
On this map near the position of the charging pile of labelling.Wherein, " near " can be understood as and the position of the charging pile of labelling on map
Distance between putting is less than predeterminable range.
It should be understood that sweeping robot can obtain the map in region residing for self in several ways.Citing and
Speech, in one embodiment, sweeping robot is configured with LDS device and related functional components, this device can by obtain with
Distance between surrounding objects, thus identify the object around sweeping robot, and combine the distance between each object,
Generate corresponding map；In another embodiment, sweeping robot it is configured with image acquisition and processes assembly, such as photographic head
And processor, then by photographic head to carrying out image acquisition around sweeping robot, and by processor, the image collected is entered
Row Object identifying and process, can know the object around sweeping robot and corresponding range information, thus generate corresponding
Map.Certainly, sweeping robot can also generate map by other means, and this is not limited by the disclosure.
Step D ', sweeping robot identification charging pile.
In the present embodiment, due to the restriction of each side such as the volume of sweeping robot, disposal ability, thus for charging
Accurately identify distance existence one definite limitation, the such as distance between sweeping robot and charging pile of stake are in 60-80cm's
Time in distance range, sweeping robot can complete scanning and identify the details of charging pile, then details in farther distance
Scanning and identification ability can decline therewith.Therefore, by utilizing map to run near charging pile in advance, can be without carrying
In the case of liter sweeping robot is to the identification ability of charging pile, actively sweeping robot is moved to completing charging pile carefully
In the range of joint scanning and identification, to guarantee that sweeping robot can be recognized accurately charging pile.
Wherein, if charging pile position there occurs change so that it is physical location is different from the labeling position in map, then sweep
Floor-washing robot cannot find charging pile when returning in the distance range of original position 60-80cm, then this sweeping robot can be
Find charging pile near original position, such as, centered by original position, draw the circular arc of certain radius, this circular arc path is walked also
Find charging pile.
In the present embodiment, charging pile is configured with the mark structure 2 of Fig. 4-10 illustrated embodiment, and passes through above-mentioned steps
Identification process described by A-step B, is identified charging pile, and here is omitted.
Step E ', sweeping robot runs at power supply interface.
In the present embodiment, sweeping robot can be run at power supply interface by following manner, and complete and power
The docking of interface:
Sweeping robot, sufficiently closing to charging pile when, can turn health 180 degree, and limit low-angle waves limit backward
Rub, until the voltage during stopping of the charging pole piece on sweeping robot is increased to predetermined value and stablizes, stop over is described
Lean against on charging pile and realize and the docking of power supply interface.
Wherein, during charging, if voltage suddenly drops to 0, illustrate that sweeping robot causes departing from because of external factor
Charging pile, now sweeping robot advance a segment distance and turn health 180 degree re-execute find charging pile action；Filling
During electricity, if magnitude of voltage reduces to 0 with given pace, illustrate to have a power failure or power line disconnection, because the inductance in adapter
Storing certain energy with electric capacity, under powering-off state, inductance and electric capacity can release energy, the electricity at pole piece two ends of therefore charging
Pressure be not rapid drawdown be zero, but decline with given pace, sweeping robot is parked in situ the most motionless in this case.
The embodiment of the recognition methods with aforesaid charging pile is corresponding, and the disclosure additionally provides the identification device of charging pile
Embodiment.
Accordingly, the disclosure also provides for the identification device of a kind of charging pile, including: processor；Can for storing processor
Perform the memorizer of instruction；Wherein, described processor is configured to: obtain the surface character of surrounding objects；When any object
When surface comprises the surface character that being matched with in error allowed band presets mark structure, it is determined that described any object is automatic
The charging pile of cleaning equipment；Wherein, described default mark structure includes least one set marker element, often group marker element include to
Few one protruding and at least one depression, in described projection and described depression, the retro-reflecting coefficient on any structure surface is less than another structure
The retro-reflecting coefficient on surface, and the reflex reflection light intensity that the relatively small body structure surface of retro-reflecting coefficient is formed is not less than described knowledge
The minimum of other device identifies light intensity；Described default mark structure comprises the unmatched surface texture of at least one pair of specification or mark
Knowing element, each surface texture is the raised or sunken surface texture in any marker element.
Accordingly, the disclosure also provides for a kind of automatic cleaning equipment, and described automatic cleaning equipment includes memorizer, and
One or more than one program, one of them or more than one program is stored in memorizer, and is configured to by one
Individual or more than one processor performs one or more than one program comprises the instruction for carrying out following operation: obtain
Take the surface character of surrounding objects；When the surface of any object comprises and is matched with the surface character presetting mark structure, it is determined that
Described any object is the charging pile of automatic cleaning equipment；Wherein, described default mark structure includes least one set marker element,
Often group marker element includes at least one protruding and at least one depression, and in described projection and described depression, any structure surface is converse
Penetrate coefficient less than the retro-reflecting coefficient of another body structure surface, and the reflex reflection that the relatively small body structure surface of retro-reflecting coefficient is formed
Light intensity identifies light intensity not less than the minimum of described identification device；Described default mark structure comprises at least one pair of specification not
The surface texture of coupling or marker element, each surface texture is the raised or sunken surface texture in any marker element.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure
Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modification, purposes or
Person's adaptations is followed the general principle of the disclosure and includes the undocumented common knowledge in the art of the disclosure
Or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are by following
Claim is pointed out.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and
And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. a charging pile, for automatic cleaning equipment, it is characterised in that including:
Pile body, the either side surface of described pile body is provided with power supply interface, to supply power to automatic cleaning equipment；
Mark structure, described mark structure is positioned at the described either side surface of described pile body, on described automatic cleaning equipment
Identify device identification and determine the position of described power supply interface；Described mark structure includes least one set marker element, often group
Marker element includes at least one protruding and at least one depression, the reflex reflection system on any structure surface in described projection and described depression
Number is less than the retro-reflecting coefficients of another body structure surface, and the reflex reflection light intensity that the relatively small body structure surface of retro-reflecting coefficient is formed
Degree identifies light intensity not less than the minimum of described identification device；
Wherein, comprising the unmatched surface texture of at least one pair of specification or marker element in described mark structure, each surface is tied
Structure is the raised or sunken surface texture in any marker element.
Charging pile the most according to claim 1, it is characterised in that the gray value of the surface color of described any structure is more than
The gray value of the surface color of another structure described, so that the retro-reflecting coefficient on described any structure surface is less than another knot described
The retro-reflecting coefficient on structure surface.
Charging pile the most according to claim 1, it is characterised in that described any structure uses first surface structure, described
Another structure uses second surface structure, so that the retro-reflecting coefficient on described any structure surface is less than another body structure surface described
Retro-reflecting coefficient.
Charging pile the most according to claim 1, it is characterised in that often organizing in marker element, the reflex reflection of convex surfaces
Coefficient is less than the retro-reflecting coefficient of sunk surface.
Charging pile the most according to claim 1, it is characterised in that the surface texture of a pair match specifications or marker element
Default specifications parameter between difference be not more than the identification error of described identification device；A pair unmatched surface texture of specification
Or the difference between the default specifications parameter of marker element is more than the identification error of described identification device.
Charging pile the most according to claim 1, it is characterised in that the default specifications parameter of each projection or each depression is not
Distance is can recognize that less than the minimum of described identification device.
Charging pile the most according to claim 1, it is characterised in that the protruding surface in described often group marker element with
Degree of depth difference between the surface of depression is not less than the identification error of described identification device.
Charging pile the most according to claim 1, it is characterised in that phase between the bottom surface specification of described depression and sidewall specification
Coordinate mutually so that when described identification device either side surface to described charging pile in the range of predetermined angle is identified, institute
The sidewall stating depression at most blocks a part for bottom surface so that the bottom surface of described depression be in recognizable shape at least partially
State, and this at least one of default specifications parameter is not less than the identification error of described identification device and described identification device
Little recognizable distance.
Charging pile the most according to claim 1, it is characterised in that often group marker element in projection and depression between, many
Between group marker element, the default identification line direction along described identification device is arranged, to be determined successively by described identification device
Often organize the default specifications parameter of marker element.
10. an auto cleaning system, it is characterised in that including:
Automatic cleaning equipment；
Charging pile as claimed in any one of claims 1-9 wherein.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074570.1U CN205681138U (en) | 2015-12-21 | 2015-12-21 | Charging pile and auto cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521074570.1U CN205681138U (en) | 2015-12-21 | 2015-12-21 | Charging pile and auto cleaning system |
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| CN205681138U true CN205681138U (en) | 2016-11-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106980320A (en) * | 2017-05-18 | 2017-07-25 | 上海思岚科技有限公司 | Robot charging method and device |
| TWI634403B (en) * | 2017-01-26 | 2018-09-01 | 好樣科技有限公司 | An automatic cleaning robot and a controlling method of the same |
| CN109127515A (en) * | 2016-11-26 | 2019-01-04 | 冒鹏飞 | A kind of New-energy electric vehicle charging base station automation, which is kept a public place clean, clears up machine |
| WO2021184781A1 (en) * | 2020-03-17 | 2021-09-23 | 苏州宝时得电动工具有限公司 | Stop station, robot system, and control method of robot system |
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2015
- 2015-12-21 CN CN201521074570.1U patent/CN205681138U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2017107742A1 (en) * | 2015-12-21 | 2017-06-29 | 小米科技有限责任公司 | Charging station and recognition method and device therefor, and automatic cleaning apparatus |
| CN105990876B (en) * | 2015-12-21 | 2019-03-01 | 小米科技有限责任公司 | Charging pile, identification method and device thereof and automatic cleaning equipment |
| US10394248B2 (en) | 2015-12-21 | 2019-08-27 | Xiaomi Inc. | Charging pile, method and device for recognizing the charging pile |
| CN109127515A (en) * | 2016-11-26 | 2019-01-04 | 冒鹏飞 | A kind of New-energy electric vehicle charging base station automation, which is kept a public place clean, clears up machine |
| TWI634403B (en) * | 2017-01-26 | 2018-09-01 | 好樣科技有限公司 | An automatic cleaning robot and a controlling method of the same |
| CN106980320A (en) * | 2017-05-18 | 2017-07-25 | 上海思岚科技有限公司 | Robot charging method and device |
| WO2021184781A1 (en) * | 2020-03-17 | 2021-09-23 | 苏州宝时得电动工具有限公司 | Stop station, robot system, and control method of robot system |
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Address after: 100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Co-patentee after: Beijing Roborock Technology Co.,Ltd. Patentee after: Xiaomi Technology Co.,Ltd. Address before: 100085 Beijing Haidian District Qinghe middle street 68 Huarun colorful shopping mall two phase 13 level. Co-patentee before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. Patentee before: Xiaomi Technology Co.,Ltd. |