TWI790451B - Wireless charging method and wireless charging system, wireless charging station, and autonomous mobile robot using the same - Google Patents

Abstract

A wireless charging method and a wireless charging system, a wireless charging station, and an autonomous mobile robot (AMR) using the same are provided. The wireless charging method includes: emitting, by one of the wireless charging station or the AMR, a localization light source; receiving, by another one of the wireless charging station or the AMR, the localization light source and calculating location information according to the localization light source; and moving, by the AMR, in accordance with the location information, to a wireless charging interface of the wireless charging station for charging.

Description

Wireless charging method and wireless charging system using same, wireless charging station and autonomous mobile vehicle

The present invention relates to a wireless charging method, a wireless charging system, a wireless charging station and an autonomous mobile robot (AMR) using the method.

An autonomous mobile vehicle is a mobile electronic device that can move autonomously in a specific area through positioning technology. Autonomous mobile vehicles are characterized by their mobility and independence, which can greatly reduce the deployment costs of fixed devices such as tracks, magnetic tracks or conveyor belts. For example, autonomous mobile vehicles can transport goods or materials in warehouse centers or manufacturing plants, or become services in public places and large shopping malls in combination with functions such as navigation guidance, luggage handling, meal delivery, or on-demand customer service. type robot. In order to avoid poor charging or failure of the traditional metal contact charging base due to oxidation, and storage of combustibles or wet processing plants resulting in safety due to sparks from plug contact Doubts; autonomous mobile vehicles can be wirelessly charged through magnetic induction to apply to more diverse environments.

Autonomous mobile vehicles rely on accurate positioning technology to move autonomously. Autonomous mobile vehicles mostly use technologies such as LiDAR, Bluetooth, WiFi, near-field communication (NFC) or ultra-wideband (UWB) to achieve positioning. However, the above-mentioned techniques can only guide the autonomous mobile vehicle to a specific position within an error range, but cannot accurately couple the autonomous mobile vehicle with the wireless charging interface of the wireless charging station. In addition, the wireless charging system must maintain communication between the power supply end and the power receiving end to transmit messages and commands. When multiple groups of adjacent wireless charging interfaces or other wireless communication channels are activated at the same time, the connection quality may be poor due to overlapping frequency bands.

The present invention provides a wireless charging method, a wireless charging system using the method, a wireless charging station, and an autonomous mobile vehicle, which can guide the autonomous mobile vehicle to accurately couple its wireless charging interface with the wireless charging station, so as to carry out Charge.

A wireless charging station of the present invention includes at least one wireless charging interface, an optical transmitter, a receiver and a controller. The controller is electrically coupled to at least one wireless charging interface, an optical transmitter, and a receiver, wherein the controller emits a positioning light source through the optical transmitter, uses the receiver to establish a communication channel, and responds to the charging command in the communication channel. Configure at least one wireless charging interface to output power.

In an embodiment of the present invention, the above-mentioned receiver is an optical receiver, and It also includes image pixels and communication pixels.

In an embodiment of the present invention, the above-mentioned controller establishes a communication channel through the communication pixels and receives the charging instruction.

In an embodiment of the present invention, the above-mentioned controller obtains an image of the autonomous mobile vehicle through image pixels, calculates position information of the autonomous mobile vehicle according to the image, and transmits the position information to the autonomous mobile vehicle.

In an embodiment of the present invention, the above-mentioned optical transmitter is an array of light emitting diodes.

A wireless charging method of the present invention is applicable to a wireless charging station, comprising: emitting a positioning light source or transmitting location information; establishing a communication channel; and outputting power in response to a charging command in the communication channel.

An autonomous mobile vehicle of the present invention includes a wireless charging interface, a light receiver and a controller. The light receiver includes image pixels. The controller is electrically coupled to the wireless charging interface and the light receiver, wherein the controller receives the positioning light source through the image pixels, calculates position information according to the positioning light source, and adjusts the moving path of the autonomous mobile vehicle according to the position information for charging.

In an embodiment of the present invention, the above-mentioned controller judges the first distance between the autonomous mobile vehicle and the first positioning point of the wireless charging interface of the wireless charging station and the distance between the autonomous mobile vehicle and the wireless charging interface according to the positioning light source. The second distance between the second positioning points, and the location information is calculated according to the first distance and the second distance.

In an embodiment of the present invention, the above-mentioned location information includes an offset distance and an offset angle between the autonomous mobile vehicle and the wireless charging interface.

In an embodiment of the present invention, the aforementioned autonomous mobile vehicle further includes a transceiver. The transceiver is electrically coupled to the controller, wherein the transceiver includes an optical transmitter, and the optical transmitter is one of a light emitting diode array and a light detector.

In an embodiment of the present invention, the above-mentioned controller transmits the second positioning light source through the light transmitter.

In an embodiment of the present invention, in response to the controller judging that the location information conforms to a specific value pre-stored in the autonomous mobile vehicle, the controller establishes a communication channel through the optical transmitter and the optical receiver.

In an embodiment of the present invention, the above-mentioned light receiver further includes communication pixels, wherein the controller receives position information through the communication pixels, and corrects the moving path according to the position information.

In an embodiment of the present invention, the above light receiver further includes a communication pixel, wherein the controller receives a charging instruction through the communication pixel, and performs charging according to the charging instruction.

A wireless charging method of the present invention is applicable to an autonomous mobile vehicle, comprising: receiving a positioning light source to obtain position information; adjusting the moving path of the autonomous mobile vehicle according to the position information to approach the wireless charging interface; establishing a communication channel; and responding to the self The charging command received by the communication channel is used for charging.

A wireless charging system of the present invention includes a wireless charging station and an autonomous mobile vehicle, wherein one of the wireless charging station or the autonomous mobile vehicle emits a positioning light source; the other of the wireless charging station or the autonomous mobile vehicle receives the positioning Light source, and calculate the position information according to the positioning light source; and autonomously move the vehicle according to the position The information can be moved to the wireless charging interface of the wireless charging station for charging.

In an embodiment of the present invention, the above-mentioned autonomous mobile vehicle establishes a communication channel with the wireless charging station in response to determining that the location information matches a specific value pre-stored in the autonomous mobile vehicle.

In an embodiment of the present invention, the above-mentioned wireless charging station outputs power to the autonomous mobile vehicle in response to a charging command received through the communication channel.

In an embodiment of the present invention, the above-mentioned wireless charging station obtains images of the autonomous mobile vehicle, judges location information of the autonomous mobile vehicle according to the images, and transmits the location information to the autonomous mobile vehicle.

In an embodiment of the present invention, the above-mentioned autonomous mobile vehicle receives the positioning light source and judges the first distance between the autonomous mobile vehicle and the first positioning point of the wireless charging interface of the wireless charging station and the autonomous mobile vehicle according to the positioning light source. There is a second distance between the second positioning point and the wireless charging interface, and the location information is calculated according to the first distance and the second distance.

In an embodiment of the present invention, the above-mentioned location information includes an offset distance and an offset angle between the autonomous mobile vehicle and the wireless charging interface.

A wireless charging method of the present invention is applicable to a wireless charging system including a wireless charging station and an autonomous mobile vehicle, including: emitting a positioning light source by one of the wireless charging station or the autonomous mobile vehicle; The other one of the vehicles receives the positioning light source, and calculates position information according to the positioning light source; and the autonomous mobile vehicle moves to the wireless charging interface of the wireless charging station for charging according to the position information.

Based on the above, the wireless charging station or the receiver of the autonomous mobile vehicle of the present invention can obtain images, and can calculate position signals based on the images to assist the autonomous mobile vehicle to move to the correct position. The wireless charging station and the autonomous mobile vehicle of the present invention further establish a two-way communication connection through the optical transmitter and receiver to transmit system information and instructions. In this way, the wireless charging interface of the power supply terminal and the power receiving terminal can be accurately coupled without being interfered by the radio frequency wireless communication channel, and the charging efficiency of the autonomous mobile vehicle is significantly improved.

10: Wireless charging system

100:Wireless Charging Station

110, 210: controller

120: Power supply

121, 122, 12n, 220: wireless charging interface

1211: The first positioning point

1212: The second positioning point

130:Wireless charging interface switching module

140, 230: communication interface

150: signal processor

160: Receiver

161, 241: image pixels

162, 242: communication pixels

170: optical transmitter

200: Autonomous mobile vehicles

240: optical receiver

250: Teleporter

260: mobile mechanism

510, 520: position

D: The length of the optical transmitter

D1, D2: offset distance

d1, d2: distance

Step

θ1, θ2: offset angle

FIG. 1 is a schematic diagram of a wireless charging system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a wireless charging station according to an embodiment of the present invention.

FIG. 3 illustrates a schematic diagram of an autonomous mobile vehicle according to an embodiment of the present invention.

FIG. 4 shows a flow chart of a wireless charging method according to an embodiment of the invention.

FIG. 5A shows a schematic diagram of calculating location information by an autonomous mobile vehicle according to an embodiment of the present invention.

FIG. 5B shows a schematic diagram of calculating location information by a wireless charging station according to an embodiment of the present invention.

FIG. 6 is a flow chart of a wireless charging method suitable for a wireless charging system according to an embodiment of the present invention.

FIG. 7 is a flow chart of a wireless charging method suitable for a wireless charging station according to an embodiment of the present invention.

FIG. 8 illustrates a flow chart of a wireless charging method suitable for autonomous mobile vehicles according to an embodiment of the present invention.

FIG. 1 is a schematic diagram of a wireless charging system 10 according to an embodiment of the present invention. The wireless charging system 10 may include a wireless charging station 100 and an autonomous mobile vehicle 200, wherein the wireless charging station 100 may include one or more wireless charging interfaces, such as n wireless charging interfaces 121, 122, and 12n. A wireless charging interface, wherein n is any positive integer. The number of wireless charging interfaces of the wireless charging station 100 can be adjusted according to usage requirements, which is not limited in the present invention. For ease of description, the following embodiments will take the wireless charging interface 121 as an example for illustration. The implementation and functions of the wireless charging interface 122 or the wireless charging interface 12 n may be the same as the wireless charging interface 121 . The wireless charging interface 121 of the wireless charging station 100 can be configured remotely. For example, if the autonomous mobile vehicle 200 is an electric vehicle, the controller 110 of the wireless charging station 100 can be installed in the machine room of the parking lot, and the wireless charging interface 121 can be installed in the parking space of the parking lot. The autonomous mobile vehicle 200 can automatically drive to the parking space for parking through the method of the present invention. The controller 110 of the wireless charging station 100 can charge the autonomous mobile vehicle 200 through the wireless charging interface 121 disposed at the parking space.

FIG. 2 is a schematic diagram of a wireless charging station 100 according to an embodiment of the present invention. The wireless charging station 100 may include a controller 110, a power supply 120, a wireless charging interface 121, a wireless charging interface switching module 130, a communication interface 140, and a signal processor 150 and optical transmitter 170. In an embodiment, the wireless charging station 100 may further include a receiver 160 . In an embodiment, the wireless charging station 100 may include n wireless charging interfaces, such as the wireless charging interface 121 , the wireless charging interface 122 , and the wireless charging interface 12n shown in FIG. 2 , wherein n is any positive integer.

The controller 110 is, for example, a central processing unit (central processing unit, CPU), or other programmable general purpose or special purpose micro control unit (micro control unit, MCU), microprocessor (microprocessor), digital signal processing Digital Signal Processor (DSP), Programmable Controller, Application Specific Integrated Circuit (ASIC), Graphics Processing Unit (GPU), Image Signal Processor (ISP) ), image processing unit (image processing unit, IPU), arithmetic logic unit (arithmetic logic unit, ALU), complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field programmable gate array , FPGA) or other similar components or a combination of the above components. The controller 110 may include a storage medium for storing data or buffering data, wherein the storage medium is, for example, random access memory (random access memory, RAM), read-only memory (read-only memory, ROM), flash Flash memory (flash memory) or solid state drive (solid state drive, SSD).

The power supply 120 can be coupled to an external power source (for example: commercial power) to obtain power. The power supply 120 can be coupled to the controller 110 and the wireless charging interface 121, and is configured by the controller 110 to transmit power to the wireless charging interface 121, etc. (The same applies hereinafter) to charge the autonomous mobile vehicle 200 . The wireless charging interface switching module 130 can be coupled to the controller 110 and can be used to configure the coupling relationship between the power supply 120 and the wireless charging interface 121 . For example, after the wireless charging interface switching module 130 receives an instruction from the controller 110 to instruct the wireless charging interface 121 to charge the autonomous mobile vehicle 200, the wireless charging interface switching module 130 can be controlled by, for example, a transistor The switch on the line between the power supply 120 and the wireless charging interface 121 makes the line between the power supply 120 and the wireless charging interface 121 form a closed circuit. Accordingly, the power supply 120 can transmit power to the wireless charging interface 121 . On the other hand, after the wireless charging interface switching module 130 receives an instruction from the controller 110 to instruct the wireless charging interface 121 to stop charging the autonomous mobile vehicle 200, the wireless charging interface switching module 130 can, for example, use a transistor to A switch on the line between the power supply 120 and the wireless charging interface 121 is controlled so that the line between the power supply 120 and the wireless charging interface 121 is disconnected. Accordingly, the power supply 120 will not be able to transmit power to the wireless charging interface 121 . The wireless charging interface 121 can charge the autonomous mobile vehicle 200 in a magnetic induction manner. For example, the wireless charging interface 121 may include a charging coil. The controller 110 can charge the autonomous mobile vehicle 200 magnetically through the charging coil.

The communication interface 140 can be coupled to the controller 110 , the signal processor 150 and the optical transmitter 170 . The wireless charging station 100 can communicate with external electronic devices (eg, the autonomous mobile vehicle 200 ) through the communication interface 140 . The communication interface 140 may include an optical communication interface. In one embodiment, the communication interface 140 may also include a WiFi communication interface interface, Bluetooth communication interface, ZigBee communication interface, near-field wireless communication interface and/or other wireless communication interfaces, or may include a local area network (local area network, LAN) interface, a universal serial bus (Universal Serial Bus, USB) interface and/or other wired communication interfaces.

The signal processor 150 is, for example, a central processing unit, or other programmable general-purpose or special-purpose microcontroller units, microprocessors, digital signal processors, programmable controllers, application-specific integrated circuits, graphics processing device, image signal processor, image processing unit, arithmetic logic unit, complex programmable logic device, field programmable logic gate array or other similar components or a combination of the above components. The signal processor 150 can be coupled to the communication interface 140 and the receiver 160 . The signal processor 150 can be configured through the communication module 140 to receive signals through the receiver 160 . Specifically, after the receiver 160 receives an input signal, an analog-to-digital converter (analog-to-digital converter, ADC) between the signal processor 150 and the receiver 160 can convert the input signal from an analog signal to digital signal, and send the digital signal to the signal processor 150.

The receiver 160 can be coupled to the signal processor 150, and can be used to receive optical signals or electromagnetic wave signals, such as from the autonomous mobile vehicle 200, and the optical signals or electromagnetic wave signals include, for example, request Messages, location information, confirmation signals, synchronization signals, or charging commands are used to charge the autonomous mobile vehicle 200 . In one embodiment, the receiver 160 is, for example, a light receiver, and may include image pixels 161 and communication pixels 162 . The image pixels 161 can be used to capture images. For example, the controller 110 can communicate with the image pixel 161 The photosensitive imaging of the signal processor 150 is used to obtain the image of the autonomous mobile vehicle 200 . The communication pixels 162 can be used for optical communication. For example, the controller 110 or the signal processor 150 can receive the light signal from the autonomous mobile vehicle 200 through the communication pixel 162 .

The light transmitter 170 is, for example, a light emitting diode array. The optical transmitter 170 can be coupled to the communication interface 140 . The controller 110 can configure the optical transmitter 170 to emit a light signal through the communication interface 140, wherein the light signal can include a positioning light source for guiding the autonomous mobile vehicle 200 or a charge for instructing the autonomous mobile vehicle 200 to charge instructions, but the invention is not limited thereto. In an embodiment, the above-mentioned optical signal may further include position information of the autonomous mobile vehicle 200 calculated by the controller 110 . In one embodiment, the optical transmitter 170 can be disposed close to the wireless charging interface 121 , and can be used to assist the autonomous mobile vehicle 200 to move close to the wireless charging interface 121 for charging.

The receiver 160 and the optical transmitter 170 can be disposed at a local end of the wireless charging interface 121 . Hereinafter, the components disposed at the local end of the wireless charging interface 121 are referred to as the endpoint device 300 (as shown in FIG. 4 ). The endpoint device 300 may include a wireless charging interface 121 , a receiver 160 and an optical transmitter 170 .

FIG. 3 is a schematic diagram of an autonomous mobile vehicle 200 according to an embodiment of the present invention. The autonomous mobile vehicle 200 may include a controller 210 , a wireless charging interface 220 , a communication interface 230 , an optical receiver 240 and a moving mechanism 260 . In an embodiment, the autonomous mobile vehicle 200 may further include a transceiver 250 .

The controller 210 is, for example, a central processing unit, or other programmable General-purpose or special-purpose microcontroller units, microprocessors, digital signal processors, programmable controllers, application-specific integrated circuits, graphics processors, image signal processors, image processing units, arithmetic logic units, complex programmable Programmable logic device, field programmable logic gate array or other similar components or a combination of the above components. The controller 210 may include a storage medium for storing data or buffering data, wherein the storage medium is, for example, random access memory, read only memory, flash memory or solid state hard disk.

The wireless charging interface 220 can be coupled to the controller 210 , and can sense power from the wireless charging interface 121 of the wireless charging station 100 in a magnetic induction manner, so as to charge the autonomous mobile vehicle 200 . For example, the wireless charging interface 220 may include a charging coil. The charging coil can obtain power from the wireless charging interface 121 through magnetic induction.

The communication interface 230 can be coupled to the controller 210 , the optical receiver 240 and the transceiver 250 . The autonomous mobile vehicle 200 can communicate with external electronic devices (eg, the wireless charging station 100 ) through the communication interface 230 . The communication interface 230 may include an optical communication interface. In one embodiment, the communication interface 230 may also include a WiFi communication interface, a Bluetooth communication interface, a ZigBee communication interface, a near-field wireless communication interface and/or other wireless communication interfaces, or may include a local area network interface, a USB interface and/or other wired communication interfaces.

The optical receiver 240 can be coupled to the communication interface 230 . The light receiver 240 may include image pixels 241 and communication pixels 242 . The image pixels 241 can be used to capture images. For example, the controller 210 can obtain the wireless charging station 100 through the image pixel 241 or a positioned light source from the light transmitter 170 of the wireless charging station 100 . The communication pixels 242 can be used for optical communication. For example, the controller 210 can receive an optical signal from the wireless charging station 100 through the communication pixel 242 , wherein the optical signal is, for example, a response message, location information, synchronization signal, confirmation signal, or charging command.

The transceiver 250 can be coupled to the communication interface 230 and can be used to transmit or receive optical signals or electromagnetic wave signals. In one embodiment, the transceiver 250 may include an optical transmitter, such as an LED array or a LiDAR. The transceiver 250 can be coupled to the communication interface 230 . The controller 210 can configure the transceiver 250 to transmit or receive signals through the communication interface 230 , wherein the signals can include positioning light sources, response messages, location information, request messages, confirmation signals, synchronization signals, or charging commands. For example, the autonomous mobile vehicle 200 can establish a two-way communication channel with the wireless charging station through the transceiver 250 . In one embodiment, the two-way communication can be realized by optical communication through the transceiver 250 and the optical receiver 240 .

The movement mechanism 260 may be coupled to the controller 210 . The controller 210 can control the moving mechanism 260 to move the autonomous vehicle 200 .

FIG. 4 shows a flow chart of a wireless charging method according to an embodiment of the present invention, wherein the wireless charging method can be implemented by the wireless charging system 10 shown in FIG. 1 .

In step S401 , the controller 210 of the autonomous mobile vehicle 200 may execute a power monitoring program to monitor the remaining power of the autonomous mobile vehicle 200 . If the controller 210 detects that the remaining power of the autonomous mobile vehicle 200 is insufficient, the controller 210 can control the autonomous mobile vehicle 200 to move close to the wireless charging station 100 (or wireless charging interface) 121) to prepare for charging.

In step S402 , the autonomous mobile vehicle 200 can send a request message to the controller 110 of the wireless charging station 100 through the transceiver 250 , so as to request the controller 110 to provide a wireless charging interface for charging the autonomous mobile vehicle 200 . The controller 110 can receive the request message from the autonomous mobile vehicle 200 through the receiver 160 . If the request message sent by the autonomous mobile vehicle 200 is an optical signal, the controller 110 may receive the request message through the communication pixel 162 of the receiver 160 .

In one embodiment, the controller 110 of the wireless charging station 100 can determine whether to start charging the autonomous mobile vehicle 200 according to the position of the autonomous mobile vehicle 200 . For example, the controller 110 may start to execute the charging procedure in response to detecting that the autonomous mobile vehicle 200 is approaching the wireless charging station 100 .

In one embodiment, the controller 110 may receive a signal (such as an optical signal or an electromagnetic wave signal) generated from the autonomous mobile vehicle 200 through the receiver 160, and determine that the autonomous mobile vehicle Tool 200 is approaching wireless charging station 100 . In one embodiment, the controller 110 can obtain the image of the autonomous mobile vehicle 200 or the positioning light source emitted by the autonomous mobile vehicle 200 through the image pixel 161 of the receiver 160, and judge according to the image or the positioning light source The position of the vehicle 200 is moved autonomously. In one embodiment, the controller 110 can receive a positioning signal corresponding to the autonomous mobile vehicle 200 through the receiver 160 (for example: a visible light positioning system (visible light positioning system) signal or a global positioning system (global positioning system, GPS) signal. ), and determine the position of the autonomous mobile vehicle 200 according to the positioning signal.

In step S403 , the controller 110 may select the wireless charging interface 121 from the idle wireless charging interfaces to charge the autonomous mobile vehicle 200 .

In step S404 , the controller 110 may send a response message to the autonomous mobile vehicle 200 through the communication interface 140 . The autonomous mobile vehicle 200 can receive the response message through the transceiver 250 . If the controller 110 transmits a response message with an optical signal through the optical transmitter 170 , the autonomous mobile vehicle 200 can receive the response message through the communication pixel 242 of the optical receiver 240 . The response message may include information of the wireless charging interface 121 . The controller 210 of the autonomous mobile vehicle 200 may decide to use the wireless charging interface 121 for charging according to the response message.

In step S405 , the controller 110 sends a configuration message to the endpoint device 300 , wherein the configuration message is used to configure the endpoint device 300 to charge the autonomous mobile vehicle 200 .

In step S406, the optical transmitter 170 of the endpoint device 300 can emit a positioning light in response to the configuration message from the controller 110, and the receiver 160 of the endpoint device 300 can be activated to detect the signal from the autonomous mobile vehicle 200 signal. Positioning the light source can assist the autonomous mobile vehicle 200 to move to a position close to the wireless charging interface 121 of the wireless charging station 100 for charging. The controller 210 of the autonomous mobile vehicle 200 can receive the positioning light through the image pixels 241 of the light receiver 240 .

In step S407, the controller 210 can calculate the location information corresponding to the autonomous mobile vehicle 200 according to the positioning light source from the wireless charging station 100, and can adjust the moving path of the autonomous mobile vehicle 200 according to the location information to approach the wireless charging interface. 121, wherein the location information may include the autonomous mobile vehicle 200 and the wireless charging station The offset distance and offset angle between the wireless charging interfaces 121 of 100 . The controller 210 may decide to approach the wireless charging interface 121 for charging in response to the received positioning light source matching the information of the wireless charging interface 121 in the received response message. For example, the controller 210 may determine whether the received positioning light source corresponds to the wireless charging interface 121 according to an image decoding technology (for example, the image decoding technology disclosed in the Republic of China patent I650962).

In one embodiment, the location information of the autonomous mobile vehicle 200 may be calculated by the autonomous mobile vehicle 200 . FIG. 5A shows a schematic diagram of calculating location information by an autonomous mobile vehicle 200 according to an embodiment of the present invention. In this embodiment, it is assumed that the line connecting the first positioning point 1211 and the second positioning point 1212 of the wireless charging interface 121 (or the optical transmitter 170 ) of the wireless charging station 100 is parallel to the X axis, wherein the first positioning point 1211 and the second positioning point 1212 are parallel to the X axis. The second positioning point 1212 is, for example, two ends of the light emitting diode array of the optical transmitter 170 . The offset distance between the autonomous mobile vehicle 200 and the wireless charging interface 121 can be defined as the projection of the autonomous mobile vehicle 200 on the X-axis and the distance between the nearest anchor point, and the distance between the autonomous mobile vehicle 200 and the wireless charging interface 121 The offset angle between the interface 121 can be defined as the first straight line formed by the autonomous mobile vehicle 200 and the first positioning point 1211 or the second positioning point 1212 and the angle formed by the first positioning point 1211 and the second positioning point 1212 The angle formed by the second straight line.

Based on the above, assuming that the autonomous mobile vehicle 200 is located at the position 510, the controller 210 can calculate the wireless charging function of the autonomous mobile vehicle 200 at the position 510 according to the following equations (1), (2) and (3). The offset distance D1 and the offset angle θ1 or θ2 between the interface 121, where d1 is the position 510 and the first positioning point The distance between 1211 , d2 is the distance between location 510 and the second location point 1212 and D is the distance between the first location point 1211 and the second location point 1212 .

After calculating the location information of the autonomous mobile vehicle 200 , the controller 210 can adjust the moving path of the autonomous mobile vehicle 200 according to the location information for charging. Specifically, the controller 210 may pre-store specific values of the offset distance and the offset angle. The controller 210 can adjust the traveling direction and steering of the autonomous mobile vehicle 200 so that the location information of the autonomous mobile vehicle 200 tends to a specific value. The controller 210 can make the autonomous mobile vehicle 200 approach the wireless charging interface 121 of the wireless charging station 100 by repeatedly updating the location information and adjusting the route in real time.

In an embodiment, the location information of the autonomous mobile vehicle 200 may be provided by the wireless charging station 100 to the autonomous mobile vehicle 200 . For example, the controller 210 of the autonomous mobile vehicle 200 can transmit the positioning light source through the transceiver 250 during the movement. The controller 110 of the wireless charging station 100 can receive the positioning light source through the image pixel 161 of the receiver 160 , and obtain an image of the autonomous mobile vehicle 200 with the assistance of the positioning light source.

Then, the controller 110 of the wireless charging station 100 can calculate the location information of the autonomous mobile vehicle 200 according to the image of the autonomous mobile vehicle 200 (or the positioning light source transmitted by the transceiver 250 of the autonomous mobile vehicle 200 ). Figure 5B according to the present invention The embodiment shows a schematic diagram of calculating location information by the wireless charging station 100 . In this embodiment, the receiver 160 corresponding to the wireless charging interface 121 may include at least two image pixels (or image pixel arrays) 161 arranged horizontally on the X-axis, which are image pixel a and image pixel a in FIG. 5B , respectively. Image pixel b. The offset distance between the autonomous mobile vehicle 200 and the wireless charging interface 121 can be defined as the distance between the projection of the autonomous mobile vehicle 200 on the X-axis and the nearest image pixel array. The offset angle between the interfaces 121 can be defined as the angle formed by the first straight line formed by the autonomous mobile vehicle 200 and the image pixel a or the image pixel b, and the second straight line formed by the image pixel a and the image pixel b.

Based on the above, assuming that the autonomous mobile vehicle 200 is located at position 520, the focal length of image pixel a (or image pixel b) is f, and the distance between image pixel a and image pixel b is B, then the controller 110 can operate according to the following Equations (4) and (5) calculate the offset distance d and the offset angle θa or θb between the autonomous mobile vehicle 200 and the wireless charging interface 121, where X is the imaging ia of the image pixel a at the focal length f Radius (or the radius of image ib of image pixel b at focal length f), Xa is the imaging position pa of autonomous mobile vehicle 200 on image ia and a specific point on image ia (for example: the distance between image ia and image pixel b The distance between the farthest endpoint), Xb is the distance between the imaging position pb of the autonomous mobile vehicle 200 on the imaging ib and a specific point on the imaging ib (for example: the endpoint on the imaging ib that is closest to the image pixel a) , and Z is the distance between the autonomous mobile vehicle 200 and its projection on the x-axis.

The controller 110 of the wireless charging station 100 can transmit the location information to the autonomous mobile vehicle 200 through the optical transmitter 170 . The controller 210 of the autonomous mobile vehicle 200 can receive the location information through the communication pixel 242 of the light receiver, and correct the moving path of the autonomous mobile vehicle 200 for charging by the wireless charging interface 121 . The location information may include an offset distance and an offset angle between the autonomous mobile vehicle 200 and the wireless charging interface 121 of the wireless charging station 100 .

The wireless charging station 100 can initiate a three-way handshake to the autonomous mobile vehicle 200, as shown in steps S408, S409 and S410. It should be noted that the three-way handshake can also be initiated by the autonomous mobile vehicle 200 after determining that the location information meets a specific value, and the invention is not limited thereto.

In step S408, after the controller 110 determines that the autonomous mobile vehicle 200 has moved to the correct position close to the wireless charging interface 121 of the wireless charging station 100, the controller 110 can transmit a first synchronization signal to the autonomous mobile through the optical transmitter 170 Vehicle 200. In one embodiment, the controller 110 can determine that the autonomous vehicle 200 has moved to the correct position corresponding to the wireless charging interface 121 according to the image of the autonomous vehicle 200 captured by the image pixels 161 .

In step S409, the autonomous mobile vehicle 200 can transmit the first confirmation signal and the second synchronization signal for responding to the first synchronization signal to the receiver through the transceiver 250 device 160 (or communication pixel 162 ) to notify the controller 110 to establish a communication channel with the autonomous mobile vehicle 200 , wherein the confirmation signal and synchronization signal are, for example, optical signals or electromagnetic wave signals. It should be noted that since the wireless charging station 100 charges the autonomous mobile vehicle 200 through magnetic induction, the accuracy of the coupling between the wireless charging interface 121 and the wireless charging interface 220 will significantly affect the charging efficiency. .

In one embodiment, the positioning light emitted by the light transmitter 170 may carry the first synchronization signal. The controller 210 of the autonomous mobile vehicle 200 can determine whether the current position information of the autonomous mobile vehicle 200 meets a specific value during the movement of the autonomous mobile vehicle 200 , wherein the position information can be calculated by the autonomous mobile vehicle 200 . If the conditions are satisfied, it means that the autonomous mobile vehicle 200 has moved to the correct position close to the wireless charging interface 121 of the wireless charging station 100, and the wireless charging interface 220 of the autonomous mobile vehicle 200 can be accurately connected to the wireless charging interface 100 of the wireless charging station 100. The wireless charging interface 121 is coupled. Accordingly, the controller 210 can transmit the second synchronization signal and the first confirmation signal to the receiver 160 through the transceiver 250, so as to instruct the wireless charging station 100 to establish a communication channel with the autonomous mobile vehicle 200, wherein the synchronization signal and confirmation The signal is, for example, a light signal or an electromagnetic wave signal.

In step S410, the controller 110 may transmit a second confirmation signal to the autonomous mobile vehicle 200 through the optical transmitter 170 in response to the second synchronization signal from the autonomous mobile vehicle 200, thereby establishing the relationship between the controller 110 and the autonomous mobile vehicle. The communication channel between 200, wherein the communication channel is a two-way channel for transmitting charging instructions between the controller 110 and the autonomous mobile vehicle 200.

In step S411 , the controller 110 may instruct the wireless charging interface switching module 130 to activate the wireless charging interface 121 in response to the charging command. The wireless charging interface switching module 130 can control the switch on the line between the power supply 120 and the wireless charging interface 121 so that the line between the power supply 120 and the wireless charging interface 121 forms a closed circuit.

In step S412, the wireless charging interface 121 can start to output power. In one embodiment, the controller 110 can communicate with the optical receiver 240 (or communication pixel 242 ) and/or the transceiver 250 of the autonomous mobile vehicle 200 through the optical transmitter 170 and/or the receiver 160 via a communication channel. Sending and receiving charging instructions, and configuring the wireless charging interface 121 to output power to the autonomous mobile vehicle 200 according to the instructions of the charging instructions. The controller 210 of the autonomous mobile vehicle 200 can configure the wireless charging interface 220 to perform charging according to the instruction of the charging command.

In step S413 , after charging is completed, the controller 210 of the autonomous mobile vehicle 200 may send a report to the receiver 160 through the transceiver 250 via the communication channel. The controller 210 can also control the autonomous mobile vehicle 200 to leave the wireless charging interface 121 to release the wireless charging interface 121 .

In step S414 , the receiver 160 may forward the report from the autonomous mobile vehicle 200 to the controller 110 , thereby notifying the controller 110 that the autonomous mobile vehicle 200 has completed charging.

In step S415, the controller 110 may determine that the wireless charging interface 121 is idle according to the received report.

FIG. 6 shows a wireless charging system 10 suitable for use according to an embodiment of the present invention. Flowchart of the wireless charging method. In step S601 , one of the wireless charging station 100 or the autonomous mobile vehicle 200 emits a positioning light source. In step S602 , corresponding to step S601 , the other one of the autonomous mobile vehicle 200 or the wireless charging station 100 receives a positioning light source, and calculates position information according to the positioning light source. In step S603 , the autonomous mobile vehicle 200 moves to the designated idle wireless charging interface 121 for charging according to the location information.

FIG. 7 shows a flowchart of a wireless charging method applicable to the wireless charging station 100 according to an embodiment of the present invention. In step S701, emit a positioning light source or transmit location information. In step S702, a communication channel is established. In step S703, electric power is output in response to the charging command.

FIG. 8 illustrates a flow chart of a wireless charging method applicable to the autonomous mobile vehicle 200 according to an embodiment of the present invention. In step S801, a positioning light source is received to obtain position information. In step S802 , the moving path of the autonomous mobile vehicle is adjusted according to the location information so as to approach the wireless charging interface 121 . In step S803, a communication channel is established. In step S804, charging is performed in response to the charging instruction.

To sum up, the wireless charging station of the present invention can emit a positioning light source through the optical transmitter. The autonomous mobile vehicle can calculate or obtain position information according to the positioning light source. The optical receiver of the wireless charging station can obtain the image of the autonomous mobile vehicle or the second positioning light source emitted by the autonomous mobile vehicle through the optical transmitter, and can transmit the position signal calculated based on the image to the autonomous mobile vehicle to assist autonomous movement The vehicle moves to the correct position. Through the optical communication between the wireless charging station and the autonomous mobile vehicle, the autonomous mobile vehicle can be moved to accurately couple the wireless charging interface of the autonomous mobile vehicle to the The wireless charging interface of the wireless charging station. In this way, the charging efficiency of the autonomous mobile vehicle can be significantly improved.

S601, S602, S603: steps

Claims (17)

A wireless charging station, comprising: at least one wireless charging interface; an optical transmitter; a receiver, wherein the receiver is an optical receiver and includes image pixels; and a controller electrically coupled to the at least one wireless charging Interface, the optical transmitter and the receiver, wherein the controller emits a positioning light source through the optical transmitter, uses the receiver to establish a communication channel, and responds to the charging command in the communication channel The at least one wireless charging interface is configured to output power, wherein the controller captures an image including an autonomous mobile vehicle through the image pixels, calculates position information of the autonomous mobile vehicle based on the image, and transmits The location information is given to the autonomous mobile vehicle, wherein the location information includes an offset distance and an offset angle between the autonomous mobile vehicle and the at least one wireless charging interface of the wireless charging station, wherein The location information is represented by the following formula:

Where d is the offset distance, θ a is the first offset angle in the offset angle, θ b is the second offset angle in the offset angle, X is the first offset angle in the image The radius of the first imaging of the pixel at the focal length is the radius of the second imaging of the second pixel in the image at the focal length, Xa is the imaging position of the autonomous mobile vehicle on the first imaging The distance from a point on the first imaging, Xb is the distance between the imaging position of the autonomous mobile vehicle on the second imaging and a point on the second imaging, f is the Focal length, B is the distance between the first pixel and the second pixel, and Z is the distance between the autonomous mobile vehicle and its projection on the first axis. The wireless charging station as claimed in claim 1, wherein the receiver further includes a communication pixel. The wireless charging station according to claim 2, wherein the controller establishes the communication channel and receives the charging instruction through the communication pixel. The wireless charging station according to claim 1, wherein the optical transmitter is an array of light emitting diodes. A wireless charging method, suitable for a wireless charging station, comprising: emitting a positioning light source or transmitting location information, wherein the step of transmitting location information includes: capturing an image including an autonomous moving vehicle through image pixels; the location information of the autonomous mobile vehicle, and transmit the location information to the autonomous mobile vehicle, wherein the location information includes a relationship between the autonomous mobile vehicle and at least one wireless charging interface of the wireless charging station The offset distance and offset angle between; establishing a communication channel; and outputting power in response to a charging command in the communication channel, wherein the position information is represented by the following formula:

Where d is the offset distance, θ a is the first offset angle in the offset angle, θ b is the second offset angle in the offset angle, X is the first offset angle in the image The radius of the first imaging of the pixel at the focal length is the radius of the second imaging of the second pixel in the image at the focal length, Xa is the imaging position of the autonomous mobile vehicle on the first imaging The distance from a point on the first imaging, Xb is the distance between the imaging position of the autonomous mobile vehicle on the second imaging and a point on the second imaging, f is the Focal length, B is the distance between the first pixel and the second pixel, and Z is the distance between the autonomous mobile vehicle and its projection on the first axis. An autonomous mobile vehicle, comprising: a wireless charging interface; an optical receiver including image pixels; a controller electrically coupled to the wireless charging interface and the optical receiver, wherein the controller passes through the image pixels to receive a positioning light source, calculate position information according to the positioning light source, and adjust the moving path of the autonomous mobile vehicle according to the position information for charging; and a transceiver electrically coupled to the controller, wherein The transceiver includes an optical transmitter, and the controller transmits a second positioning light source through the optical transmitter, wherein the location information includes a relationship between the autonomous mobile vehicle and a second wireless charging interface of a wireless charging station. The offset distance, the first offset angle and the second offset angle, wherein the position information is represented by the following formula:

Where d1 is the first distance between the autonomous mobile vehicle and the first positioning point of the second wireless charging interface, and d2 is the second positioning point between the autonomous mobile vehicle and the second wireless charging interface The second distance between, D1 is the offset distance, D is the distance between the first positioning point and the second positioning point, θ1 is the first offset angle, and θ2 is the a second offset angle, wherein the autonomous mobile vehicle forms a first straight line with the first anchor point, the autonomous mobile vehicle forms a second straight line with the second anchor point, and the first anchor point and The second positioning point forms a third straight line, wherein the first offset angle is the angle formed by the first straight line and the third straight line, and the second offset angle is the angle formed by the second straight line and the third straight line. The included angle formed by the third straight line. The autonomous mobile vehicle according to claim 6, wherein the controller determines the first distance and the second distance according to the positioning light source. The autonomous mobile vehicle as claimed in claim 6, wherein the light transmitter is one of a light emitting diode array and a light detector. The autonomous mobile vehicle as described in claim 8, in response to the controller judging that the position information conforms to a specific value pre-stored in the autonomous mobile vehicle, the controller communicates with the light through the optical transmitter Receiver to establish a communication channel. The autonomous mobile vehicle as claimed in claim 6, wherein the light receiver further includes a communication pixel, wherein the controller receives position information through the communication pixel, and corrects the moving path according to the position information . The autonomous mobile vehicle as claimed in claim 6, wherein the light receiver further includes a communication pixel, wherein the controller receives a charging instruction through the communication pixel, and performs charging according to the charging instruction. A wireless charging method suitable for autonomous mobile vehicles, comprising: receiving a positioning light source to obtain location information; adjusting the moving path of the autonomous mobile vehicle according to the location information to approach a wireless charging interface of a wireless charging station; transmitting a second positioning light source to a device; establishing a communication channel; and performing charging in response to a charging command received from the communication channel, wherein the position information includes an offset between the autonomous mobile vehicle and the wireless charging interface The distance, the first offset angle and the second offset angle, wherein the position information is represented by the following formula:

Wherein d1 is the first distance between the autonomous mobile vehicle and the first positioning point of the wireless charging interface, and d2 is the first distance between the autonomous mobile vehicle and the second positioning point of the wireless charging interface Two distances, D1 is the offset distance, D is the distance between the first positioning point and the second positioning point, θ1 is the first offset angle, and θ2 is the second offset angle, wherein the autonomous mobile vehicle forms a first straight line with the first anchor point, the autonomous mobile vehicle forms a second straight line with the second anchor point, and the first anchor point and the second anchor point The positioning points constitute a third straight line, wherein the first offset angle is the angle formed by the first straight line and the third straight line, and the second offset angle is the angle formed by the second straight line and the third straight line angle formed. A wireless charging system, including a wireless charging station and an autonomous mobile vehicle, wherein the wireless charging station emits a positioning light source; the autonomous mobile vehicle receives the positioning light source; image of the vehicle, judge the position information of the autonomous mobile vehicle according to the image, and transmit the position information to the autonomous mobile vehicle, wherein the position information includes the autonomous mobile vehicle and the an offset distance and an offset angle between at least one wireless charging interface of the wireless charging station; and the autonomous mobile vehicle moves to the wireless charging interface of the wireless charging station for charging according to the location information, wherein The above location information is represented by the following formula:

Where d is the offset distance, θ a is the first offset angle in the offset angle, θ b is the second offset angle in the offset angle, X is the first offset angle in the image The radius of the first imaging of the pixel at the focal length is the radius of the second imaging of the second pixel in the image at the focal length, Xa is the imaging position of the autonomous mobile vehicle on the first imaging The distance from a point on the first imaging, Xb is the distance between the imaging position of the autonomous mobile vehicle on the second imaging and a point on the second imaging, f is the Focal length, B is the distance between the first pixel and the second pixel, and Z is the distance between the autonomous mobile vehicle and its projection on the first axis. The wireless charging system according to claim 13, wherein the autonomous mobile vehicle establishes a communication channel with the wireless charging station in response to determining that the location information matches a specific value pre-stored in the autonomous mobile vehicle. The wireless charging system of claim 14, wherein the wireless charging station outputs power to the autonomous mobile vehicle in response to a charging command received from the communication channel. The wireless charging system according to claim 13, wherein the location information includes an offset distance and an offset angle between the autonomous mobile vehicle and the wireless charging interface of the wireless charging station. A wireless charging method, suitable for a wireless charging system including a wireless charging station and an autonomous mobile vehicle, comprising: transmitting a positioning light source by the wireless charging station; receiving the positioning light source by the autonomous mobile vehicle; The charging station captures an image containing the autonomous mobile vehicle, judges the location information of the autonomous mobile vehicle according to the image, and transmits the location information to the autonomous mobile vehicle, wherein the location information including an offset distance and an offset angle between the autonomous mobile vehicle and at least one wireless charging interface of the wireless charging station; The wireless charging interface moves for charging, wherein the location information is represented by the following formula:

Where d is the offset distance, θ a is the first offset angle in the offset angle, θ b is the second offset angle in the offset angle, X is the first offset angle in the image The radius of the first imaging of the pixel at the focal length is the radius of the second imaging of the second pixel in the image at the focal length, Xa is the imaging position of the autonomous mobile vehicle on the first imaging The distance from a point on the first imaging, Xb is the distance between the imaging position of the autonomous mobile vehicle on the second imaging and a point on the second imaging, f is the Focal length, B is the distance between the first pixel and the second pixel, and Z is the distance between the autonomous mobile vehicle and its projection on the first axis.

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