CN108879807A

CN108879807A - Charging pile and the application charging pile seek piling method and charge control system

Info

Publication number: CN108879807A
Application number: CN201710558334.4A
Authority: CN
Inventors: 贺航; 黄明运; 张志淳; 刘晓明
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2017-07-10
Filing date: 2017-07-10
Publication date: 2018-11-23
Also published as: TWI680623B; WO2019011081A1; TW201909515A

Abstract

The embodiment of the invention provides a kind of charging piles and the application charging pile to seek piling method and a kind of charge control system, wherein the charging pile includes：Controller and at least two sender units；Wherein, the controller controls at least two sender unit according to the optical signal launch sequence transmitting optical signal of setting, and encodes to the optical signal of transmitting；Wherein, corresponding radiation encoding region is formed after the optical signal of each sender unit transmitting is encoded, the radiation encoding region that the optical signal of adjacent sender unit transmitting is formed partly overlaps in radiation scope.Through the embodiment of the present invention, so that automatic cleaning equipment is with lower cost and relatively simple structure, reduce the blind area between charging pile and automatic cleaning equipment, improve automatic cleaning equipment seeks efficiency.

Description

Charging pile and the application charging pile seek piling method and charge control system

Technical field

The present embodiments relate to field of artificial intelligence more particularly to a kind of charging pile and seeking using the charging pile Piling method and a kind of charge control system.

Background technique

Automatic cleaning equipment is one kind of controlling intelligent household appliances, relies on artificial intelligence technology, and realization is a plurality of types of certainly Dynamic clean operation, provides convenience for people's lives.Automatic cleaning equipment uses rechargeable battery as power supply, can clean It is detached from external power supply in journey, realizes the clean operation of liberalization.When the electricity of rechargeable battery is lower than certain level, automated cleaning Equipment needs to identify corresponding charging pile, and returns to the charging pile identified and charge.

Currently, automatic cleaning equipment multi-pass crosses automatic seeking stake setting realization to the identification of charging pile and returns to charging pile.Example Such as, in a kind of existing implementation：In the zone of action of automatic cleaning equipment, infrared transmitter is installed on charging pile, from Corresponding infrared remote receiver is installed, transmitter launches outward signal and forms region of making a return voyage, and receiver receives in dynamic cleaning equipment Transmitting signal with enter make a return voyage region and towards charging pile advance filled so that automatic cleaning equipment is docked with charging pile Electricity.The region area that makes a return voyage is relatively large, is easier that automatic cleaning equipment is made to receive transmitting signal, to make a return voyage region simultaneously into this With charging pile to just, current region of making a return voyage increases far-field region on the basis of near field region, i.e., expands on the basis of near field region Go out far-field region greatly, to expand the area in region of making a return voyage.

However, automatic cleaning equipment carries out in the region of making a return voyage of such large area with the expansion for the region area that makes a return voyage The accuracy maked a return voyage will decrease, and not can guarantee automatic cleaning equipment and carry out more accurate make a return voyage.At this point, generally requiring Automatic cleaning equipment creation seeks stake and returns a map, in this regard, needing to increase the operation that can correspondingly meet performance requirement, storage And sensing equipment, and then lead to the increase of the cost and complexity of automatic cleaning equipment.

Summary of the invention

Piling method and charge control system are sought the embodiment of the invention provides a kind of charging pile, using the charging pile, With lower cost and relatively simple structure, automatic cleaning equipment is realized in the case where seeking stake without creation and returning map Accurately seek stake and return stake act.

One side according to an embodiment of the present invention provides a kind of charging pile, including：Controller and at least two signals hair Injection device；Wherein, controller at least two sender units of control emit optical signal according to the optical signal launch sequence of setting, And the optical signal of transmitting is encoded；Wherein, it is formed after the optical signal of each sender unit transmitting is encoded corresponding Radiation encoding region, the radiation encoding region that the optical signal of adjacent sender unit transmitting is formed part in radiation scope Overlapping.

Optionally, at least two sender units include the first sender unit and second signal emitter, are filled Electric stake further includes escapement, and escapement is set to the middle line between the first sender unit and second signal emitter On, keep the first sender unit and second signal emitter symmetrical about the middle line.

Optionally, the first sender unit and second signal emitter respectively include at least two signal projectors, First sender unit includes the first signal projector and second signal transmitter, and second signal emitter includes third letter Number transmitter and fourth signal transmitter, the first signal projector is symmetrical about middle line with fourth signal transmitter, second signal Transmitter and the transmitting of third signal are symmetrical about middle line.

Optionally, the first radiation encoding region of formation after the optical signal of the first sender unit transmitting is encoded, second The second radiation encoding region is formed after the optical signal of sender unit transmitting is encoded；Escapement, which emits the first signal, to be filled The optical signal of the optical signal and the transmitting of second signal emitter of setting transmitting is partly blocked, and the first radiation encoding region is made It partly overlaps in radiation scope with the second radiation encoding region.

Optionally, the second signal transmitter and third signal projector close to escapement two sides are arranged forward vertically, The first signal projector and fourth signal transmitter far from escapement are in respectively set angle with adjacent sender unit Degree setting.

Optionally, set angle is 45 degree.

Optionally, at least two sender units include odd number sender unit, odd number sender unit It is symmetrical arranged by line of symmetry of the middle line of one of sender unit.

Optionally, optical signal launch sequence indicates at least two sender unit alternately or sequentially transmitting light is believed Number, the coding of the optical signal is different.

Optionally, in one cycle, optical signal launch sequence indicates every at least two sender unit A sender unit emits the optical signal of at least two intensity, also, each in a time interval in one cycle Sender unit only emits a kind of optical signal of intensity.

Optionally, in one cycle, optical signal launch sequence indicates every at least two sender unit A sender unit emits the optical signal of same intensity, also, each signal in a time interval in one cycle Emitter only emits a kind of optical signal of intensity.

Optionally, in the same time interval of a cycle, at least two sender units synchronized transmissions light Signal, the synchronized transmissions light signal strength is identical, and coding is identical, is thusly-formed near-field thermal radiation code area.

Optionally, escapement is barn door.

According to another aspect of an embodiment of the present invention, it additionally provides a kind of charging pile and seeks piling method, using charging above-mentioned Stake, this method include：The received optical signal sequence from charging pile is parsed, the corresponding light letter of optical signal sequence is obtained Number coded sequence；According to the region of coded optical signal sequence and storage and the coded sequence table of comparisons, determine that equipment is currently located area Domain.

Optionally, method further includes：The received optical signal sequence from charging pile is parsed, light source direction is obtained Information；According to the direction of motion of region and light source direction information adjustment equipment.

Optionally, parse to the received optical signal sequence from charging pile, obtains the coded sequence of optical signal Including：It is analyzed according to coded sequence of the time cycle prestored to optical signal, obtains the coding of the optical signal in each period Sequence.

Optionally, wherein include according to the direction of motion that area information and light source direction information adjust equipment：According to region The position of the symmetrical middle line of information and light source direction data-evaluation sender unit；The position of adjustment equipment, so that equipment Alignment line and the position of symmetrical middle line coincide；It moves equipment along symmetrical middle line, makes the charging interface and charging pile of equipment Charging connector engages.

Optionally, before parsing to the received optical signal sequence from charging pile, method further includes：By more A optical receiver receives the optical signal sequence from charging pile, wherein multiple optical receivers include that at least two wide-angle light connect Receive device and the alignment optical receiver for being aligned with charging pile；Alternatively, multiple optical receivers include a full angle optical receiver With the alignment optical receiver for being aligned with the charging pile.

It is according to an embodiment of the present invention in another aspect, additionally provide a kind of automatic cleaning equipment, including：At least two big angles Spend optical receiver and processor；Wherein, at least two wide-angle optical receivers are arranged according to set angle in automatic cleaning equipment Shell on, for receiving the optical signal from charging pile；Processor is sought corresponding to piling method for executing charging pile above-mentioned Operation.

Optionally, automatic cleaning equipment further includes the alignment optical receiver for being aligned with charging pile；Three wide-angle light Receiver and alignment optical receiver are uniformly arranged on the shell peripheral wall of automatic cleaning equipment.

It is according to an embodiment of the present invention in another aspect, additionally provide a kind of automatic cleaning equipment, including：Full angle light-receiving Device and processor；Wherein, full angle receiver is arranged on the shell of automatic cleaning equipment according to set angle, comes for receiving The optical signal of self-charging stake；Processor seeks operation corresponding to piling method for executing charging pile above-mentioned.

Optionally, automatic cleaning equipment further includes the alignment optical receiver for being aligned with charging pile；Full angle receiver It is uniformly arranged on the shell peripheral wall of automatic cleaning equipment with alignment optical receiver.

It is according to an embodiment of the present invention in another aspect, additionally provide a kind of charge control system, including：Charging pile above-mentioned With automatic cleaning equipment above-mentioned.

The scheme provided through the embodiment of the present invention, setting can emit at least two signals of optical signal in charging pile Emitter.By this set, the radiation scope for the optical signal that sender unit emits can be divided into multiple regions, Including radiation overlapping region and the respective radiation areas in addition to overlapping region.It is not shared the same light by what is emitted sender unit Signal carries out different codings, so that during automatic cleaning equipment seeks stake and returns stake, it, can be according to light after receiving optical signal The coding of signal determines the region being presently in, and then carries out subsequent operation, such as continues along when front direction is advanced or is changed It advances again behind direction, to march to apart from the closer region of charging pile, final realize returns stake.

As it can be seen that the scheme provided through the embodiment of the present invention, on the one hand, without providing additional seek for automatic cleaning equipment Stake and return stake setting, without automatic cleaning equipment have creation coordinate map ability, also, it is any have transmitting optical signal The scheme of the embodiment of the present invention can be achieved, to reduce charging in the sender unit of function such as infrared light emission device Blind area between stake and automatic cleaning equipment, improve automatic cleaning equipment seeks efficiency.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of according to embodiments of the present invention one charging pile；

Fig. 2 is the cross-sectional view of charging pile shown in FIG. 1；

Fig. 3 is the schematic diagram in the radiation encoding region of one of embodiment illustrated in fig. 1 optical signal；

Fig. 4, Fig. 5 are the arragement construction schematic diagrames of the optical signal launcher of another embodiment；

Fig. 6 is the schematic diagram in the radiation encoding area of the optical signal of the optical signal launcher of Fig. 4 and Fig. 5；

Fig. 7, Fig. 8 are a kind of structural schematic diagrams of according to embodiments of the present invention two automatic cleaning equipment；

Fig. 9 is a kind of schematic diagram of the automatic cleaning equipment of according to embodiments of the present invention two embodiment；

Figure 10, Figure 11 are the schematic diagrames of the automatic cleaning equipment of the embodiment of the present invention two sought stake, return a process；

Figure 12 is the schematic diagram of the automatic cleaning equipment of according to embodiments of the present invention two another embodiment；

Figure 13 is that a kind of according to embodiments of the present invention three charging pile seeks the step flow chart of piling method；

1, charging pile；101, the first sender unit；102, second signal emitter；1011, the first signal emits Device；1012, second signal transmitter；1021, third signal projector；1022, fourth signal transmitter；108, escapement； 1081, baffle；111, shell；110, controller；112, transmittance section；113, charging connector；2, automatic cleaning equipment；201, it handles Device；202, it is directed at optical receiver；203, wide-angle optical receiver；204, full angle optical receiver；M, pair of signal processing apparatus Claim middle line；The alignment line of M2, automatic cleaning equipment；J1, the first near-field region；Y1, the first far-field region；J2, the second near field region Domain；Y2, the second far-field region；J3, third near-field region；Y3, third far-field region；J4, the 4th near-field region；Y4, the 4th are far Field areas；JD1, the first near field overlapping region；YD1, the first far field overlapping region；JD2, the second near field overlapping region；YD2, Two far fields overlapping region；JD3, third near field overlapping region；YD3, third far field overlapping region.

Specific embodiment

(identical label indicates identical element in several attached drawings) and embodiment with reference to the accompanying drawing, implement the present invention The specific embodiment of example is described in further detail.The following examples are intended to illustrate the invention, but is not limited to the present invention Region.

It will be understood by those skilled in the art that the terms such as " first ", " second " in the embodiment of the present invention are only used for distinguishing Different step, equipment or module etc., neither represent any particular technology meaning, also do not indicate that the inevitable logic between them is suitable Sequence.

Embodiment one

Referring to Figures 1 and 2, the structural schematic diagram of according to embodiments of the present invention one charging pile is shown.

The charging pile 1 of the present embodiment includes substantially L-shaped shell 111, is configured at the fixed objects such as ground, wall On, transmittance section 112 is opened up on shell 111.

Charging pile further includes controller and at least two sender units, wherein controller controls at least two signals Emitter emits optical signal according to the optical signal launch sequence of setting, and encodes to the optical signal of transmitting；Wherein, each Corresponding radiation encoding region, adjacent sender unit transmitting are formed after the optical signal of sender unit transmitting is encoded Optical signal formed radiation encoding region partly overlap in radiation scope.

The charging pile of the present embodiment passes through at least two sender units of setting, the light of each sender unit transmitting Corresponding radiation encoding region is formed after signal is encoded, the radiation that the optical signal of adjacent sender unit transmitting is formed is compiled Code region partly overlaps in radiation scope, and radiation areas are divided into different coding regions by coding, matched automatic clear Clean equipment can distinguish the region where automatic cleaning equipment by analysis of encoding, and then can be sought according to the difference in region Stake operation is returned in stake, is sought stake without additional creation, is returned a map, without corresponding hardware is increased, can be used any with hair The sender unit such as infrared light emission device of optical signal function is penetrated, stake can be sought guaranteeing to be accurately realized and returns a performance On the basis of be effectively reduced the cost of charging pile and automatic cleaning equipment.

In a kind of optional embodiment, at least two sender units include 101 He of the first sender unit Second signal emitter 102, charging pile 1 further include escapement 108, and escapement 108 is set to the first signal transmitting dress It sets on the middle line M between 101 and second signal emitter 102, the first sender unit 101 and second signal is made to emit dress It is symmetrical about middle line M to set 102.

Specifically, as shown in Figure 1 to Figure 3, charging pile 1 includes the first sender unit 101, second signal transmitting dress 102 and escapement 108 are set, the first sender unit 101 and second signal emitter 102 are arranged at intervals on transmittance section In 112, the optical signal that the first sender unit 101, second signal emitter 102 issue may pass through the transmitting of transmittance section 112 It goes out.Escapement 108 is set on the middle line M between the first sender unit 101 and second signal emitter, makes The central symmetry of one sender unit 101 and second signal emitter 102.

Charging pile 1 further includes controller 110, and controller 110 is mounted in charging pile 1, and controller 110 controls the first signal Emitter 101 and second signal emitter 102 emit optical signal according to the optical signal launch sequence of setting, and to transmitting Optical signal is encoded.The first radiation encoding region is formed after the optical signal of first sender unit 101 transmitting is encoded, the The second radiation encoding region is formed after the optical signal that binary signal emitter 102 emits is encoded.In the present embodiment, the first letter Number emitter 101 and second signal emitter 102 respectively include a signal projector.But in other embodiments In, the first sender unit 101 and second signal emitter 102 can also respectively include multiple signal projectors, including The embodiment of multiple signal projectors can be illustrated subsequent.

The optical signal and second signal transmitting dress that escapement 108 emits first sender unit 101 The optical signal for setting 102 transmittings is partly blocked.Specifically, escapement 108 is used for 101 court of the first sender unit The optical signal and second signal emitter 102 of 102 direction of second signal emitter transmitting are towards the first sender unit The optical signal of 101 directions transmitting is partly blocked, and the first radiation encoding region and the second radiation encoding region are being radiated It partly overlaps in range.Specifically, the first radiation encoding area and the second radiation encoding area are in two fan-shaped regions, and two are fanned Shape region forms fan-shaped overlapping region in the front of escapement.Fan-shaped overlapping region is symmetrical relative to middle line M.

In a kind of optinal plan, escapement 108 can use barn door, compared with other escapements 108, shading Plate realizes that simply cheap, cost of implementation is low.Effect about escapement 108 can be described in detail subsequent.

Optionally, wherein the first sender unit 101 and second signal emitter 102 can for it is any suitable, The device of optical signal can be emitted, including but not limited to：Emit the device of infrared light, the device for emitting visible light etc..Preferably, In the embodiment of the present invention, the sender unit of selection transmitting infrared light.On the one hand, the stability of infrared light is preferable, and price Cheaply, cost of implementation is low；On the other hand, visible light visible compared to human eye, easily affected by environment, infrared light is not vulnerable to other Light source interference, and it is invisible, user experience is more preferable.

The optical signal that controller 110 emits the first sender unit 101 and second signal emitter 102 is compiled Code then can receive the optical signal of the coding in the region that the optical signal of the first sender unit 101 transmitting is irradiated, The region that the optical signal that second signal emitter 102 emits is irradiated can receive the optical signal of corresponding coding.

Optionally, the optical signal that the first sender unit 101 and second signal emitter 102 emit has different Coding.In this way, the source of optical signal is judged according to coding convenient for signal receiver, and then can be to locating for signal receiver Position preliminarily judged.

Optionally, the ground transmitting light letter that optical signal launch sequence can be recycled with indication signal emitter according to some cycles Number, for example, in one cycle, sender unit can emit signal according to setting time interval, and setting time interval can To be appropriately arranged with according to actual needs by those skilled in the art, such as every the signal of transmitting in t seconds, t can be taken 0.1 second, 0.2 second, any appropriate time such as 0.5 second, the embodiment of the present invention did not limited specific transmission time interval.But light is believed Number transmitting sequence is not limited to emit signal according to Fixed Time Interval, can also be using other transmitting rules.

Optionally, as a kind of feasible pattern of optical signal launch sequence, optical signal launch sequence can indicate the first signal Emitter 101 and second signal emitter 102 are using the 2t period as loop cycle transmitting optical signal, that is, i.e. the first signal Emitter 101 emits the optical signal for being encoded to A, and second signal emitter 102 emits the optical signal for being encoded to B, and A is adopted with B With different codings.

In this way, the light radiation coding region around charging pile 1 is divided into：Can only receive a-signal first area, only The second area of B signal can be received, and a-signal can be received also to receive the overlapping region of B signal.In this way, with charging pile 1 The automatic cleaning equipment of cooperation can sentence the position at current place by the scramble time sequence of the optical signal recognized It is disconnected.For example, automatic cleaning equipment can only periodically receive a-signal, then can determine whether that automatic cleaning equipment is in first area, Similarly can only periodically receive B signal then can determine whether in second area；If automatic cleaning equipment can alternately receive A Signal and B signal then illustrate that automatic cleaning equipment is in overlapping region.

Optionally, controller 110 can also control the first sender unit 101 and second signal emitter 102 is pressed The same or different optical signal of emissive porwer is recycled according to the instruction sequence of the optical signal launch sequence, also, in a cycle Each sender unit only emits a kind of optical signal of intensity in an interior time interval.In all signal transmitting dress It sets in the time interval for all transmitting signal, each sender unit only emits signal with a kind of intensity, can be to avoid one In a time interval, a sender unit continuously emits the signal of varying strength, causes phase between varying strength signal Mutually interference.A cycle may include one or at least two time intervals.

Optionally, in one cycle, optical signal launch sequence indicates that each sender unit emits the last at least two The optical signal of degree.More preferably, each sender unit emits optical signal twice per adjacent with different intensity.I.e. by a week Phase is divided at least two time intervals, and in a time interval, each sender unit only emits the light letter an of intensity Number, and in adjacent different time intervals, the intensity of the optical signal of same sender unit transmitting is different.

For example, when controller controls the first sender unit 101 and second signal transmitting according to optical signal launch sequence Device 102 per it is adjacent optical signal is emitted with different intensity twice when, within each period, 101 He of the first sender unit Second signal emitter 102 successively emitted A1, B1, A2, B2 wherein, A1, A2 can be used identical according to t seconds interval times Or different codings, and the luminous intensity of A1, A2 are different (namely range of exposures is different)；B1, B2 can be used identical or different Coding, and the luminous intensity of B1, B2 are different (namely range of exposures is different).The intensity of A1 with B1 optical signal is identical (strong light)；A2 (dim light) identical with the intensity of B2 optical signal.Period described herein refers to that all sender units are sent out with varying strength Shoot away the time used in a complete cycle of whole optical signals.Wherein, A1, B1 are first time interval, A2, B2 second Time interval.

In a further mode of operation, it can also use, the mode of A1, B2, A2, B1, wherein A1, B2 are first time interval, A2, B1 are the second time interval.I.e. in a time interval, the signal strength of unlike signal transmitter transmitting can not also phase Together, but each signal projector still only emits the signal of an intensity, and each signal projector is in the two neighboring time The intensity for being spaced emitted optical signal is different.

In another example controller 110 can also control the first sender unit 101 and second signal emitter 102 divides Not with it is strong, in, weak three kinds different intensity emit optical signal when, within each period 6t period, the first sender unit 101 and second signal emitter 102 according to t seconds interval times, successively emit A1, B1, A2, B2, A3, B3.Wherein A1, B1 For first time interval, A2, B2 are the second time interval, and A3, B3 are third time interval.Wherein, phase can be used in A1, A2, A3 With or different codings, and the luminous intensity of A1, A2, A3 are different (namely range of exposures is different), it is preferred to use it is strong, in, it is weak Sequentially, but it is not limited to this；B1, B2, B3 can be used identical or different coding, and the luminous intensity of B1, B2, B3 it is different ( That is range of exposures is different), it is preferred to use it is strong, in, weak sequence, but it is not limited to this.More preferably, A1, A2, A3 and B1, B2, B3 It is strong, in, weak strength grade it is essentially identical.Optical signal is emitted using three or more intensity, it can be 1 week to charging pile It encloses region and carries out finer division, automatic cleaning equipment can be to current according to the scramble time sequence of the optical signal received Position carries out more accurate judgement, and then efficiency is sought in more reasonably programming movement route, raising.

, can be using the intensity, distinguishes standard to strong light and dim light in general industry in the embodiment of the present invention, it can also With customized setting according to the actual situation, e.g., sets intensity and set the optical signal of intensity greater than first as strong optical signal, set by force Degree sets the optical signal of intensity less than second as low light signals；Wherein, the first setting intensity is greater than the second setting intensity, specifically Strength criterion is suitably set according to actual needs by those skilled in the art, can obviously distinguish strong optical signal and low light signals Come, the embodiment of the present invention sets the specific strength criterion of intensity with no restriction to the first setting intensity and second.

Optionally, escapement 108 can be any suitable device with shielding light semiotic function, to believe to first The optical signal of the transmitting of second signal emitter 102 is blocked in number 101 side of emitter, hides to 102 side of second signal emitter Keep off the optical signal of the first sender unit 101 transmitting.The device can be arranged according to actual needs by those skilled in the art Certain length, so that the first irradiation coding region that the optical signal of the first sender unit 101 transmitting is formed, and, second The second irradiation coding region that the optical signal that sender unit 102 emits is formed, the two irradiation coding regions are in irradiation model It places and partly overlaps.Wherein, partly overlapping range can be set according to actual needs by those skilled in the art, convenient for by certainly Dynamic cleaning equipment identification, and be not easy to other regions and interfere with each other.

Hereinafter, being illustrated with a specific example to charging pile 1 provided in an embodiment of the present invention.

In this example, controller 110 controls the first sender unit 101 and second signal emitter 102 is distinguished Emit optical signal with two different intensity, in each period 4t, the first sender unit 101 and second signal transmitting dress 102 are set according to t seconds interval times, successively emits A1, B1, A2, B2 wherein, identical or different coding can be used in A1, A2, and And A1 is strong optical signal, A2 is low light signals, the intensity of A2 is about the 1/4 of A1；Identical or different coding can be used in B1, B2, B1 is strong optical signal, B2 is low light signals, and the intensity of B2 is about the 1/4 of B1

In the case, A2 and B2 forms near-field thermal radiation coding region, and A1 and B1 form far field irradiation area.By region area The purpose for being divided into near-field thermal radiation coding region and far-field radiation coding region is that charging equipment is enable to identify itself and charging pile 1 The distance between, and then more precise control is carried out to the direction of motion and orientation.Below with reference to Fig. 3 to near-field thermal radiation coding region It is explained with the concrete composition part of far-field radiation coding region.

In the case of emitting dim light, near-field thermal radiation coding region includes that individually irradiation is formed by the first sender unit 101 The first near-field region J1, the second near-field region J2 formed is individually irradiated by second signal emitter 102, and by first The first near field overlapping region JD1 that sender unit 101 and 102 cross-fire of second signal emitter are formed.Specifically such as Shown in Fig. 2, wherein due to blocking for escapement 108, the first near-field region J1 can receive A2 signal, but can not receive B2 signal；The second near field region domain J2 can receive B2 light, but can not receive A2 signal；And the first near field overlapping region JD1 both may be used A2 signal is received, also can receive B2 signal.

Emit in strong light situation, in far-field radiation coding region, in addition to above-mentioned near-field thermal radiation coding region, close The outside in field radiation encoding region similarly forms three regions, including individually irradiates shape by the first sender unit 101 At the first far-field region Y1, the second far-field region Y2 formed is individually irradiated by second signal emitter 102, and by The first far field overlapping region YD1 that one sender unit 101 and 102 cross-fire of second signal emitter are formed.Ability Field technique personnel should be appreciated that three high light radiation coding regions being actually formed are the first near-field region J1 and the first far-field region The region and the first near field overlapping region that the region that domain Y1 is formed, the second near-field region J2 and the second far-field region Y2 are formed The region that JD1 and the first far field overlapping region YD1 is formed.As shown in Figure 3, wherein the first far-field region Y1 can receive A1 Signal, but A2 signal can not be received, the second far-field region Y2 can receive B1 signal, but can not receive B2 signal, and first is remote Field overlapping region YD1 both can receive A1 signal, also can receive B1 signal, but can not receive A2 and B2 signal.In addition, because The range of exposures of strong light can cover the range of exposures of dim light, and therefore, the first near-field region J1 may be used also in addition to it can receive A2 signal Receive A1 signal；Second near-field region J2 also can receive B1 signal in addition to it can receive B2 signal；And the first near field is overlapped Then A2, B2, A1 and B1 signal can receive region JD1.

In a kind of optional embodiment, the transmitting sequence of optical signal within a cycle 4t (when t the takes 0.1 second) period It is classified as：A1, B1, A2, B2, transmission interval are to emit at interval of 0.1 second once, if automatic cleaning equipment the 0.1st second receives Optical signal be A1, the 0.2nd second optical signal received of automatic cleaning equipment is B1, then can determine automatic cleaning equipment present bit It, can if the 0.3rd second optical signal received is A2 in the first near field overlapping region JD1 or the first far field overlapping region YD1 Determine that automatic cleaning equipment is currently located at the first near field overlapping region JD1；If being not received by the 0.3rd second automatic cleaning equipment Optical signal then can determine whether that automatic cleaning equipment is in the first far field overlapping region YD1；And so on.In another example if automated cleaning The 0.1st second optical signal received of equipment is A1, does not receive within the 0.2nd second optical signal, has received optical signal A2 within the 0.3rd second, It then can determine that automatic cleaning equipment is currently located at the first near-field region J1；If the optical signal that cleaning equipment receives on the 0.1st second is A1 does not receive optical signal in the 0.2nd second and 0.3 second, then can determine that automatic cleaning equipment is currently located at the first far-field region Y1. Other situations are similar with afore-mentioned, and this is no longer going to repeat them.It specifically refers to such as following table 1.

The corresponding relationship of received coded sequence in 1 different zones of table and a cycle

It, can be according to the coding and sequence for receiving optical signal when the charging pile 1 of automatic cleaning equipment and the present embodiment cooperates Judge the relative position of itself and charging pile 1.Specifically, by taking charging pile 1 above as an example, the current place of automatic cleaning equipment judgement In the first near-field region J1, the first far-field region Y1, the second near-field region J2, the second far-field region Y2 and the first near field overlay region Domain JD1 and the first far field overlapping region YD1.After automatic cleaning equipment judges oneself region, the direction of motion can adjust, Move automatic cleaning equipment towards the direction close with middle line M and position.For example, when automatic cleaning equipment is in the first near field region When domain J1, the first far-field region Y1, the second near-field region J2 or the second far-field region Y2, the direction of motion can adjust, it is close towards first Field overlapping region JD1 or the first far field overlapping region YD1 movement, and the direction of motion is finally made to be directed at middle line M, then along middle line M movement, is directed at automatic cleaning equipment with charging pile 1, and then realizes that the automatic butt of automatic cleaning equipment and charging pile 1 is filled Electricity.The mode of being specifically directed at is not limited to this, and any scheme for being suitable for fast implementing alignment can be used.

As it can be seen that scheme through this embodiment, setting can emit the first and second signals of optical signal in charging pile 1 Emitter, and, escapement between the first and second sender units, that optical signal can be blocked.Pass through The range of exposures for the optical signal that first and second sender units emit can be divided into multiple regions, wrapped by this set The irradiation overlapping region and the respective radiation encoding region in addition to overlapping region for including the two.By emitting sender unit Different optical signals carry out different codings, can after receiving optical signal so that during automatic cleaning equipment seeks stake and returns stake The radiation encoding region being presently in is determined with the coding according to optical signal, and then carries out subsequent operation, is such as continued along current Direction advances or advances again after changing direction, and to march to apart from the closer region of charging pile 1, final realize returns stake.

The charging pile 1 provided through the embodiment of the present invention, on the one hand, additional seek stake without providing for automatic cleaning equipment It is arranged with stake is returned, there is the ability of creation coordinate map without automatic cleaning equipment, also, any with transmitting optical signal function The sender unit such as infrared light emission device of energy, and such as barn door of the escapement with shielding light semiotic function, The scheme of the embodiment of the present invention is realized, so that automatic cleaning equipment, which seeks stake and returns stake, realizes that simply cost of implementation is low.

The configuration structure of the sender unit of another charging pile 1 of the embodiment of the present invention is shown in Fig. 4 and Fig. 5, The charging pile 1 includes two groups of sender units, the principle class of principle and the charging pile 1 of two groups of sender units above-mentioned Seemingly, difference is in embodiment above-mentioned, and each sender unit includes a signal projector, and every in the present embodiment A sender unit includes at least two signal projectors.The structure to the charging pile 1 and the method for operation are carried out into one below The explanation of step.

108 two sides of escapement are respectively equipped with the first sender unit 101 and second signal emitter 102, and first Sender unit 101 and second signal emitter 102 are symmetrical arranged relative to escapement 108.Wherein the first signal is sent out Injection device 101 includes the first signal projector 1011 and second signal transmitter 1012, and second signal emitter 102 includes Third signal projector 1021 and fourth signal transmitter 1022；First signal projector 1011 and fourth signal transmitter 1022 Symmetrical relative to middle line M, second signal transmitter 1012 and third signal projector 1021 are symmetrical arranged relative to middle line M.The One signal projector 1011 and second signal transmitter 1012, the other side is equipped with third signal projector 1021 and fourth signal is sent out Emitter 1022 emits A, B, C, D encoded signal respectively, and A, B, C, D coding are all different.

Optionally, as shown in figure 5, the axis of second signal transmitter 1012 and third signal projector 1021 and middle line M It is arranged in an essentially parallel manner, the axis and middle line M of the first signal projector 1011 and fourth signal transmitter 1022 are with scheduled folder The angular direction far from middle line M is obliquely installed, and such four signal projectors form four overlapped radiation areas.It is more excellent Ground, the first signal projector 1011 and fourth signal transmitter 1022 far from escapement 108 are sent out with adjacent signal respectively Emitter is arranged in set angle, it is preferable that set angle is 45 degree, as shown in Figure 5.Specifically, the first signal projector 1011 Axis angle with second signal transmitter 1012 is preferably 45 degree, third signal projector 1021 and fourth signal transmitter 1022 axis angle is preferably 45 degree.But the scheduled angle is not limited to 45 degree, can also be any other suitable Angle.

Optionally, it is additionally provided with baffle 1081 in the front end of escapement 108, baffle 1081 is preferably in escapement 108 Certain angle setting, is preferably perpendicular to escapement 108, baffle 1081 can efficiently reduce the light adjacent with escapement 108 Signal interferes with each other between sender unit, such as second signal transmitter 1012 and third signal projector 1021.With For present embodiment, the isometric two sides for being symmetrically distributed in escapement 108 of baffle 1081, optionally, baffle 1081 can be with The two sides of escapement 108 are fixed on asymmetric manner, because position of the baffle 1081 on escapement 108 can suitably adjust Section, so that the corresponding adjustment of the shape for being formed by the first radiation encoding area and the second radiation encoding area, to be connect with improving The alignment result of lamp is received, cooperation automatic cleaning equipment more accurately finds charging pile by radiation encoding area.

As shown in Figure 6, optionally, controller controls the first signal projector 1011, second signal transmitter 1012, the When three signal projectors 1021 and fourth signal transmitter 1022 emit optical signal respectively with two different intensity, in each week In period phase 8t, the first signal projector 1011, second signal transmitter 1012, third signal projector 1021 and the 4th letter Number transmitter 1022 successively emitted A1, B1, C1, D1, A2, B2, C2, D2 wherein, A1, A2 can be used according to t seconds interval times Identical or different coding, and the luminous intensity of A1, A2 are different (namely range of exposures is different)；B1, B2 can be used identical or not Same coding, and the luminous intensity of B1, B2 are different (namely range of exposures is different)；Identical or different coding can be used in C1, C2, And the luminous intensity of C1, C2 are different (namely range of exposures is different)；Identical or different coding, and D1, D2 can be used in D1, D2 Luminous intensity it is different (namely range of exposures is different).Wherein, the intensity of the optical signal of A1, B1, C1, D1 is identical, A2, B2, C2, D2 Optical signal intensity it is identical, in this way, a cycle has been divided into two time intervals, A1, B1, C1, D1 are first time interval, A2, B2, C2, D2 are the second time interval.In each time interval, each sender unit only emits a kind of light of intensity Signal.

Further, A1, B1, C1, D1 are strong optical signal；A2, B2, C2, D2 are low light signals.With reference to above-mentioned two The embodiment of a sender unit, relationship such as the following table 2 of each region and the coded sequence for receiving signal：

The corresponding relationship of received coded sequence in 2 different zones of table and a cycle

Wherein, in the case of emitting dim light, near-field thermal radiation coding region includes by the first individually irradiation of signal projector 1011 The the first near-field region J1 formed, the second the near-field region J2, Yi Jiyou formed is individually irradiated by second signal transmitter 1012 The first near field overlapping region JD1 that first signal projector 1011 and 1012 cross-fire of second signal transmitter are formed, by the The second near field overlapping region JD2 that binary signal transmitter 1012 and 1021 cross-fire of third signal projector are formed, by third The the first near-field region J3 that individually irradiation is formed of signal projector 1021 is formed by the independent irradiation of fourth signal transmitter 1022 Second near-field region J4, and the third formed by third signal projector 1021 and 1022 cross-fire of fourth signal transmitter Near field overlapping region JD3 composition.It is specific as shown in Figure 6, wherein due to by the first signal projector 1011 to far from middle line M Direction is obliquely installed, and the first near-field region J1 can receive A2 signal, but can not receive B2 signal；And the first near field overlapping region JD1 both can receive A2 signal, also can receive B2 signal；Second near-field region J2 is subjected to B2 signal, but can not receive A2 C2 signal；Second near field overlapping region JD2 both can receive B2 signal, also can receive C2 signal；Similarly, third is close Field areas J3 is subjected to C2 signal, but can not receive B2 D2 signal；Third near field overlapping region JD3 both can receive C2 Signal also can receive D2 signal；4th near-field region J4 is subjected to D2 signal, but can not receive C2 signal；

Emit in strong light situation, in far-field radiation coding region, in addition to above-mentioned near-field thermal radiation coding region, close The outside in field radiation encoding region similarly forms 7 regions, including individually irradiation is formed by the first signal projector 1011 The first far-field region Y1, individually irradiate the second far-field region Y2 of formation by second signal emitter, and by the first letter The far field overlapping region YD1 that number transmitter 1011 and 1012 cross-fire of second signal transmitter are formed, and by second signal The second far field overlapping region YD2 that transmitter 1012 and 1021 cross-fire of third signal projector are formed, is sent out by third signal It is remote individually to irradiate formed second by fourth signal transmitter 1022 by the first far-field region Y3 that individually irradiation is formed of emitter 1021 Field areas Y4, and the third far field weight formed by third signal projector 1021 and 1022 cross-fire of fourth signal transmitter Folded region YD3 composition.

It will be appreciated by those skilled in the art that seven high light radiation coding regions being actually formed are the first near-field region J1 The region that the region formed with the first far-field region Y1, the second near-field region J2 and the second far-field region Y2 are formed, the first near field The region that overlapping region JD1 and the first far field overlapping region YD1 is formed, the second near field overlapping region JD2 and the overlapping of the second far field The region that region YD2 is formed, the region that third near-field region J3 and third far-field region Y3 are formed, the 4th near-field region J4 and the Four far-field region Y4 at region, the region that third near field overlapping region JD3 and third far field overlapping region YD3 are formed.

As shown in Figure 6, wherein the first far-field region Y1 can receive A1 signal, but can not receive A2 signal；Second is remote Field areas Y2 can receive B1 signal, but can not receive B2 signal；First far field overlapping region YD1 both can receive A1 signal, Also it can receive B1 signal, but A2 and B2 signal can not be received；Second far field overlapping region YD2 both can receive B1 signal, Also it can receive C1 signal, but B2 and C2 signal can not be received；Third far-field region Y3 can receive C1 signal, but can not receive To C2 signal；4th far-field region Y4 can receive D1 signal, but can not receive D2 signal；And third far field overlapping region YD3 Both it can receive C1 signal, and also can receive D1 signal, but C2 and D2 signal can not be received.In addition, because of the irradiation model of strong light The range of exposures that can cover dim light is enclosed, therefore, the first near-field region J1 also can receive A1 letter in addition to it can receive A2 signal Number；Second near-field region J2 also can receive B1 signal in addition to it can receive B2 signal；First near field overlapping region JD1 then A2, B2, A1 and B1 signal can receive；Then B2, C2, B1 and C1 signal can receive second near field overlapping region JD2；Third Near-field region J3 also can receive C1 signal in addition to it can receive C2 signal；4th near-field region J4, which is removed, can receive D2 signal Outside, it also can receive D1 signal；Then C2, D2, C1 and D1 signal can receive third near field overlapping region JD3.

It should be noted that the signal shooting sequence of four signal projectors is not limited to above sequence circulation transmitting Mode, can also by the way of alternate cycles, such as with two different intensity emit optical signal when, within each period, Four signal projectors successively emit A1, C1, B1, D1, A2, C2, B2, D2 etc., i.e., in a time according to setting time interval Different sender units emits the optical signal of same intensity in being spaced；Additionally can using A1, B2, C1, D2, A2, B1, The mode of C2, D1, i.e., in a time interval, the intensity of the optical signal of different sender unit transmittings also incomplete phase Together.And so on.But it is not limited to this, the radiation pattern that can be can be realized using arbitrary this field.In addition, optical signal is strong Degree grade is also not necessarily limited to strong and weak two-stage, or level-one or three-level are more.

In addition, being also not necessarily limited in every group of sender unit includes one or two signal projector, it can also be using more Multiple signal projectors.

As another optional embodiment, can also using in a time interval of a cycle, it is described extremely Few two low intensive optical signals of sender unit synchronized transmissions, the synchronized transmissions light signal strength is identical, and coding is identical, It is thusly-formed near-field thermal radiation code area.

By taking four sender units above as an example, within each period 5t period, the first signal projector 1011, Second signal transmitter 1012, third signal projector 1021 and fourth signal transmitter 1022 according to t seconds interval times, according to Secondary transmitting A1, B1, C1, D1.A1, B1, C1, D1 are strong optical signal；With the embodiment of front the difference is that, in 5t Between, the coding that four signal projectors emit low light signals an E, E simultaneously is different from A1, B1, C1, D1.With reference to the implementation of front Mode, relationship such as the following table 3 of each region and the coded sequence for receiving signal：

The corresponding relationship of received coded sequence in 3 different zones of table and a cycle

This have the advantage that the time of a cycle can be shortened, the time of 5t is shortened to by original 8t, in this way Location efficiency can significantly be promoted.Signal E is only used for identification and currently belongs to near-field thermal radiation code area and far-field radiation code area, And more accurately region recognition is identified by strong optical signal A1, B1, C1, D1.

In another embodiment not shown in the figure, sender unit can also include odd number signal transmitting dress It sets, wherein odd number sender unit is symmetrical arranged by line of symmetry of the middle line of one of sender unit.Compare The embodiment of even number sender unit above, technology sender unit exist a sender unit setting The position of middle line M, after this belt transect charging unit receives the signal of intermediate sender unit transmitting, then can determine whether for positioned at Near middle line M, be conducive to the operation of more rapid alignment middle line M.The region division of odd number sender unit and judgement are former Reason is essentially identical with the principle of both above embodiment.

On the whole, the charging pile of the present embodiment emits by the way that more than two sender units are arranged, and to signal The optical signal of device transmitting is encoded, and is emitted according to the optical signal launch sequence of setting, according to the volume for receiving optical signal The difference of code, automatic cleaning equipment can accurately identify locating region, and can have it is rapid, efficiently identify and with letter The symmetrical middle line M alignment of number emitter, and then be efficiently automatically performed the movement of the connection and charging with charging pile, that is, it reduces Blind area between charging pile and automatic cleaning equipment, improve automatic cleaning equipment seek efficiency.

On this basis, the charging pile of the present embodiment also passes through the signal of control sender unit transmitting varying strength, Region is further divided into many levels from the distant to the near such as near field, far field, bond strength and coded sequence, it can be to region Finer division is carried out, seeking stake and returning efficiency for automatic cleaning equipment can be more effectively promoted.

On this basis, the charging pile of the present embodiment is provided with sender unit on middle line M, can more effectively draw It leads that automatic cleaning equipment is more acurrate to be more efficiently directed at middle line M, more effectively improves and seek stake and return efficiency.

Embodiment two

Corresponding to charging pile shown in embodiment one, the embodiment of the invention also provides a kind of and embodiment one chargings The automatic cleaning equipment of stake cooperation.

Referring to Fig. 7 to Fig. 9, a kind of structural schematic diagram of according to embodiments of the present invention two automatic cleaning equipment 2 is shown.

Referring to Fig. 7,8, the structural schematic diagram of one of the present embodiment automatic cleaning equipment 2 is schematically illustrated.Its In, automatic cleaning equipment 2 can be sweeping robot, floor-mopping robot etc..The automatic cleaning equipment 2 may include processor 201, sensory perceptual system, drive system；In addition, automatic cleaning equipment 2 further includes equipment body, cleaning systems, energy resource system and people Machine interactive system.

Wherein, equipment body includes forward portion and backward part, has approximate circular shape (front and back is all round), There can be other shapes, the approximate D-shape of circle including but not limited to behind front.

Sensory perceptual system includes three wide-angle optical receivers 203, alignment optical receiver 202；Preferably, sensory perceptual system may be used also Buffer (not shown), steep cliff sensor (not shown) and other biographies including being located at the forward portion of equipment body Sensor, for example, infrared sensor (not shown), magnetometer (not shown), accelerometer (not shown), gyro Instrument (not shown), odometer (not shown) etc. provide the corresponding information of automatic cleaning equipment 2 to processor 201.

The forward portion of equipment body can carry buffer, be pushed away during cleaning by the driving wheel module of drive system Into automatic cleaning equipment 2 in ground running, buffer detects automated cleaning via sensing system, such as infrared sensor One or more events (or object) in the driving path of equipment 2, robot can be (or right by the event that is detected by buffer As), such as barrier, wall, and controlling driving wheel module makes automatic cleaning equipment 2 to make sound to the event (or object) It answers, for example away from barrier.

Processor 201 is arranged on the circuit main board in equipment body, including with non-transitory memory, such as hard disk, Flash memory, random access memory, the computation processor of communication, such as central processing unit, application processor.On the one hand In conjunction with the analysis to three wide-angle optical receivers 203 and/or the processing for being directed at the received optical signal of optical receiver 202, determine The radiation encoding region that automatic cleaning equipment 2 is presently in；It on the other hand, can be with combining buffer, steep cliff sensor and other The range information of the sensing devices such as sensor such as infrared sensor, magnetometer, accelerometer, gyroscope, odometer feedback, speed Informix judges which kind of working condition automatic cleaning equipment 2 is currently at, and such as crosses threshold, and upper carpet is located at steep cliff, top Or lower section is stuck, dirt box is full, be lifted etc., also specific next step action policy can be provided for different situations, made The work for obtaining automatic cleaning equipment 2 is more in line with the requirement of owner, there is better user experience.

Drive system can be based on having distance and an angle information, such as x, y and angle component, drive command and manipulate from Dynamic cleaning equipment 2 crosses over ground run.Drive system includes driving wheel module, and driving wheel module can control revolver and the right side simultaneously Wheel, in order to more accurately control the movement of machine, preferably driving wheel module respectively includes left driving wheel module and right driving wheel Module.Left and right driving wheel module is opposed along the lateral shaft defined by equipment body.In order to which automatic cleaning equipment 2 can be on ground It is moved more stablely on face or stronger locomitivity, automatic cleaning equipment 2 may include one or more driven wheel, Driven wheel includes but is not limited to universal wheel.Driving wheel module includes traveling wheel and drive motor and the control for controlling drive motor Circuit, driving wheel module can also connect the circuit and odometer of measurement driving current.Driving wheel module can removably connect It is connected on equipment body, easy disassembly and maintenance.Driving wheel can have biasing drop suspension system, movably tightly Gu such as be rotatably attached, arrive equipment body, and receive it is downward and far from equipment body biasing spring biasing.Bullet Spring biasing allows driving wheel with certain contact and traction of the Productivity maintenance with ground, while the cleaning of automatic cleaning equipment 2 Element is also with certain pressure contact ground.

Cleaning systems can be dry cleaning system and/or wet cleaning system.As dry cleaning system, main cleaning The cleaning system that connecting component of the function between roller brushes structure, dirt box structure, blower fan structure, air outlet and four is constituted System.With ground have the roller brushes structure centainly interfered by the rubbish on ground sweep up and winding to roller brushes structure and dirt box structure it Between suction inlet in front of, then by blower fan structure generates and pass through dirt box structure have suction gas sucking dirt box structure.It is dry Formula cleaning systems also may include that there is the side of rotary shaft to brush, and rotary shaft is angled relative to ground, for moving clast It moves in the round brush region of cleaning systems.

The self-contained energy resource system of automatic cleaning equipment 2 includes the rechargeable battery on equipment body.Wherein, rechargeable battery It may include nickel-metal hydride battery and lithium battery etc..Rechargeable battery can connect charging control circuit, the detection of battery pack charging temperature Circuit and battery undervoltage observation circuit, charging control circuit, battery pack charging temperature detection circuit, battery undervoltage observation circuit are again It is connected with single chip machine controlling circuit.Automatic cleaning equipment 2 pass through be arranged in the charging electrode of apparatus body side or lower section with The connection of charging pile 1 is charged.

Man-machine interactive system includes the key on equipment body panel, and key carries out function selection for user；It can also wrap Include display screen and/or indicator light and/or loudspeaker, display screen, indicator light and loudspeaker to user show current machine status or Person's function options；It can also include mobile phone client program.

Automatic cleaning equipment 2 is that automatic cleaning equipment 2 provides the energy by energy resource system, by man-machine interactive system and is used Family interaction receives the operational order of user, and processor 201 instructs depending on the user's operation and sensory perceptual system acquisition was cleaned The information that needs in journey is simultaneously handled, and drives automatic cleaning equipment 2 to move by drive system, to use its cleaning systems Carry out corresponding clean operation.

Referring to Fig. 9, sensory perceptual system may include alignment optical receiver 202 and surround in a kind of preferably implementation Three wide-angle optical receivers 203 of the alignment optical receiver 202 setting,

Being directed at 202 quantity of optical receiver is two, which is a kind of high alignment precision low-angle reception Device can receive optical signal within the scope of smaller angle, precisely operate to stake.Optical receiver 202 is directed to be arranged automatic On the direction of cleaning equipment 2 and charging binding site face, when the symmetrical middle line of alignment optical receiver 202 and sender unit After M alignment, the alignment line M2 of automatic cleaning equipment 2 is aligned with the symmetrical middle line M of sender unit at this time, automatic cleaning equipment 2 charging interface can be accurately aligned with the charging connector 113 of charging pile 1, and then guarantee automatic cleaning equipment 2 and charging pile 1 Dock With Precision Position, and complete the engagement of charging.

In specific setting, being not provided with pair in automatic cleaning equipment 2 is can be set in three wide-angle optical receivers 203 On the other three direction of quasi-optical receiver 202, it is preferable that three wide-angle optical receivers 203 be directed at optical receiver 202 (two are one group) is arranged one every 90 degree, and as shown in Figure 9, but in practical applications, this is not uniformly absolute uniform, In appropriate error range, such as in 0 degree of position setting alignment optical receiver 202, first big angle is set 85 degree of positions Optical receiver 203 is spent, second wide-angle optical receiver is set in 180 degree position, third wide-angle is set 270 degree of positions Optical receiver etc. only need to keep substantially uniform.More preferably, the center of three wide-angle optical receivers 203 and to quasi-optical The center of receiver 202 is respectively positioned on same cross section.More preferably, alignment optical receiver be arranged in automatic cleaning equipment 2 just before Side, three wide-angle optical receivers 203 are separately positioned on the left side, right side and rear side of automatic cleaning equipment 2.

Wide-angle optical receiver 203 is subjected to the optical signal of certain angle range.Preferably, three wide-angle optical receivers 203 are set as range of receiving covers the circumferential range of automatic cleaning equipment 2 substantially.That is no matter optical signal is from circumferential which Direction, which is irradiated, to be come, and can all have at least one wide-angle optical receiver 203 that can receive optical signal.

Processor 201 in inventive embodiments for realizing to the received optical signal of each wide-angle optical receiver 203 into Row parsing, obtains the coding of optical signal, and the coding of optical signal is compared and is analyzed.Automatic cleaning equipment 2 further includes depositing The table of comparisons of reservoir, the coded sequence for prestoring region and optical signal in memory (specifically refers to table 1, the table of embodiment one 2) and the time span in the period of the transmitting optical signal of charging pile 1 is located in this way after wide-angle optical receiver receives optical signal Reason device first identifies the coding of optical signal, and goes out the week received according to the timing sequence analysis for receiving optical signal The coded sequence of optical signal in phase, then processor is compareed what is prestored in the coded sequence of the optical signal received and memory Table compares, and finds out corresponding region from the table of comparisons according to coded sequence, then current 2 institute of automatic cleaning equipment can be obtained The precise area at place.

In addition, wide-angle optical receiver 203 is in addition to receiving optical signal, moreover it is possible to be identified to the direction of light source.Such as Figure 10 Shown in, wide-angle optical receiver 203 detects the direction of light source, and direction signal is sent to processor, processor other side It is compared and analyzes to signal, identify the angle theta 1 between light source direction and the alignment line M2 of automatic cleaning equipment 2.This Sample, processor according to 1 two parameters in region and angle theta, can position to itself and the direction of motion be adjusted, and then with letter The symmetrical middle line M of number emitter is accurately aligned.

Below with reference to Figure 10 and Figure 11, and to automatic by taking embodiment of the charging pile 1 using two sender units as an example Seeking stake and returning a process for cleaning equipment 2 is described in detail.

Three wide-angle optical receivers 203 of automatic cleaning equipment 2 detect optical signal in real time, and processor is to detecting Optical signal is analyzed.As shown in Figure 10, the wide-angle optical receiver 203 in left side has received optical signal and is sent at this time Processor, in a cycle 4t, processor is determined, the code sequence for the optical signal that the wide-angle optical receiver 203 in left side receives It is classified as B1, then processor accesses the table of comparisons, and obtaining the corresponding region of the signal that coded sequence is B1 is the second far-field region Y2. In this way, processor has just obtained the precise area locating at present of automatic cleaning equipment 2.

Meanwhile the wide-angle optical receiver 203 in left side also detects the direction of light source.Specifically, processor according to The light source direction that the wide-angle optical receiver 203 in left side detects, judge second signal emitter 102 towards left side wide-angle The angle theta 1 of the alignment line M2 of light and automatic cleaning equipment 2 that optical receiver 203 emits.Processor combines area locating at present Domain and angle theta 1, and then it can be concluded that direction locating for the alignment line M2 of current automatic cleaning equipment 2.

After obtaining locating region and directional information, processor can be further to control running gear to movement side To being adjusted, move automatic cleaning equipment 2 towards the direction symmetrical middle line M of sender unit, during the motion basis Region detected by three wide-angle optical receivers 203 and directional information are in real time modified the direction of motion, constantly adjust Itself the whole direction of motion and the angle of itself.When the symmetrical middle line M that automatic cleaning equipment 2 moves to sender unit is attached After close, the position of automatic cleaning equipment 2 is adjusted, makes to be directed at 202 face charging pile 1 of optical receiver, and optical receiver 202 will be directed at It realizes and to be precisely aligned with the first sender unit 101 and second signal emitter 102, make pair of automatic cleaning equipment 2 Directrix M2 is overlapped with the symmetrical middle line M of sender unit, as shown in figure 11.In the alignment line M2 for keeping automatic cleaning equipment 2 In the state of being overlapped with the symmetrical middle line M of sender unit, processor controls running gear, continues automatic cleaning equipment 2 It is moved towards charging pile 1, finally, the charging interface of automatic cleaning equipment 2 is engaged with the charging connector of charging pile 1, and stake is sought in completion It is acted with stake is returned.

Optionally, when more than two wide-angle optical receivers 203 all receive optical signal, processor is respectively to each The coded sequence and angle theta 1 of the optical signal of wide-angle optical receiver carry out analysis comparison, determine that each wide-angle light connects respectively Direction locating for the alignment line M2 of region locating for device 203 and automatic cleaning equipment 2 is received, can get more accurately locating region And directional information.

When with having there are four or more the charging pile 1 of even number sender unit matches, automatic cleaning equipment 2 The principle sought stake and return stake and the charging pile 1 of two sender units principle it is essentially identical, this will not be repeated here.

It is being odd number with sender unit, and is being equipped with a signal on the symmetrical middle line M of sender unit When the charging pile 1 of emitter matches, automatic cleaning equipment 2 makes to be aligned in the alignment of optical receiver 202 when seeking stake and returning Between sender unit, compare and be directed at the side that optical receiver 202 is aligned with the sender unit of 108 two sides of escapement Case, can more acurrate and quick realization alignment, raising seeks stake and returns the efficiency of stake.

In another embodiment, the sensory perceptual system of automatic cleaning equipment 2 can also use a full angle light-receiving The mode that device 204 and alignment optical receiver 202 match.As shown in figure 12, compared to the side of more multiple wide-angle optical receivers 203 Case, the advantage using full angle optical receiver 204 are that all light in circumferential range can be completed in 1 full angle optical receiver The reception of signal and the judgement of light source direction, no setting is required multiple wide-angle optical receivers 203 can simplify automatic cleaning equipment 2 shape and circuit design reduces the production cost of automatic cleaning equipment 2.Using full angle optical receiver 204 seek stake and Return a principle and seeking stake and return that a principle is essentially identical, and this will not be repeated here using wide-angle optical receiver 203.

The automatic cleaning equipment 2 of the present embodiment, region is prestored in memory and the coded sequence table of comparisons, charging pile 1 are believed Number period, processor 201 obtain the code sequence of optical signal by wide-angle optical receiver 203 or full angle optical receiver 204 Column, and the direction of light source is obtained, and then judge itself, relative to the relative position of charging pile 1 and the direction of itself, then to adjust The angle of the whole direction of motion and itself, and by the symmetrical middle line M of alignment 202 registration signal emitter of optical receiver, so that The symmetrical middle line M of itself alignment line M2 and sender unit, and then guarantee the accurate of automatic cleaning equipment 2 and charging pile 1 Engagement, reduces the blind area between charging pile and automatic cleaning equipment, improve automatic cleaning equipment seeks efficiency.

Embodiment three

The present embodiment is based on automatic cleaning equipment shown in embodiment two, provides a kind of charging pile and seeks piling method.

As shown in figure 13, the charging pile of the present embodiment is sought piling method and is included the following steps：

Step S41：The received optical signal sequence from charging pile is parsed, the corresponding light of optical signal sequence is obtained The coded sequence of signal；

Step S42：The region of the coded sequence and storage that will acquire compares with the coded sequence table of comparisons, determines that equipment is worked as Preceding region；

Equipment herein is to make automatic cleaning equipment.The charging pile of the present embodiment seeks piling method, by obtaining optical signal The coded sequence that will acquire is compared with the region prestored with the coded sequence table of comparisons, determines region by coded sequence；From Cleaning equipment need to only be stored with region and the coded sequence table of comparisons, and need not have creates the ability of coordinate map, can be with lower Cost efficiently, accurately realize seeking stake and returning stake for automatic cleaning equipment.

Optionally, it is further comprising the steps of to seek piling method for the charging pile of the present embodiment：

Step S43：The received optical signal sequence from charging pile is parsed, light source direction information is obtained；

Step S44：According to the direction of motion of region and light source direction information adjustment equipment.

Wherein step S43 can be executed prior to step S41, S42, perhaps synchronous with step S41, S42 to execute or in step It is executed after rapid S41, S42.

The charging pile of the present embodiment seeks piling method, by obtain optical signal coded sequence, the coded sequence that will acquire with The region prestored compares with the coded sequence table of comparisons, determines region；Then by the light source direction of area information and acquisition Information combines, and is inferred to the required direction of motion, and then according to the direction of motion of required direction of motion adjustment equipment, in turn Seeking stake and returning stake for realization equipment acts, and step is simple, does not need the ability that automatic cleaning equipment has creation coordinate map, can With with lower cost efficiently, accurately realize seeking stake and returning stake for automatic cleaning equipment.

Optionally, in step S41, the coded sequence for obtaining optical signal includes：According to the time cycle prestored to optical signal Coded sequence analyzed, obtain the coded sequence of the optical signal in each period.

Due to, the optical signal of charging pile be according to scheduled periodic emission, so automatic cleaning equipment to optical signal into It when row parsing, need to only analyse and compare to the coded sequence of the optical signal in a cycle, without being received to whole Coded optical signal sequence analyzed, can reduce operand, improve analysis efficiency.

Optionally, when the sender unit of charging pile emits optical signal with different intensity, institute is determined in step S42 It further include distance of the determining automatic cleaning equipment apart from charging pile in region.Specifically, can be sentenced by the analysis to coded sequence Whether disconnected automatic cleaning equipment is in near-field region or far-field region, and then may determine that automatic cleaning equipment apart from charging pile Approximate distance, so as to automatic cleaning equipment carry out with the accurate direction of motion adjust control.

Optionally, the direction of motion is adjusted according to area information and light source direction information in step S44, it is specially automatic clear Clean equipment adjusts itself according to the position of area information and the symmetrical middle line M of light source direction data-evaluation sender unit Position so that the position of the symmetrical middle line M of the sender unit of the alignment line M2 and estimation of automatic cleaning equipment coincides, Then control automatic cleaning equipment is moved along the symmetrical middle line M of sender unit, make the charging interface of automatic cleaning equipment with The charging connector of charging pile engages.

Above method is adapted for carrying out the scheme that full angle optical receiver is used in example two, and is using multiple wide-angles In optical receiver, the case where some wide-angle optical receiver receives optical signal.

For using the automatic cleaning equipment of multiple wide-angle optical receivers, there are two above wide-angle light-receivings In the case that device has received optical signal, then Steps S41 is distinguished to the optical signal that each wide-angle optical receiver receives With step S42, respectively to the area information (area where different wide-angle optical receivers where each wide-angle optical receiver Domain information may be identical, it is also possible to different) it is analyzed, then in conjunction with the area information where each wide-angle optical receiver, And the corresponding light source direction information determined in step S43 is combined, it can more accurately judge the current institute of automatic cleaning equipment The position and direction at place, and then the position of itself is adjusted, so that the alignment line M2 of automatic cleaning equipment and the signal of estimation emit The position of the symmetrical middle line M of device coincides, and the symmetrical middle line M for then controlling automatic cleaning equipment along sender unit is transported It is dynamic, engage the charging interface of automatic cleaning equipment with the charging connector of charging pile.

In embodiments of the present invention, because of automatic cleaning equipment when changing direction can any choice direction, therefore, even if not Charging pile disposably can be marched to along current direction of travel, be adjusted by multiple direction, finally still may continue to charging pile.

Example IV

Example IV provides a kind of control system of charging pile charging, charging pile and embodiment two including embodiment one Automatic cleaning equipment.

In the present embodiment, automatic cleaning equipment is matched with charging pile, and charging pile is stored in automatic cleaning equipment The table of comparisons in the time span of signal transmit cycle and region and coded sequence.Charging pile is according to described in embodiment one Scheme emit optical signal, automatic cleaning equipment, which seek stake according to scheme described in embodiment two and three, returns stake operates.

Through this embodiment, in the control system of the charging pile charging of the present embodiment, automatic cleaning equipment need not have wound It builds and seeks stake and return a map function, only need to obtain its corresponding coding after receiving optical signal, and then know and be currently located The radiation areas of optical signal, it is determined whether need to change route traveling, until eventually arriving at charging pile, reduce charging pile and oneself Blind area between dynamic cleaning equipment, improve automatic cleaning equipment seeks efficiency.

It may be noted that all parts/step described in the embodiment of the present invention can be split as more according to the needs of implementation The part operation of two or more components/steps or components/steps can also be combined into new component/step by multi-part/step Suddenly, to realize the purpose of the embodiment of the present invention.

Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure Member and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed The region of the embodiment of the present invention.

Embodiment that the above embodiments are only used to illustrate the present invention, and the limitation not to the embodiment of the present invention, related skill The those of ordinary skill in art field can also make various in the case where not departing from spirit and the region of the embodiment of the present invention Variation and modification, therefore all equivalent technical solutions also belong to the scope of the embodiment of the present invention, the patent of the embodiment of the present invention Protection zone should be defined by the claims.

Claims

1. a kind of charging pile, which is characterized in that the charging pile includes controller and at least two sender units；

The controller controls at least two sender unit and emits optical signal according to the optical signal launch sequence of setting, And the optical signal of transmitting is encoded；

Wherein, corresponding radiation encoding region is formed after the optical signal of each sender unit transmitting is encoded, it is adjacent The sender unit transmitting optical signal formed radiation encoding region partly overlap in radiation scope.

2. charging pile according to claim 1, it is characterised in that at least two sender unit includes the One sender unit and second signal emitter, the charging pile further include escapement, and the escapement is set to On middle line between first sender unit and the second signal emitter, make first sender unit It is symmetrical about the middle line with the second signal emitter.

3. charging pile according to claim 2, it is characterised in that first sender unit and the second signal Emitter respectively includes at least two signal projectors, and first sender unit includes the first signal projector and the Binary signal transmitter, the second signal emitter include third signal projector and fourth signal transmitter, and described first Signal projector is symmetrical about the middle line with the fourth signal transmitter, the second signal transmitter and third letter Number transmitting is symmetrical about the middle line.

4. charging pile according to claim 2, it is characterised in that the optical signal warp of the first sender unit transmitting The first radiation encoding region is formed after coding, forms the second spoke after the optical signal of the second signal emitter transmitting is encoded Penetrate coding region；

The optical signal and the second signal emitter that the escapement emits first sender unit emit Optical signal partly blocked, make first radiation encoding region and second radiation encoding region in radiation scope On partly overlap.

5. charging pile according to claim 3, it is characterised in that close to the second signal of the escapement two sides Transmitter and the third signal projector are arranged forward vertically, far from the escapement first signal projector and The fourth signal transmitter is arranged with adjacent sender unit in set angle (θ) respectively.

6. charging pile according to claim 5, it is characterised in that the set angle (θ) is 45 degree.

7. charging pile according to claim 1, it is characterised in that at least two sender unit includes odd number Sender unit, the odd number sender unit are symmetrically set using the middle line of one of sender unit as line of symmetry It sets.

8. charging pile according to claim 1-7, it is characterised in that described in the optical signal launch sequence instruction At least two sender units alternately or sequentially emit optical signal, and the coding of the optical signal is different.

9. charging pile according to claim 8, it is characterised in that in one cycle, described in the instruction of optical signal launch sequence Each sender unit at least two sender units emits the optical signal of at least two intensity, also, at one Each sender unit only emits a kind of optical signal of intensity in a time interval in period.

10. charging pile according to claim 8, it is characterised in that in one cycle, optical signal launch sequence indicates institute The optical signal that each sender unit at least two sender units emits same intensity is stated, also, in a week Each sender unit only emits a kind of optical signal of intensity in a time interval in phase.

11. charging pile described in -7 according to claim 1, it is characterised in that described in the same time interval of a cycle At least two sender unit synchronized transmissions optical signals, the synchronized transmissions light signal strength is identical, encodes identical, such shape At near-field thermal radiation code area.

12. according to the described in any item charging piles of claim 3-6, it is characterised in that the escapement is barn door, described Baffle is set on barn door.

13. a kind of charging pile seeks piling method, it is characterised in that the charging pile is of any of claims 1-12 fills Electric stake, the method includes：

The received optical signal sequence from the charging pile is parsed, the corresponding optical signal of the optical signal sequence is obtained Coded sequence；

According to the region of the coded optical signal sequence and storage and the coded sequence table of comparisons, determine that equipment is currently located region.

14. according to the method for claim 13, it is characterised in that the method also includes：To received from charging pile Optical signal sequence is parsed, and light source direction information is obtained；The equipment is adjusted according to region and light source direction information The direction of motion.

15. according to the method for claim 13, it is characterised in that the optical signal sequence to received from charging pile Column are parsed, and the coded sequence for obtaining optical signal includes：It is carried out according to coded sequence of the time cycle prestored to optical signal Analysis, obtains the coded sequence of the optical signal in each period.

16. according to the method for claim 14, it is characterised in that described to be adjusted according to area information and light source direction information The direction of motion of equipment includes：

According to the position of the symmetrical middle line (M) of sender unit described in area information and light source direction data-evaluation；

The position of the equipment is adjusted, so that the alignment line (M2) of the equipment and the position of the symmetrical middle line (M) coincide；

It moves the equipment along the symmetrical middle line (M), makes the charging interface of the equipment and the charging of the charging pile Head engages.

17. according to the method for claim 13, it is characterised in that in the optical signal sequence to received from charging pile Before column are parsed, the method also includes：The optical signal sequence from the charging pile is received by multiple optical receivers, Wherein,

The multiple optical receiver includes at least two wide-angle optical receivers and for being aligned with the charging pile to quasi-optical Receiver；Alternatively,

The multiple optical receiver includes a full angle optical receiver and the alignment light-receiving for being aligned with the charging pile Device.

18. a kind of automatic cleaning equipment, it is characterised in that the automatic cleaning equipment includes at least two wide-angle optical receivers And processor；

Wherein, at least two wide-angles optical receiver is arranged on the shell of automatic cleaning equipment according to set angle, uses In optical signal of the reception from charging pile；

The charging pile that the processor is used to execute as described in any one of claim 13-17 seeks behaviour corresponding to piling method Make.

19. automatic cleaning equipment according to claim 18, it is characterised in that the automatic cleaning equipment further includes being used for The alignment optical receiver being aligned with the charging pile；

Three wide-angle optical receivers and the alignment optical receiver are uniformly arranged on the shell of the automatic cleaning equipment On peripheral wall.

20. a kind of automatic cleaning equipment, it is characterised in that the automatic cleaning equipment includes：Full angle optical receiver and processing Device；

Wherein, the full angle receiver is arranged on the shell of automatic cleaning equipment according to set angle, comes from for receiving The optical signal of charging pile；

21. automatic cleaning equipment according to claim 20, it is characterised in that the automatic cleaning equipment further includes being used for The alignment optical receiver being aligned with the charging pile；

The full angle receiver and the alignment optical receiver are uniformly arranged on the shell peripheral wall of the automatic cleaning equipment.

22. a kind of charge control system, it is characterised in that：Including charging pile such as of any of claims 1-12, and Automatic cleaning equipment as described in any one of claim 18-21.