CN107713920A - Automatic cleaning equipment and its method for charging - Google Patents

Automatic cleaning equipment and its method for charging Download PDF

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Publication number
CN107713920A
CN107713920A CN201710876021.3A CN201710876021A CN107713920A CN 107713920 A CN107713920 A CN 107713920A CN 201710876021 A CN201710876021 A CN 201710876021A CN 107713920 A CN107713920 A CN 107713920A
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CN
China
Prior art keywords
cleaning equipment
automatic cleaning
charging pile
reception device
stake
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710876021.3A
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Chinese (zh)
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CN107713920B (en
Inventor
贺航
王磊
罗晗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Stone Innovation Technology Co ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
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Application filed by Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Priority to CN202210518569.1A priority Critical patent/CN115089070A/en
Priority to CN201710876021.3A priority patent/CN107713920B/en
Publication of CN107713920A publication Critical patent/CN107713920A/en
Application granted granted Critical
Publication of CN107713920B publication Critical patent/CN107713920B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Abstract

The embodiments of the invention provide a kind of automatic cleaning equipment and its method for charging.This method includes：Judge that the automatic cleaning equipment whether there is cartographic information；Stake strategy is sought according to what the result of the judgement determined the automatic cleaning equipment；Determine the automatic cleaning equipment to the upper stake route of charging pile according to the stake strategy of seeking；The automatic cleaning equipment is controlled to be moved based on upper pile route, to cause the automatic cleaning equipment to dock and charge with the charging pile.In the embodiment of the present invention, the optical signal that automatic cleaning equipment detects according to the first bottom reception device and/or the second bottom reception device is combined with LDS, it is determined that to charging pile upper stake route so that control the automatic cleaning equipment be based on this on stake route movement, the alignment with charging pile is completed to be charged, the degree of accuracy of the process can be ensured, and quickly upper stake can be realized.

Description

Automatic cleaning equipment and its method for charging
Technical field
The present invention relates to robotic technology field, relate more specifically to a kind of method of automatic cleaning equipment and its charging.
Background technology
Automatic cleaning equipment is also referred to as automatic cleaning robot etc., and it can be moved so as to complete floor in room automatically Cleaning work.And automatic cleaning equipment can rely on crash sensor, sonac, infrared sensor etc. to judge to approach Barrier and hidden, so as to prevent the collision between barrier.
Charged when the not enough power supply of automatic cleaning equipment, it is necessary to return to charging pile.Now, automatic cleaning equipment needs Will by random walk-like fashion find charging pile, this cause find charging pile process time-consuming.
The content of the invention
The present invention is proposed in view of above mentioned problem.The invention provides a kind of automatic cleaning equipment and its side of charging Method, can realize the rapid alignment between charging pile, the efficiency of stake in guarantee.
First aspect, there is provided a kind of charging method of automatic cleaning equipment, methods described include：
Judge that the automatic cleaning equipment whether there is cartographic information；
Stake strategy is sought according to what the result of the judgement determined the automatic cleaning equipment；
Determine the automatic cleaning equipment to the upper stake route of charging pile according to the stake strategy of seeking；
Control the automatic cleaning equipment to be moved based on upper pile route, with cause the automatic cleaning equipment with The charging pile is docked and charged.
Exemplarily, the automatic cleaning equipment includes the first bottom reception device, the second bottom reception device and laser Distance measuring sensor, the charging pile include the first emitter and second of the center line symmetrical setting relative to the charging pile Emitter and relative to the 3rd emitter of the center line symmetrical setting and the 4th emitter, first transmitting Device, second emitter, the 3rd emitter and the optical signal of the 4th emitter transmitting form radiation Region, the radiation areas are divided into the first radiation area and the second radiation area with the center line.
Exemplarily, what the result according to the judgement determined the automatic cleaning equipment seeks stake strategy, including：
If cartographic information is not present in the automatic cleaning equipment, the automatic cleaning equipment is controlled to enter the radiation area Domain, the optical signal detected based on the first bottom reception device and/or the second bottom reception device determine described in seek Stake strategy.
Exemplarily, the automatic cleaning equipment is determined to the upper stake route of charging pile according to the stake strategy of seeking, including：
The 3rd transmitting dress is detected in response to the first bottom reception device or the second bottom reception device The optical signal put, determine that the automatic cleaning equipment is entered by first radiation area, using current location as initial position rotation Upper pile is determined to determine the direction of the charging pile, according to the direction of the initial position and the charging pile within least one week Route is the route in a manner of camber line close to the charging pile until the first bottom reception device detects the 3rd hair The optical signal of injection device and the second bottom reception device detect the optical signal of first emitter.
Exemplarily, the automatic cleaning equipment is determined to the upper stake route of charging pile according to the stake strategy of seeking, including：
The 3rd transmitting dress is detected in response to the first bottom reception device or the second bottom reception device The optical signal put, determine that the automatic cleaning equipment is entered by first radiation area, carried out by initial position of current location Rotation to determine direction and the distance of the charging pile based on the laser range sensor, and according to default first angle and Pre-determined distance determines target location, further determines that upper pile route to be moved to institute from the initial position in a manner of camber line Target location is stated, wherein, the first line between the initial position and the charging pile and the target location and described fill There is default first angle between the second line between electric stake.
Exemplarily, in addition to：The automatic cleaning equipment based on laser range sensor detection fills with described The distance between electric stake, the moving direction and angle of the automatic cleaning equipment are adjusted by rotating, until first bottom Portion's reception device or the second bottom reception device detect the optical signal of second emitter.
Exemplarily, the automatic cleaning equipment is determined to the upper stake route of charging pile according to the stake strategy of seeking, including：
The 4th transmitting dress is detected in response to the second bottom reception device or the second bottom reception device The optical signal put, determine that the automatic cleaning equipment is entered by second radiation area, using current location as initial position rotation Upper pile is determined to determine the direction of the charging pile, according to the direction of the initial position and the charging pile within least one week Route is the route in a manner of camber line close to the charging pile until the first bottom reception device detects second hair The optical signal of injection device and the second bottom reception device detect the optical signal of the 4th emitter.
Exemplarily, the automatic cleaning equipment is determined to the upper stake route of charging pile according to the stake strategy of seeking, including：
The 4th transmitting dress is detected in response to the second bottom reception device or the second bottom reception device The optical signal put, determine that the automatic cleaning equipment is entered by second radiation area, carried out by initial position of current location Rotation to determine direction and the distance of the charging pile based on the laser range sensor, and according to default first angle and Pre-determined distance determines target location, further determines that upper pile route to be moved to institute from the initial position in a manner of camber line Target location is stated, wherein, and the first line between the initial position and the charging pile and the target location and described There is default first angle between the second line between charging pile.
Exemplarily, in addition to：The automatic cleaning equipment based on laser range sensor detection fills with described The distance between electric stake, the moving direction and angle of the automatic cleaning equipment are adjusted by rotating, until first bottom Portion's reception device or the second bottom reception device detect the optical signal of first emitter.
Exemplarily, the control automatic cleaning equipment is moved based on upper pile route, including：Based on institute Laser range sensor is stated to be finely adjusted so that the first bottom reception device detects the light letter of first emitter Number and the second bottom reception device detect the optical signal of second emitter, the automatic cleaning equipment is located at institute State center line and towards the charging pile.
Exemplarily, what the result according to the judgement determined the automatic cleaning equipment seeks stake strategy, including：
If the automatic cleaning equipment has cartographic information, the position of the charging pile is determined according to the cartographic information Put, and stake strategy is sought described in determination.
Exemplarily, stake strategy is sought described in the basis and determines the automatic cleaning equipment to the upper stake route of charging pile, Including：
Anticollision region is determined according to the position of the charging pile, it is from the automatic cleaning equipment to determine upper pile route Current location to the charging pile center line and anticollision region point of intersection.
Exemplarily, the automatic cleaning equipment includes laser range sensor,
Before the judgement automatic cleaning equipment whether there is cartographic information, in addition to：
The laser range sensor draws the cartographic information in cleaning process,
Wherein, if the automatic cleaning equipment is cleaned from the charging pile, got the bid in the cartographic information Remember the position of the charging pile；
If the automatic cleaning equipment is not cleaned from the charging pile, in cleaning process, according to described The optical signal that the reception device of automatic cleaning equipment is detected, judge the position of the charging pile and got the bid in the cartographic information Remember the position of the charging pile.
Second aspect, there is provided a kind of automatic cleaning equipment, including memory, processor and be stored on the memory And the computer program run on the processor, realized described in the computing device during computer program first aspect and The step of each example methods described.
The third aspect, there is provided a kind of system of automated cleaning, including charging pile and automated cleaning as described above are set It is standby.
In the embodiment of the present invention, automatic cleaning equipment is according to the first bottom reception device and/or the second bottom reception device The optical signal detected is combined with LDS, it is determined that to charging pile upper stake route so that control the automatic cleaning equipment be based on this on Stake route movement, completes the alignment with charging pile to be charged, can ensure the degree of accuracy of the process, and can realize quick Upper stake.
Brief description of the drawings
The embodiment of the present invention is described in more detail below with reference to accompanying drawing, above-mentioned and other mesh of the invention , feature and advantage will be apparent.Accompanying drawing is used for that the embodiment of the present invention is further explained, and the accompanying drawing is formed Part for specification, and be not construed as limiting the invention together with the embodiment of the present invention for explaining the present invention.Attached In figure, identical reference typically represents same or analogous part or step.
Fig. 1 (a) and (b) are a schematic diagrames of the charging pile of the embodiment of the present invention；
Fig. 2 is a side view of the luminescence window of the charging pile shown in Fig. 1；
Fig. 3 is a top view of the luminescence window of the charging pile shown in Fig. 1；
Fig. 4 is the schematic diagram of the radiation areas for the optical signal formation for including four emitters；
Fig. 5 is a side view of the automatic cleaning equipment in the embodiment of the present invention；
Fig. 6 is a top view of the automatic cleaning equipment shown in Fig. 5；
Fig. 7 is a signal of the method that the automatic cleaning equipment of the embodiment of the present invention is docked and charged with charging pile Property flow chart；
Fig. 8 is that another of the method that the automatic cleaning equipment of the embodiment of the present invention is docked and charged with charging pile shows Meaning property flow chart；
Fig. 9 is a schematic diagram of the upper stake route of the embodiment of the present invention；
Figure 10 is another for the method that the automatic cleaning equipment of the embodiment of the present invention is docked and charged with charging pile Indicative flowchart；
Figure 11 (a)-Figure 11 (c) is a schematic diagram of the embodiment of the present invention from the upper stake route of the first radiation area；
Figure 12 (a)-Figure 12 (c) is a schematic diagram of the embodiment of the present invention from the upper stake route of the second radiation area；
Figure 13 is a schematic block diagram of the automatic cleaning equipment of the embodiment of the present invention；
Figure 14 is a schematic block diagram of the system of the automated cleaning of the embodiment of the present invention.
Embodiment
Become apparent in order that obtaining the object, technical solutions and advantages of the present invention, this is described in detail below with reference to accompanying drawings The example embodiment of invention.Obviously, described embodiment be only the present invention part of the embodiment, rather than the present invention Whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on this hair described in the present invention Bright embodiment, those skilled in the art's all other embodiment resulting in the case where not paying creative work all should Fall under the scope of the present invention.
Fig. 1 show a schematic diagram of the charging pile in the embodiment of the present invention, and wherein Fig. 1 (a) is the solid of charging pile Schematic diagram, Fig. 1 (b) are the side sectional view of charging pile.Charging pile 10 includes luminescence window 110 and charging head 120.When automatic clear When clean equipment is docked at charging head 120 with the charging pile 10, the charging pile 10 can be that automatic cleaning equipment is filled Electricity.Wherein, luminescence window 110 can be infraluminescence window.
Exemplarily, multiple emitters can be included in luminescence window 110, such as can be light emitting diode (Light Emitting Diode, LED), to launch optical signal.Wherein, multiple emitters can be located in same horizontal line, and can With relative to the center line symmetrical setting of charging pile 10.It should be noted that the embodiment of the present invention is not done to the quantity of multiple emitters Limit, the quantity can be the Arbitrary Digit more than or equal to 2, such as can be any value in 2 to 7.It is of the invention follow-up Embodiment is illustrated by taking 4 emitters as an example, and those skilled in the art can obtain the hair of other quantity on this basis The situation of injection device, is no longer enumerated one by one here.
As Fig. 2 and Fig. 3 be respectively shown in be the luminescence window 110 for including 4 emitters side view and top view.Its In, the center line of the charging pile 10 is expressed as AA, and center line AA is also referred to as symmetry axis.Include 4 transmittings in Fig. 2 and Fig. 3 Device：First emitter 111, the second emitter 112, the 3rd emitter 113 and the 4th emitter 114, incorporated by reference to Refering to Fig. 4, the first emitter 111, the second emitter 112, the 3rd emitter 113 and the 4th emitter 114 can be with L2s, R2s, L1s and R1s are expressed as, and L1s and R1s, L2s are symmetrical arranged with R2s relative to AA.Exemplarily, L2s Center line, R2s center line are parallel with AA, have the first angle, R1s center line and AA between L1s center line and AA Between there is the second angle.Shadow shield 118 is also provided with charging pile 10, the shadow shield 118 is arranged on the first transmitting dress 111 and second are put between emitter 112.
Wherein, the optical signal of the first emitter 111 (i.e. L2s) transmitting has the first center line, and first center line Parallel with symmetry axis AA, the optical signal of the second emitter 112 (i.e. R2s) transmitting has the second center line, and second center Line is parallel with symmetry axis AA.The optical signal of 3rd emitter 113 (i.e. L1s) transmitting has third centerline, and in the 3rd There is the first angle, the optical signal of the 4th emitter 114 (i.e. R1s) transmitting has the 4th center between heart line and symmetry axis AA Line, and there is the second angle between the 4th center line and symmetry axis AA.Exemplarily, the first angle and the second angle can be Any value less than 90 °, for example, the first angle can be equal to 45 ° or 30 °, the second angle can be equal to 45 ° or 60 °, wherein, First angle and the second angle can be with equal or unequal, and the present invention is not limited this.Exemplarily, the 3rd emitter is launched Optical signal and the 4th emitter transmitting optical signal no overlap, i.e., no overlapping region.It should be noted that the side for description Just, assume that the first angle is equal to the second angle in the follow-up embodiment of the present invention, and between third centerline and the 4th center line Angle be multiplied by 2 equal to the first angle.
In the embodiment of the present invention, emitter can be infrared light supply, and correspondingly, the optical signal that emitter is launched can Think infrared light.Wherein, because the optical signal that the first emitter 111 is launched with the second emitter 112 is parallel to each other, this hair By setting shadow shield 118 in bright embodiment, the optical signal and second of the first emitter 111 (i.e. L2s) transmitting can be prevented Optical signal the interfering between the two of emitter 112 (i.e. R2s) transmitting.
The optical signal that multiple emitters of charging pile 10 are launched can form a radiation areas, as shown in figure 4, should Radiation areas are expressed as W area.Based on the setting of multiple emitters, the W area includes 4,1,2,8 four quadrants.Wherein, may be used Emitter is set to ensure the size of W area with the usage scenario of the automatic cleaning equipment corresponding to.For example, for one As family expenses automatic cleaning equipment, the maximum distance for the optical signal that the emitter of the charging pile 10 is launched can be 6 meters (m) Or 4m.The effectiveness of emitter can so be ensured, and avoid wasting.Exemplarily, the radiation areas can using center line as Boundary is divided into the first radiation area and the second radiation area.As shown in figure 4, the first radiation area can be the radiation areas of 4,1 quadrant, the Two radiation areas can be the radiation areas of 2,8 quadrants.
Further, since the first angle and the second angle are less than 90 °, therefore, the scope of the radiation areas (i.e. W area) is that have Limit, can there are the inactive area that optical signal can not reach, V regions as shown in Figure 4.Based on the charging pile 10 shown in Fig. 1 Schematic diagram, it can be seen from the position of charging head 120, usually, V regions are close to wall and positioned at the automatic cleaning equipment in V regions Charging head 120 can not be found, therefore the embodiment of the present invention is located at W by the setting of the first angle and the second angle, guarantee The invalid operation sought stake operation, avoid the automatic cleaning equipment positioned at V regions of the automatic cleaning equipment in region.I.e. ought be automatically clear Clean equipment enter V regions after, its reception device can not receive charging pile 10 transmitting optical signal, now, automatic cleaning equipment according to Wall locations are perceived by the sensor of its own, such as buffer, range sensor etc., and towards the direction away from wall with similar The walking path of arc marches to radiation areas W areas.
Exemplarily, multiple emitters can launch same signal waveform, and the anti-of similar sector is formed so as to be superimposed Hit region, Y regions as shown in Figure 4, the basic configuration in the anticollision region is consistent or similar with the basic configuration of radiation areas. Wherein, the scope in the anticollision region can be set according to the actual size of product, such as may be at 4cm-50cm scopes It is interior.The anticollision region can avoid automatic cleaning equipment from being too near to charging pile colliding risk.
Fig. 5 show a side view of the automatic cleaning equipment in the embodiment of the present invention, and Fig. 6 is that the automated cleaning is set Standby top view.Automatic cleaning equipment 20 includes laser range sensor (Laser Distance Sensor, LDS) 210, LDS 210 can be used for map making and avoidance.Automatic cleaning equipment 20 includes light signal receiving.The reception device can include First bottom reception device 220 and the second bottom reception device 230.Exemplarily, can be by the He of the first bottom reception device 220 Second bottom reception device 230 is referred to as bottom lamp.The automatic cleaning equipment 20 shown in Fig. 6 includes charge sheet 240, in charge sheet 240 with the charging head 120 of charging pile when being aligned, and can be that automatic cleaning equipment 20 is charged by charging pile 10.
Exemplarily, the first bottom reception device 220 and the second bottom reception device 230 can be relative to the automated cleanings The center line symmetrical setting of equipment 20, and the first bottom reception device 220 and the second bottom reception device 230 can be accurate right Quasi-optical receiver, is expressed as Lr and Rr.
Based on the description as described in automatic cleaning equipment in description and Fig. 5-Fig. 6 as described in charging pile in above-mentioned Fig. 1-Fig. 4, Because the first bottom reception device 220 and the second bottom reception device 230 are accurate alignment optical receiver, when the first bottom reception Device 220 detects the optical signal of the first emitter 111 (i.e. L2s) transmitting and the second bottom reception device 230 detects the The optical signal of two emitters 112 (i.e. R2s) transmitting, then can determine that automatic cleaning equipment is located at the centerline of charging pile, First bottom reception device 220 (i.e. Lr) of automatic cleaning equipment and the first emitter 111 (i.e. L2s) of charging pile are substantially right Standard, the second bottom reception device 230 (i.e. Rr) are aligned substantially with the second emitter 112 (i.e. R2s), and automatic cleaning equipment Head overlaps towards charging pile, body center with AA center lines.Now automatic cleaning equipment is along close to direction (the i.e. edge of charging pile AA lines) movement can realize stake.
The embodiment of the present invention proposes a kind of method that automatic cleaning equipment is automatically docked and charged with charging pile, As shown in fig. 7, this method includes：
S101, judge that the automatic cleaning equipment whether there is cartographic information；
S102, stake strategy is sought according to what the result of the judgement determined the automatic cleaning equipment；
S103, determine the automatic cleaning equipment to the upper stake route of charging pile according to the stake strategy of seeking；
S104, the automatic cleaning equipment is controlled to be moved based on upper pile route, to cause the automated cleaning Equipment is docked and charged with the charging pile.
Exemplarily, before S101, can include：Determine that automatic cleaning equipment needs back stake.For example, it is automatic clear Clean equipment is during floor sweeping, it can be determined that whether it, which needs, is charged.As a kind of implementation, can periodically or Dump energy is periodically detected, if dump energy is equal to or less than default power threshold (such as 10% or 15%), it is determined that Automatic cleaning equipment needs to charge；If dump energy is higher than default power threshold, it is determined that automatic cleaning equipment need not charge, It continues executing with cleaning task., can be with if the cleaning task of automatic cleaning equipment has been completed as another implementation Determine that it needs back stake.
It is understood that S101 judgement can have two kinds of results：Cartographic information be present, in the absence of cartographic information, will divide below Both different situations are not discussed.
, can in S102 if S101 determines that automatic cleaning equipment has cartographic information by judging as a kind of situation To determine the position of the charging pile according to the cartographic information, and stake strategy is sought described in determination.Further, can in S103 To determine anticollision region according to the position of the charging pile, it is from the current of the automatic cleaning equipment to determine upper pile route Position to the charging pile center line and anticollision region point of intersection.
Specifically, if the results that judge of S101 can determine that it is base to seek stake strategy cartographic information to be present in S102 Realize upper stake in the position of the charging pile marked in cartographic information.Further, in S103, can include：To be automatically clear The current location of clean equipment is as starting point, using the position of the charging pile obtained from cartographic information as terminal, and according to the map The upper stake route of information planning starting point to the end.Or in S103, anticollision region can be determined according to the position of charging pile (the Y regions in such as Fig. 4), using the current location of automatic cleaning equipment as starting point, by the intersection point of anticollision region and center line (such as O points in Fig. 4) it is used as terminal, and the upper stake route of information planning starting point to the end according to the map.Wherein, anticollision region is outer There is safe distance, the safe distance can be 40cm-50cm between edge and charging pile.So, in S104, automated cleaning is set After intersection point (O points) is moved to according to stake route on this, then slowly docked with charging pile, so that it is guaranteed that not by charging pile Miscue or even break.
Exemplarily, stake route can be from the optimal route between starting point to the end, if for example, starting point is to end on this Other barriers are not present between point, stake route can be from the straight line between starting point to the end on this；If starting point is to end Barrier be present between point, stake route can be the minimal path for getting around the barrier on this.
The cartographic information can be that automatic cleaning equipment creates in cleaning process, i.e., before S101, can also wrap Include：Automatic cleaning equipment creates cartographic information in cleaning process, specifically, by laser range sensor 210 in cleaning process It is middle to draw the cartographic information.
As shown in figure 8, as one, if automatic cleaning equipment is cleaned from charging pile, then can open The position of charging pile is marked during dynamic cleaning process, by laser range sensor map making information and at this in cleaning process The position coordinates (such as the position coordinates is labeled as (0,0)) of charging pile is marked in cartographic information.So, automatic cleaning equipment is worked as , can stake in the position realization for the charging pile that information is marked according to the map when needing back stake charging.
As shown in figure 8, as another example, if automatic cleaning equipment is cleaned from charging pile, then can With in cleaning process by laser range sensor map making information and according to the first bottom reception device 220 and/or second The optical signal that bottom reception device 230 detects marks the position of charging pile.For example, automatic cleaning equipment be movable by the user to Away from charging pile position as clean starting point, then in cleaning process can the overall situation look for optical signal, locally look for charging pile Center.Specifically, the laser range sensor map making of automatic cleaning equipment, the first bottom reception device and the second bottom connect Receiving apparatus can sense the optical signal of charging pile in the process.It is detectable in laser range sensor with the movement of position In the range of map constantly drawn out, if region does not sense optical signal, light is continually looked for the movement of position Signal, once receiving optical signal, then charging pile position is labeled on map, cleaning finishes or needs back stake to charge When can stake on the position of the charging pile of upper mark according to the map.
As can be seen here,, can be according to filling when automatic cleaning equipment needs back stake in the case where this situation of cartographic information be present The position of electric stake determines back stake route and realized to dock with charging pile, and the process is simple and convenient, can guarantee that automatic cleaning equipment Quickly return stake.
As another situation, if S101 determines that cartographic information is not present in automatic cleaning equipment by judging.Such as rising Point be not charging pile cleaning process in, also it is unmarked go out charging pile position just determine to need back stake；Or starting point is not filled In the charging process of electric stake；Or because other reasonses cause cartographic information failure etc., at this point it is possible to be filled based on the first bottom reception Put and/or optical signal that the second bottom reception device detects determines to seek stake strategy.
It can first determine whether that can the first bottom reception device and/or the second bottom reception device detect optical signal, such as Fruit the first bottom reception device and the second bottom reception device can not detect optical signal, illustrate automatic cleaning equipment now position In V regions, then automatic cleaning equipment is controlled to enter the radiation areas (W area i.e. shown in Fig. 4) of the optical signal of charging pile.Example Property, radiation areas can be entered by way of random walk, or, it can be moved based on LDS towards the direction away from wall Deng, the present invention to from V regions enter W area move mode do not limit.
That is, if the result that S101 judges is in the absence of cartographic information, then can be according to first in S102 The optical signal that bottom reception device and/or the second bottom reception device detect determines to seek stake strategy.Determine to seek i.e. in S102 Stake strategy is in the optical signal combination LDS realizations detected based on the first bottom reception device and/or the second bottom reception device Stake.Further, in S103, it may be determined that upper stake route is the center from the current location of automatic cleaning equipment to charging pile The route of the camber line mode at place.Specifically, can be detected according to the first bottom reception device and/or the second bottom reception device Optical signal combination LDS, progressively adjust the moving direction of automatic cleaning equipment, the angle etc. for progressively adjusting camber line is filled so as to approach The center of electric stake.Stake route on this is described in detail below in conjunction with Fig. 9.
As a kind of implementation, the 3rd hair is detected in response to the first bottom reception device or the second bottom reception device The optical signal of injection device, determine that automatic cleaning equipment is entered by the first radiation area, using current location as initial position rotation at least Determine that above stake route is close in a manner of camber line to determine the direction of charging pile, according to the direction of initial position and charging pile within one week The route of charging pile is until the first bottom reception device detects the optical signal and the second bottom reception device of the 3rd emitter Detect the optical signal of the first emitter.Between automatic cleaning equipment and charging pile based on laser range sensor detection Distance, the moving direction of automatic cleaning equipment and angle are adjusted by rotating, until the first bottom reception device or the second bottom Portion's reception device detects the optical signal of the second emitter.
If the first bottom reception device Lr and the second bottom reception device Rr can not detect optical signal, can control Automatic cleaning equipment enters radiation areas W；Specifically, if the first bottom reception device Lr and/or the second bottom reception device Rr is able to detect that optical signal, then can determine that automatic cleaning equipment comes into radiation areas W.Reference picture 9, if the first bottom Reception device Lr and/or the second bottom reception device Rr is able to detect that the 3rd emitter L1s optical signal, then can determine Automatic cleaning equipment is currently at the first radiation area and is substantially at 4 quadrants (the F0 points in such as Fig. 9), and subsequent automated cleaning is set Standby to determine the direction of charging pile with rotation at least one week, i.e. automatic cleaning equipment rotates in place at F0 points, passes through first The optical signal combination LDS that bottom reception device Lr and/or the second bottom reception device Rr are detected judges that the direction of charging pile is X2 directions.Thereafter, automatic cleaning equipment adjusts the direction (can have certain angle with X2 directions, such as 60 °) of its head simultaneously Control its towards X2 directions in a manner of camber line close to center line.The 3rd emitter is detected in the first bottom reception device Lr L1s optical signal and when the second bottom reception device Rr detects the first emitter L2s optical signal, it may be determined that automatic clear Clean equipment has been substantially between 4,1 quadrant (the F1 points in such as Fig. 9), can now be adjusted by rotation (for example, 45 ° of rotation) The heading of whole automatic cleaning equipment, at the same time determines the orientation of charging pile again with reference to LDS, then controls it towards X2 Continued in a manner of camber line close to center line in direction.Is detected in the first bottom reception device Lr or the second bottom reception device Rr During two emitter R2s optical signal, it may be determined that automatic cleaning equipment has been substantially between 1,2 quadrants (in Fig. 9 F2 points), it can now adjust the heading of automatic cleaning equipment again by rotation (for example, 30 ° of rotation), at the same time tie Close LDS controls automatic cleaning equipment to move in a manner of finely tuning, until the first bottom reception device Lr detects that the first transmitting fills Put L2s optical signal and the second bottom reception device Rr detects the second emitter R2s optical signal, determine that automated cleaning is set It is standby be located at F3, then can be with docking along center line realization and charging pile.
, can be according to the first bottom reception device Lr and the second bottom reception device in S103 by foregoing description The optical signal of Rr detections, with reference to stake route in LDS determinations.
The 3rd emitter L1s light is detected in response to the first bottom reception device Lr or the second bottom reception device Rr Signal, it is determined that upper stake route includes first paragraph route, second segment route and the 3rd section of route.In response to the first bottom reception device Lr detects the 3rd emitter L1s optical signal and the second bottom reception device Rr detects the first emitter L2s light Signal, it is determined that upper stake route includes second segment route and the 3rd section of route.
Wherein, first paragraph route be original position F0 to the curved line between the F1 of first position, can be by originating At least one week direction for determining first paragraph route of position F0 rotations and angle.Wherein, second segment route is first position F1 to the Curved line between two position F2, can by rotated to an angle in first position F1 (such as 45 °) determine second segment route Direction and angle.Wherein, the 3rd section of route is second place F2 to the curved line between the 3rd position F3, can by Second place F2 rotate to an angle (such as 30 °) determine direction and the angle of the 3rd section of route.Wherein, the 3rd section of route is also referred to as The fine setting route of approximate centerline.Wherein, in original position F0, the first bottom reception device Lr or the second bottom reception device Rr Detect the 3rd emitter L1s optical signal.In first position F1, the first bottom reception device Lr detects the 3rd transmitting dress L1s optical signal is put, and the second bottom reception device Rr detects the first emitter L2s optical signal.In second place F2, First bottom reception device Lr or the second bottom reception device Rr detects the second emitter R2s optical signal.At the 3rd F3 is put, the first bottom reception device Lr detects the first emitter L2s optical signal, and the second bottom reception device Rr is detected To the second emitter R2s optical signal.It is appreciated that the first paragraph route, second segment route and the 3rd section of route are not Limit by F0 to F3 as three sections of routes, it can be divided into appropriate hop count according to F0 to F3 distance to realize by F0 to F3 arcs Stake path in shape.
It can be seen that if automatic cleaning equipment is in the first radiation area, then can control it towards charging pile with camber line side Formula moves toward center line, until the first bottom reception device Lr or the second bottom reception device Rr detects the second emitter R2s optical signal, illustrate that automatic cleaning equipment generally within 1,2 quadrants, then can control automated cleaning to set with fine-tuning mode It is standby be moved to centerline, docked so as to realize with charging pile.It is understood that in the process, sensed based on LDS with filling The distance between electric stake, to ensure that the distance between automatic cleaning equipment and charging pile are more than safe distance.
So can with realize automatic cleaning equipment from the first radiation area return stake process, it is appreciated that automatic cleaning equipment The process that stake is returned from the second radiation area is also similar.
As another implementation, examined in response to the second bottom reception device or the second bottom reception device The optical signal of the 4th emitter is measured, determines that the automatic cleaning equipment is entered by second radiation area, with current Position is initial position rotation at least one week to determine the direction of the charging pile, according to the side of the initial position and charging pile To determine upper pile route in a manner of camber line close to the charging pile route until the first bottom reception device examine Measure the optical signal of second emitter and the second bottom reception device detects the light of the 4th emitter Signal；The distance between described automatic cleaning equipment and the charging pile based on laser range sensor detection, pass through Rotate to adjust the moving direction of the automatic cleaning equipment and angle, until the first bottom reception device or described second Bottom reception device detects the optical signal of first emitter.
If the first bottom reception device Lr and the second bottom reception device Rr can not detect optical signal, can control Automatic cleaning equipment enters radiation areas W；Specifically, if the first bottom reception device Lr and/or the second bottom reception device Rr is able to detect that optical signal, then can determine that automatic cleaning equipment comes into radiation areas W.Reference picture 9, if the first bottom Reception device Lr and/or the second bottom reception device Rr is able to detect that the 4th emitter R1s optical signal, then can determine Automatic cleaning equipment is currently at the second radiation area and is substantially at 8 quadrants (the P0 points in such as Fig. 9), and subsequent automated cleaning is set Standby to determine the direction of charging pile with rotation at least one week, i.e. automatic cleaning equipment rotates in place at P0 points, passes through first The optical signal combination LDS that bottom reception device Lr and/or the second bottom reception device Rr are detected judges that the direction of charging pile is X2 directions.Thereafter, the direction that automatic cleaning equipment can adjust its head (can have certain angle, such as with X2 directions 60 °) and control its towards X2 directions in a manner of camber line close to center line.The second transmitting is detected in the first bottom reception device Lr Device R2s optical signal and when the second bottom reception device Rr detects the 4th emitter R1s optical signal, it may be determined that from Dynamic cleaning equipment has been substantially between 2,8 quadrants (the P1 points in such as Fig. 9), now can be by rotation (for example, rotation 45 °) adjustment automatic cleaning equipment heading, at the same time determine the orientation of charging pile again with reference to LDS, then control it Continued towards X2 directions in a manner of camber line close to center line.Examined in the first bottom reception device Lr or the second bottom reception device Rr When measuring the first emitter L2s optical signal, it may be determined that automatic cleaning equipment has been substantially between 1,2 quadrants (such as P2 points in Fig. 9), it can now adjust the heading of automatic cleaning equipment again by rotation (for example, rotation 30 °), with This controls automatic cleaning equipment to move in combination with LDS in a manner of finely tuning, until the first bottom reception device Lr detects the One emitter L2s optical signal and the second bottom reception device Rr detect the second emitter R2s optical signal, it is determined that from Dynamic cleaning equipment be located at F3, then can be with docking along center line realization and charging pile.
, can be according to the first bottom reception device Lr and the second bottom reception device in S103 by foregoing description The optical signal of Rr detections, with reference to stake route in LDS determinations.
The 4th emitter R1s light is detected in response to the first bottom reception device Lr or the second bottom reception device Rr Signal, it is determined that upper stake route includes first paragraph route, second segment route and the 3rd section of route.In response to the first bottom reception device Lr detects the second emitter R2s optical signal and the second bottom reception device Rr detects the 4th emitter R1s light Signal, it is determined that upper stake route includes second segment route and the 3rd section of route.
Wherein, first paragraph route be original position P0 to the curved line between the P1 of first position, can be by originating At least one week direction for determining first paragraph route of position P0 rotations and angle.Wherein, second segment route is first position P1 to the Curved line between two position P2, can by rotated to an angle in first position P1 (such as 45 °) determine second segment route Direction and angle.Wherein, the 3rd section of route is second place P2 to the curved line between the 3rd position F3, can by Second place P2 rotate to an angle (such as 30 °) determine direction and the angle of the 3rd section of route.Wherein, the 3rd section of route is also referred to as The fine setting route of approximate centerline.Wherein, in original position P0, the first bottom reception device Lr or the second bottom reception device Rr Detect the 4th emitter R1s optical signal.In first position P1, the first bottom reception device Lr detects that the second transmitting fills R2s optical signal is put, and the second bottom reception device Rr detects the 4th emitter R1s optical signal.In second place P2, First bottom reception device Lr or the second bottom reception device Rr detects the first emitter L2s optical signal.At the 3rd F3 is put, the first bottom reception device Lr detects the first emitter L2s optical signal, and the second bottom reception device Rr is detected To the second emitter R2s optical signal.It is appreciated that the first paragraph route, second segment route and the 3rd section of route are not Limit by P0 to F3 as three sections of routes, it can be divided into appropriate hop count according to P0 to F3 distance to realize by P0 to F3 arcs Stake path in shape.
It can be seen that if automatic cleaning equipment is in the second radiation area, then can control it towards charging pile with camber line side Formula moves toward center line, until the first bottom reception device Lr or the second bottom reception device Rr detects the first emitter L2s optical signal, illustrate that automatic cleaning equipment generally within 1,2 quadrants, then can control automated cleaning to set with fine-tuning mode It is standby be moved to centerline, docked so as to realize with charging pile.It is understood that in the process, sensed based on LDS with filling The distance between electric stake, to ensure that the distance between automatic cleaning equipment and charging pile are more than safe distance.
Exemplarily, the process that stake is returned from the first radiation area or the second radiation area shown in Fig. 9 can be as shown in Figure 10, from The optical signal that dynamic cleaning equipment can detect according to reception device judges residing quadrant, and LDS can sense automatic cleaning equipment The distance between charging pile.
If automatic cleaning equipment is moved to from F2 or P2 in F3 process (i.e. trim process), LDS detects automatic clear The distance between clean equipment and charging pile are less than safe distance, then control automatic cleaning equipment to be carried out towards the direction away from charging pile Appropriate rollback, then re-move again to F3.Exemplarily, safe distance can be 40cm-50cm.So, can prevent Automatic cleaning equipment miscues charging pile during stake is returned.
As another implementation, the 3rd is detected in response to the first bottom reception device or the second bottom reception device The optical signal of emitter, determine that automatic cleaning equipment is entered by the first radiation area, a rotation at least Zhou Yiji in current location Direction and the distance of charging pile are determined in LDS, further determines that the target location currently moved, and determines that upper stake route is with arc Line mode is moved to target location from current location.Wherein, target location (is not necessarily actual charging with identified charging pile Stake) the distance between be equal to pre-determined distance, and the first line between current location and identified charging pile and target location There is default first angle between the second line between identified charging pile.If in the moving process, first Bottom reception device or the second bottom reception device detect the optical signal of the second emitter, then stop movement, i.e., no longer move Move to target location；Otherwise until target location.
Reference picture 11, if the first bottom reception device Lr and/or the second bottom reception device Rr are able to detect that the 3rd hair Injection device L1s optical signal, then it can determine that automatic cleaning equipment is currently at the first radiation area and is substantially at 4 quadrants (the F0 points in such as Figure 11 (a)-Figure 11 (c)), subsequent automatic cleaning equipment can determine the side of charging pile with rotation at least one week To and with the distance between charging pile, i.e., automatic cleaning equipment rotates in place at F0 points, passes through the first bottom reception device The optical signal combination LDS that Lr and/or the second bottom reception device Rr are detected judges the Position Approximate of charging pile for C points.Thereafter, Target location Q can be determined according to pre-determined distance and default first angle (being expressed as θ 1).Specifically, between F0 and C The second line between one line, C and Q has the first angle between the two.As an example, the first angle can be equal to 45 °, pre-determined distance can be equal to 80cm, and the first angle, pre-determined distance can also be other numerical value, will not enumerate here. So, automatic cleaning equipment can adjust the direction of its head and control it to be moved in a manner of camber line towards Q.And it is moved through at this Cheng Zhong, judge the optical signal that the first bottom reception device Lr and/or the second bottom reception device Rr are detected.
If in the moving process, the first bottom reception device Lr and/or the second bottom reception device Rr detect Two emitter R2s optical signal, the Q points as shown in Figure 11 (a), that is, detect the second emitter R2s optical signal Position essentially coincides with target location Q, then can be filled after target location Q is reached by finely tuning the first bottom reception Put that Lr detects the first emitter L2s optical signal and the second bottom reception device Rr detects the second emitter R2s's Optical signal, it can then be docked with being realized along center line with charging pile.
If in the moving process, the first bottom reception device Lr and/or the second bottom reception device Rr detect Two emitter R2s optical signal, Q1 points as shown in Figure 11 (b) or its near, then automatic cleaning equipment stops movement, i.e., No longer moved toward Q points, and the first hair is detected by finely tuning the first bottom reception device Lr in the position Q1 being currently located Injection device L2s optical signal and the second bottom reception device Rr detect the second emitter R2s optical signal, then can be with Realize along center line and docked with charging pile.Right the above situation is charging pile trusted status, as a rule, it is impossible to it is determined that Charging pile is trusted status, i.e. charging pile is probably wall or the barrier in charging pile radiation area, then automated cleaning is set It is standby that Q points are reached by Q1 points, and be finely adjusted in Q points by the first bottom reception device and the second bottom reception device and LDS Upper stake is planning stake route as current location again using Q points.
If in the moving process, the first bottom reception device Lr and the second bottom reception device Rr are not detected by Two emitter R2s optical signal, then Q points are moved to according to arcuate motion.As shown in Figure 11 (c), after reaching Q points, according to The optical signal that first bottom reception device Lr and/or the second bottom reception device Rr are detected determine automatic cleaning equipment be in 4, Between 1 quadrant or in 1 quadrant.Subsequent automatic cleaning equipment can rotate (such as half cycle or one week etc.) and be determined by LDS The direction of charging pile and the distance between with charging pile, the Position Approximate of charging pile is C points.Thereafter, can according to it is default away from Determine that new target location (is expressed as Q from default second angle (being expressed as θ 2)N).Specifically, first between Q and C Line, C and QNBetween the second line there is the second angle between the two.As an example, the second angle can be equal to 15 °, it will be appreciated that the second angle can also be other values, will not enumerate here.So, automatic cleaning equipment can adjust it The direction of head simultaneously controls it in a manner of camber line towards QNIt is mobile.Wherein, from Q to QNMobile process is similar to the shifting from F0 to Q Dynamic process, is not detailed herein.That is, in the first bottom reception device Lr of automatic cleaning equipment or the second bottom After reception device Rr detects the second emitter R2s optical signal, stop moving along camber line, and by finely tuning the first bottom Portion reception device Lr detects the first emitter L2s optical signal and the second bottom reception device Rr detects that the second transmitting fills Put R2s optical signal, can then be docked with being realized along center line with charging pile.Right the above situation is the credible shape of charging pile State, as a rule, it is impossible to which it is trusted status to determine charging pile, i.e., charging pile is probably wall or positioned at charging pile radiation area Interior barrier, then automatic cleaning equipment pass through Q1 points reach QNPoint, and in QNPoint passes through the first bottom reception device and the second bottom Portion's reception device and LDS are finely adjusted stake or with QNPoint plans stake route again for current location.
Further, it can be appreciated that the optical signal of the 3rd emitter is detected in response to the first bottom reception device, and the second bottom Portion's reception device detects the optical signal of the first emitter, in current location by rotation to determine charging pile based on LDS Direction and distance, the target location currently moved is further determined that, and determine that upper stake route is from current location in a manner of camber line It is moved to target location.Wherein, the distance between target location and charging pile are equal to pre-determined distance, and current location and charging pile Between the first line and target location and charging pile between the second line between there is the second angle.
, can be according to the first bottom reception device Lr and the second bottom reception device in S103 by foregoing description The optical signal of Rr detections, with reference to stake route in LDS determinations.In response to the first bottom reception device Lr or the second bottom reception device Rr detects the 3rd emitter L1s optical signal, it is determined that upper stake route includes the current location F0 to Q as shown in Figure 11 (a) Camber line route, either the camber line route of the current location F0 to Q1 as shown in Figure 11 (b) or as shown in Figure 11 (c) work as Front position F0 to Q is again to Q1 camber line route.It is appreciated that automatic cleaning equipment determines that upper stake route is included such as Figure 11 (a) institutes The current location F0 to Q shown route can also be the route of near linear, or the current location F0 as shown in Figure 11 (b) is extremely Q1 route can also be the route of near linear, or current location F0 to Q as shown in Figure 11 (c) again to Q1 route also It can be near linear route.
It can be seen that automatic cleaning equipment can determine direction and the distance of charging pile based on LDS, based on the default first folder Angle, the second angle and pre-determined distance determine target location, and are moved in a manner of camber line towards target location, in being progressively moved to At heart line, docked so as to realize with charging pile.
So can with realize automatic cleaning equipment from the first radiation area return stake process, it is appreciated that automatic cleaning equipment The process that stake is returned from the second radiation area is also similar.
As another implementation, the 4th is detected in response to the first bottom reception device or the second bottom reception device The optical signal of emitter, determine that automatic cleaning equipment is entered by the second radiation area, a rotation at least Zhou Yiji in current location Direction and the distance of charging pile are determined in LDS, further determines that the target location currently moved, and determines that upper stake route is with arc Line mode is moved to target location from current location.Wherein, target location (is not necessarily actual charging with identified charging pile Stake) the distance between be equal to pre-determined distance, and the first line between current location and identified charging pile and target location There is the first angle between the second line between identified charging pile.If in the moving process.First bottom connects Receiving apparatus or the second bottom reception device detect the optical signal of the first emitter, then stop movement, i.e., be no longer moved to mesh Cursor position；Otherwise until target location.
Reference picture 12, if the first bottom reception device Lr and/or the second bottom reception device Rr are able to detect that the 4th hair Injection device L1s optical signal, then it can determine that automatic cleaning equipment is currently at the second radiation area and is substantially at 8 quadrants (the P0 points in such as Figure 12 (a)-Figure 12 (c)), subsequent automatic cleaning equipment can determine the side of charging pile with rotation at least one week To and with the distance between charging pile, i.e., automatic cleaning equipment rotates in place at P0 points, passes through the first bottom reception device The optical signal combination LDS that Lr and/or the second bottom reception device Rr are detected judges the Position Approximate of charging pile for C points.Thereafter, Target location Q can be determined according to pre-determined distance and default first angle (being expressed as θ 1).Specifically, between P0 and C The second line between one line, C and Q has the first angle between the two.As an example, the first angle can be equal to 45 °, pre-determined distance can be equal to 80cm, and the first angle, pre-determined distance can also be other values, will not enumerate here.This Sample, automatic cleaning equipment can adjust the direction of its head and control it to be moved in a manner of camber line towards Q.And in the moving process In, judge the optical signal that the first bottom reception device Lr and/or the second bottom reception device Rr are detected.
If in the moving process, the first bottom reception device Lr and/or the second bottom reception device Rr detect One emitter L2s optical signal, the Q points as shown in Figure 12 (a), that is, detect the first emitter L2s optical signal Position essentially coincides with target location Q, then can be filled after target location Q is reached by finely tuning the first bottom reception Put that Lr detects the first emitter L2s optical signal and the second bottom reception device Rr detects the second emitter R2s's Optical signal, it can then be docked with being realized along center line with charging pile.
If in the moving process, the first bottom reception device Lr and/or the second bottom reception device Rr detect One emitter L2s optical signal, Q1 points as shown in Figure 12 (b) or its near, then automatic cleaning equipment stops movement, i.e., No longer moved toward Q points, and the first hair is detected by finely tuning the first bottom reception device Lr in the position Q1 being currently located Injection device L2s optical signal and the second bottom reception device Rr detect the second emitter R2s optical signal, then can be with Realize along center line and docked with charging pile.Right the above situation is charging pile trusted status, as a rule, it is impossible to it is determined that Charging pile is trusted status, then automatic cleaning equipment reaches Q points by Q1 points, and Q points by the first bottom reception device and Second bottom reception device and LDS are finely adjusted stake or are planning stake route again as current location using Q points.
If in the moving process, the first bottom reception device Lr and the second bottom reception device Rr are not detected by One emitter L2s optical signal, then Q points are moved to according to arcuate motion.As shown in Figure 12 (c), after reaching Q points, according to The optical signal that first bottom reception device Lr and/or the second bottom reception device Rr are detected determine automatic cleaning equipment be in 2, Between 8 quadrants or in 2 quadrants.Subsequent automatic cleaning equipment can rotate (such as half cycle or one week etc.) and be determined by LDS The direction of charging pile and the distance between with charging pile, the Position Approximate of charging pile is C points.Thereafter, can according to it is default away from Determine that new target location (is expressed as Q from default second angle (being expressed as θ 2)N).Specifically, first between Q and C Line, C and QNBetween the second line there is the second angle between the two.As an example, the second angle can be equal to 15 °, it will be appreciated that the second angle can also be other values, will not enumerate here.So, automatic cleaning equipment can adjust it The direction of head simultaneously controls it in a manner of camber line towards QNIt is mobile.Wherein, from Q to QNMobile process is similar to the shifting from P0 to Q Dynamic process, is not detailed herein.That is, in the first bottom reception device Lr of automatic cleaning equipment or the second bottom After reception device Rr detects the first emitter L2s optical signal, stop moving along camber line, and by finely tuning the first bottom Portion reception device Lr detects the first emitter L2s optical signal and the second bottom reception device Rr detects that the second transmitting fills Put R2s optical signal, can then be docked with being realized along center line with charging pile.Right the above situation is the credible shape of charging pile State, as a rule, it is impossible to which it is trusted status to determine charging pile, i.e., charging pile is probably wall or positioned at charging pile radiation area Interior barrier, then automatic cleaning equipment pass through Q1 points reach QNPoint, and in QNPoint passes through the first bottom reception device and the second bottom Portion's reception device and LDS are finely adjusted stake or with QNPoint plans stake route again for current location.
Further, it can be appreciated that the optical signal of the second emitter is detected in response to the first bottom reception device, and the second bottom Portion's reception device detects the optical signal of the 4th emitter, in current location by rotation to determine charging pile based on LDS Direction and distance, the target location currently moved is further determined that, and determine that upper stake route is from current location in a manner of camber line It is moved to target location.Wherein, the distance between target location and charging pile are equal to pre-determined distance, and current location and charging pile Between the first line and target location and charging pile between the second line between there is default second angle.
, can be according to the first bottom reception device Lr and the second bottom reception device in S103 by foregoing description The optical signal of Rr detections, with reference to stake route in LDS determinations.In response to the first bottom reception device Lr or the second bottom reception device Rr detects the 4th emitter R1s optical signal, it is determined that upper stake route includes the current location P0 to Q as shown in Figure 12 (a) Camber line route, either the camber line route of the current location P0 to Q1 as shown in Figure 12 (b) or as shown in Figure 12 (c) work as Front position P0 to Q is again to Q1 camber line route.It is appreciated that determine that upper stake route includes the current location as shown in Figure 12 (a) P0 to Q route can also be the route of straight line, or the route of the current location P0 to Q1 as shown in Figure 12 (b) can also be The route of straight line, or current location P0 to Q as shown in Figure 12 (c) can also be the route of straight line to Q1 route again.
It can be seen that automatic cleaning equipment can determine direction and the distance of charging pile based on LDS, based on the default first folder Angle, the second angle and pre-determined distance determine target location, and are moved in a manner of camber line towards target location, in being progressively moved to At heart line, docked so as to realize with charging pile.
As can be seen here, camber line can be determined according to the optical signal combination LDS that reception device detects in the embodiment of the present invention The upper stake route of mode, compared to modes such as other broken lines, this time stake mode is more excellent, and required time is shorter, returns stake Efficiency and accuracy is higher.
Figure 13 is a schematic block diagram of the automatic cleaning equipment of the embodiment of the present invention.Automated cleaning shown in Figure 13 is set Standby 20 include judge module 201, determining module 202 and control module 203.
Judge module 201 is used to judge that the automatic cleaning equipment whether there is cartographic information.Determining module 202 is used for root Seek stake strategy according to what the result of the judgement determined the automatic cleaning equipment, and according to it is described seek stake strategy determine it is described automatic Cleaning equipment to charging pile upper stake route.Control module 203 is used to control the automatic cleaning equipment to be based on upper pile road Line moves, to cause the automatic cleaning equipment to dock and charge with the charging pile.
Automatic cleaning equipment 20 shown in Figure 13 can realize earlier figures 7 to the method shown in Figure 12, to avoid repeating, this In repeat no more.
In addition, the embodiment of the present invention additionally provides another automatic cleaning equipment, including memory, processor and it is stored in The computer program run on the memory and on the processor, earlier figures 7 are realized during computing device described program The step of method performed into Figure 12 by automatic cleaning equipment.
In addition, the embodiment of the present invention additionally provides a kind of computer-readable storage medium, computer program is stored thereon with.Work as institute When stating computer program by computing device, it is possible to achieve the method that earlier figures 7 are performed into Figure 12 by automatic cleaning equipment Step.For example, the computer-readable storage medium is computer-readable recording medium.
Figure 14 is a schematic block diagram of the system of the automated cleaning of the embodiment of the present invention.System 100 shown in Figure 14 Including the charging pile 10 and automatic cleaning equipment 20 as described by previous embodiment.
Wherein, the charging pile 10 includes multiple emitters, the automatic cleaning equipment 20 include the first bottom reception device, Second bottom reception device and LDS, the automatic cleaning equipment can fill according to the first bottom reception device, the second bottom reception Put the optical signal of the multiple emitters transmitting detected and combined with LDS, realization and docking between charging pile, and to automatic Cleaning equipment is charged.
In the embodiment of the present invention, automatic cleaning equipment is according to the first bottom reception device and/or the second bottom reception device The optical signal detected is combined with LDS, it is determined that to charging pile upper stake route so that control the automatic cleaning equipment be based on this on Stake route movement, completes the alignment with charging pile to be charged, can ensure the degree of accuracy of the process, and can realize quick Upper stake.
Although describe example embodiment by reference to accompanying drawing here, it should be understood that above-mentioned example embodiment is merely exemplary , and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims Within required the scope of the present invention.
In the specification that this place provides, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention Example can be put into practice in the case of these no details.In some instances, known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments In included some features rather than further feature, but the combination of the feature of different embodiments means in of the invention Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any Mode it can use in any combination.
The foregoing is only a specific embodiment of the invention or the explanation to embodiment, protection of the invention Scope is not limited thereto, any one skilled in the art the invention discloses technical scope in, can be easily Expect change or replacement, should all be included within the scope of the present invention.Protection scope of the present invention should be with claim Protection domain is defined.

Claims (15)

1. a kind of charging method of automatic cleaning equipment, it is characterised in that methods described includes：
Judge that the automatic cleaning equipment whether there is cartographic information；
Stake strategy is sought according to what the result of the judgement determined the automatic cleaning equipment；
Determine the automatic cleaning equipment to the upper stake route of charging pile according to the stake strategy of seeking；
Control the automatic cleaning equipment to be moved based on upper pile route, with cause the automatic cleaning equipment with it is described Charging pile is docked and charged.
2. according to the method for claim 1, it is characterised in that the automatic cleaning equipment fills including the first bottom reception Put, the second bottom reception device and laser range sensor, the charging pile include the center line pair relative to the charging pile Claim the first emitter and the second emitter and the 3rd emitter relative to the center line symmetrical setting set With the 4th emitter, wherein first emitter, second emitter, the 3rd emitter and described Four emitters transmitting optical signal formed radiation areas, the radiation areas with the center line be divided into the first radiation area and Second radiation area.
3. according to the method for claim 2, it is characterised in that the result according to the judgement determines described automatic clear Clean equipment seeks stake strategy, including：
If cartographic information is not present in the automatic cleaning equipment, the automatic cleaning equipment is controlled to enter the radiation areas, A plan is sought described in the optical signal determination detected based on the first bottom reception device and/or the second bottom reception device Slightly.
4. according to the method for claim 3, it is characterised in that the automatic cleaning equipment is determined according to the stake strategy of seeking To the upper stake route of charging pile, including：
The 3rd emitter is detected in response to the first bottom reception device or the second bottom reception device Optical signal, determine that the automatic cleaning equipment is entered by first radiation area, using current location as initial position rotation at least Upper pile route is determined to determine the direction of the charging pile, according to the direction of the initial position and the charging pile within one week It is the route in a manner of camber line close to the charging pile until the first bottom reception device detects the 3rd transmitting dress The optical signal and the second bottom reception device put detect the optical signal of first emitter.
5. according to the method for claim 3, it is characterised in that the automatic cleaning equipment is determined according to the stake strategy of seeking To the upper stake route of charging pile, including：
The 3rd emitter is detected in response to the first bottom reception device or the second bottom reception device Optical signal, determine that the automatic cleaning equipment is entered by first radiation area, rotated by initial position of current location To determine direction and the distance of the charging pile based on the laser range sensor, and according to default first angle and preset Distance determines target location, and it is to be moved to the target location from the initial position to further determine that upper pile route, its In, second between the first line and the target location and the charging pile between the initial position and the charging pile There is default first angle between line.
6. the method according to claim 4 or 5, it is characterised in that also include：Detected based on the laser range sensor The automatic cleaning equipment and the distance between the charging pile, the movement of the automatic cleaning equipment is adjusted by rotating Direction and angle, until the first bottom reception device or the second bottom reception device detect the second transmitting dress The optical signal put.
7. according to the method for claim 3, it is characterised in that the automatic cleaning equipment is determined according to the stake strategy of seeking To the upper stake route of charging pile, including：
The 4th emitter is detected in response to the second bottom reception device or the second bottom reception device Optical signal, determine that the automatic cleaning equipment is entered by second radiation area, using current location as initial position rotation at least Upper pile route is determined to determine the direction of the charging pile, according to the direction of the initial position and the charging pile within one week It is the route in a manner of camber line close to the charging pile until the first bottom reception device detects the second transmitting dress The optical signal and the second bottom reception device put detect the optical signal of the 4th emitter.
8. according to the method for claim 3, it is characterised in that the automatic cleaning equipment is determined according to the stake strategy of seeking To the upper stake route of charging pile, including：
The 4th emitter is detected in response to the second bottom reception device or the second bottom reception device Optical signal, determine that the automatic cleaning equipment is entered by second radiation area, rotated by initial position of current location To determine direction and the distance of the charging pile based on the laser range sensor, and according to default first angle and preset Distance determines target location, and it is to be moved to the target location from the initial position to further determine that upper pile route, its In, second between the first line and the target location and the charging pile between the initial position and the charging pile There is default first angle between line.
9. the method according to claim 7 or 8, it is characterised in that also include：Detected based on the laser range sensor The automatic cleaning equipment and the distance between the charging pile, the movement of the automatic cleaning equipment is adjusted by rotating Direction and angle, until the first bottom reception device or the second bottom reception device detect the first transmitting dress The optical signal put.
10. the method according to claim 6 or 9, it is characterised in that the control automatic cleaning equipment is based on described Upper stake route moves, including：It is finely adjusted based on the laser range sensor so that the first bottom reception device Detect the optical signal of first emitter and the second bottom reception device detects second emitter Optical signal, the automatic cleaning equipment are located at the center line and towards the charging piles.
11. according to the method for claim 1, it is characterised in that the result according to the judgement determines described automatic Cleaning equipment seeks stake strategy, including：
If the automatic cleaning equipment has cartographic information, the position of the charging pile is determined according to the cartographic information, and It is determined that described seek stake strategy.
12. according to the method for claim 11, it is characterised in that sought described in the basis stake strategy determine it is described automatic clear Clean equipment to charging pile upper stake route, including：
Anticollision region is determined according to the position of the charging pile, it is working as from the automatic cleaning equipment to determine upper pile route Front position to the charging pile center line and anticollision region point of intersection.
13. the method according to claim 11 or 12, it is characterised in that the automatic cleaning equipment passes including laser ranging Sensor,
Before the judgement automatic cleaning equipment whether there is cartographic information, in addition to：
The laser range sensor draws the cartographic information in cleaning process,
Wherein, if the automatic cleaning equipment is cleaned from the charging pile, institute is marked in the cartographic information State the position of charging pile；
If the automatic cleaning equipment is not cleaned from the charging pile, in cleaning process, according to described automatic The optical signal that the reception device of cleaning equipment is detected, judge the position of the charging pile and institute is marked in the cartographic information State the position of charging pile.
14. a kind of automatic cleaning equipment, including memory, processor and it is stored on the memory and on the processor The computer program of operation, it is characterised in that realized described in the computing device during computer program in claim 1 to 13 The step of any one methods described.
A kind of 15. system of automated cleaning, it is characterised in that including：
Charging pile；And
Automatic cleaning equipment as claimed in claim 14.
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