CN108494028A - The automatic recharging method of clean robot - Google Patents
The automatic recharging method of clean robot Download PDFInfo
- Publication number
- CN108494028A CN108494028A CN201810136689.9A CN201810136689A CN108494028A CN 108494028 A CN108494028 A CN 108494028A CN 201810136689 A CN201810136689 A CN 201810136689A CN 108494028 A CN108494028 A CN 108494028A
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- CN
- China
- Prior art keywords
- clean robot
- cradle
- signal
- infrared transmitting
- transmitting tube
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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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012935 Averaging Methods 0.000 claims abstract description 4
- 230000011664 signaling Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- H02J7/025—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/60—Circuit arrangements or systems for wireless supply or distribution of electric power responsive to the presence of foreign objects, e.g. detection of living beings
Abstract
The invention discloses a kind of automatic recharging methods of clean robot, are related to clean robot control method technical field.Infrared transmitting tube is installed on cradle, emits different encoded signals to specific region using the infrared transmitting tube on cradle, and form certain Signal averaging and combination；Infrared receiving tube is installed in the side all around of clean robot, by the signal for the cradle transmitting that infrared receiving tube receives, judgement clean robot is located at the approximate region of cradle, and realizes that returning to cradle from current location charges.The method makes the effective range recharged wide, and what is recharged is efficient, and the success rate recharged is high.
Description
Technical field
The present invention relates to the control method technical fields of clean robot more particularly to a kind of clean robot to recharge automatically
Method.
Background technology
With the increasingly raising of people's living standard, liberation both hands are so that people preferably enjoy life as people's one kind
Common requirements, the appearance of clean robot wipe ground and automatic because it can be automatically performed to sweep the floor in the case of unmanned participate in
The functions such as electricity are recharged, a kind of very popular smart home is become.But the clean robot device people occurred in the prior art
The effective range recharged is smaller, is recharged to clean robot and causes certain inconvenience.
Invention content
The technical problem to be solved by the present invention is to how provide one kind, to recharge effective orientation big, recharges convenient cleaner
The automatic recharging method of device people.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of clean robot side of recharging automatically
Method, it is characterised in that：Infrared transmitting tube is installed on cradle, different codings is emitted using the infrared transmitting tube on cradle
Signal forms certain Signal averaging and combination to specific region；In the side all around of clean robot, installation is red
Outer reception pipe, by the signal for the cradle transmitting that infrared receiving tube receives, judgement clean robot is located at the big of cradle
Region is caused, and realizes that returning to cradle from current location charges.
Further technical solution is：Infrared hair there are one being arranged and be respectively set in the side all around of the cradle
Pipe is penetrated, wherein the signal coverage areas that the first infrared transmitting tube emits is the sector in 90 degree of left side among cradle, radius
It is 6m；The covering signal area that second infrared transmitting tube emits is the sector of 90 degree of cradle right middle, and radius is 6m；
The signal coverage areas that third infrared transmitting tube emits is the sector of 10 degree of both sides among cradle, and radius is 6m；4th
The signal coverage areas that infrared transmitting tube emits is 360 degree around cradle of circle, and radius is 1m.
Further technical solution is：By the combination of signal, clean robot divides cradle exterior domain
For:
Dead space, at this time clean robot do not receive the signal of any infrared transmitting tube；
Distant signal area, clean robot does not receive the signal of the 4th infrared transmitting tube transmitting at this time, but receives first
The signal emitted to more than one infrared transmitting tube in third infrared transmitting tube；
Short distance left signal area, at this time clean robot only receive the first infrared transmitting tube and the 4th infrared transmitting tube transmitting letter
Number；
Short distance right signal area, at this time clean robot only receive the second infrared transmitting tube and the 4th infrared transmitting tube transmitting letter
Number；
Signaling zone in short distance, clean robot has received at this time emits including third infrared transmitting tube and the 4th infrared transmitting tube
Signal.
Further technical solution is：When clean robot is in dead space, then random take the air line is taken to walk out
Region；
When clean robot is located at distant signal area, then controls clean robot and go to the first infrared receiving tube and receive signal
When and walk forward, until walk out the region；
When clean robot is located at short distance left signal area, then controls clean robot and go to the second infrared receiving tube and receive signal
When and walk forward, until walk out the region；
When clean robot is located at short distance right signal area, then controls clean robot and go to third infrared receiving tube and receive signal
When and walk forward, until walk out the region；
When clean robot is located at signaling zone in short distance, then controls clean robot and go to the 4th infrared receiving tube and receive signal
When and walk backward, until go on cradle；
After going on cradle, detects and charge successfully, clean robot stop motion.
It is using advantageous effect caused by above-mentioned technical proposal：The method on cradle by being arranged infrared hair
It penetrates pipe and infrared receiving tube is set on clean robot, different encoded signals is emitted using the infrared transmitting tube on cradle
To specific region, and forming certain Signal averaging and combination so that the effective range recharged is wide, and what is recharged is efficient,
The success rate recharged is high.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structural schematic diagram of cradle described in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of clean robot described in the embodiment of the present invention；
Wherein：1, the first infrared transmitting tube；2, the second infrared transmitting tube；3, third infrared transmitting tube；4, the 4th infrared transmitting tube；
5, the first infrared receiving tube；6, the second infrared receiving tube；7, third infrared receiving tube；8, the 4th infrared receiving tube；9, cradle；
10, clean robot.
Specific implementation mode
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented different from other manner described here using other, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
The embodiment of the invention discloses a kind of automatic recharging methods of clean robot, and infrared emission is installed on cradle
Pipe, emits different encoded signals to specific region, and form certain signal using the infrared transmitting tube on cradle
Superposition and combination；Infrared receiving tube, the charging received by infrared receiving tube are installed in the side all around of clean robot
The signal of seat transmitting, judgement clean robot are located at the approximate region of cradle, and realization from current location return to cradle into
Row charging.
Further, as shown in Figure 1, setting is respectively set there are one infrared emission in the side all around of the cradle
Pipe, wherein the signal coverage areas that the first infrared transmitting tube 1 emits is the sector in 90 degree of left side among cradle, radius is
6m；The covering signal area that second infrared transmitting tube 2 emits is the sector of 90 degree of cradle right middle, and radius is 6m；
The signal coverage areas that third infrared transmitting tube 3 emits is the sector of 10 degree of both sides among cradle, and radius is 6m；4th
The signal coverage areas that infrared transmitting tube 4 emits is 360 degree around cradle of circle, and radius is 1m.
Fig. 2 is the structural schematic diagram of clean robot described in the embodiment of the present invention, passes through the combination of signal, cleaner
Cradle exterior domain is divided by device people:
Dead space, at this time clean robot do not receive the signal of any infrared transmitting tube；
Distant signal area, clean robot does not receive the signal of the 4th infrared transmitting tube transmitting 4 at this time, but receives first
The signal emitted to more than one infrared transmitting tube in third infrared transmitting tube；
Short distance left signal area, at this time clean robot only receive the first infrared transmitting tube 1 and the 4th infrared transmitting tube 4 transmitting
Signal；
Short distance right signal area, at this time clean robot only receive the second infrared transmitting tube 2 and the 4th infrared transmitting tube 4 transmitting
Signal；
Signaling zone in short distance, clean robot has received at this time sends out including third infrared transmitting tube 3 and the 4th infrared transmitting tube 4
The signal penetrated.
Further, when clean robot is in dead space, then random take the air line is taken to walk out region；
When clean robot is located at distant signal area, then controls clean robot and go to the first infrared receiving tube 5 and receive letter
Number when and walk forward, until walk out the region；
When clean robot is located at short distance left signal area, then controls clean robot and go to the second infrared receiving tube 6 and receive letter
Number when and walk forward, until walk out the region；
When clean robot is located at short distance right signal area, then controls clean robot and go to third infrared receiving tube 7 and receive letter
Number when and walk forward, until walk out the region；
When clean robot is located at signaling zone in short distance, then controls clean robot and go to the 4th infrared receiving tube 8 and receive letter
Number when and walk backward, until go on cradle；
After going on cradle, detects and charge successfully, clean robot stop motion.
Claims (4)
1. a kind of automatic recharging method of clean robot, it is characterised in that：Infrared transmitting tube is installed on cradle, utilizes charging
Infrared transmitting tube on seat emits different encoded signals to specific region, and forms certain Signal averaging and combination；
Infrared receiving tube is installed in the side all around of clean robot, passes through the letter for the cradle transmitting that infrared receiving tube receives
Number, judgement clean robot is located at the approximate region of cradle, and realizes that returning to cradle from current location charges.
2. the automatic recharging method of clean robot as described in claim 1, it is characterised in that：A left side before and after the cradle
Right side setting is respectively set there are one infrared transmitting tube, wherein the signal coverage areas that the first infrared transmitting tube emits is to fill
The sector in 90 degree of left side among electric seat, radius is 6m；The covering signal area that second infrared transmitting tube emits is cradle
The sector that 90 degree of right middle, radius are 6m；The signal coverage areas that third infrared transmitting tube emits is among cradle
The sector that 10 degree of both sides, radius are 6m；The signal coverage areas that 4th infrared transmitting tube emits is 360 degree around cradle
Circle, radius is 1m.
3. the automatic recharging method of clean robot as claimed in claim 2, which is characterized in that by the combination of signal,
Cradle exterior domain is divided by clean robot:
Dead space, at this time clean robot do not receive the signal of any infrared transmitting tube；
Distant signal area, clean robot does not receive the signal of the 4th infrared transmitting tube transmitting at this time, but receives first
The signal emitted to more than one infrared transmitting tube in third infrared transmitting tube；
Short distance left signal area, at this time clean robot only receive the first infrared transmitting tube and the 4th infrared transmitting tube transmitting letter
Number；
Short distance right signal area, at this time clean robot only receive the second infrared transmitting tube and the 4th infrared transmitting tube transmitting letter
Number；
Signaling zone in short distance, clean robot has received at this time emits including third infrared transmitting tube and the 4th infrared transmitting tube
Signal.
4. the automatic recharging method of clean robot as claimed in claim 3, it is characterised in that：
When clean robot is in dead space, then random take the air line is taken to walk out region；
When clean robot is located at distant signal area, then controls clean robot and go to the first infrared receiving tube and receive signal
When and walk forward, until walk out the region；
When clean robot is located at short distance left signal area, then controls clean robot and go to the second infrared receiving tube and receive signal
When and walk forward, until walk out the region；
When clean robot is located at short distance right signal area, then controls clean robot and go to third infrared receiving tube and receive signal
When and walk forward, until walk out the region；
When clean robot is located at signaling zone in short distance, then controls clean robot and go to the 4th infrared receiving tube and receive signal
When and walk backward, until go on cradle；
After going on cradle, detects and charge successfully, clean robot stop motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810136689.9A CN108494028A (en) | 2018-02-09 | 2018-02-09 | The automatic recharging method of clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810136689.9A CN108494028A (en) | 2018-02-09 | 2018-02-09 | The automatic recharging method of clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108494028A true CN108494028A (en) | 2018-09-04 |
Family
ID=63340174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810136689.9A Pending CN108494028A (en) | 2018-02-09 | 2018-02-09 | The automatic recharging method of clean robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108494028A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991980A (en) * | 2019-04-01 | 2019-07-09 | 珠海市一微半导体有限公司 | The forming method of the signal quantization distribution map of cradle |
| CN110174675A (en) * | 2019-05-24 | 2019-08-27 | 创泽智能机器人股份有限公司 | A kind of domestic robot charging pile position determination means and method |
| CN113180547A (en) * | 2021-04-28 | 2021-07-30 | 湖南格兰博智能科技有限责任公司 | Infrared signal based automatic recharging method applied to indoor cleaning robot |
| CN113974493A (en) * | 2021-11-02 | 2022-01-28 | 湖南格兰博智能科技有限责任公司 | Algorithm suitable for realizing recharging of floor sweeping robot |
| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
| CN115191888A (en) * | 2022-07-14 | 2022-10-18 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and control method for cleaning base station |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948354A (en) * | 2014-05-05 | 2014-07-30 | 苏州爱普电器有限公司 | Ground cleaning robot and control method thereof |
| CN105242674A (en) * | 2015-11-20 | 2016-01-13 | 江苏美的清洁电器股份有限公司 | Sweeping robot back charging system and back charging control method thereof |
-
2018
- 2018-02-09 CN CN201810136689.9A patent/CN108494028A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948354A (en) * | 2014-05-05 | 2014-07-30 | 苏州爱普电器有限公司 | Ground cleaning robot and control method thereof |
| CN105242674A (en) * | 2015-11-20 | 2016-01-13 | 江苏美的清洁电器股份有限公司 | Sweeping robot back charging system and back charging control method thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991980A (en) * | 2019-04-01 | 2019-07-09 | 珠海市一微半导体有限公司 | The forming method of the signal quantization distribution map of cradle |
| CN109991980B (en) * | 2019-04-01 | 2022-07-08 | 珠海一微半导体股份有限公司 | Method for forming signal quantization distribution diagram of charging seat |
| CN110174675A (en) * | 2019-05-24 | 2019-08-27 | 创泽智能机器人股份有限公司 | A kind of domestic robot charging pile position determination means and method |
| CN113180547A (en) * | 2021-04-28 | 2021-07-30 | 湖南格兰博智能科技有限责任公司 | Infrared signal based automatic recharging method applied to indoor cleaning robot |
| CN113974493A (en) * | 2021-11-02 | 2022-01-28 | 湖南格兰博智能科技有限责任公司 | Algorithm suitable for realizing recharging of floor sweeping robot |
| CN115067841A (en) * | 2022-07-14 | 2022-09-20 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and cleaning robot system |
| CN115191888A (en) * | 2022-07-14 | 2022-10-18 | 杭州萤石软件有限公司 | Control method and control device for cleaning robot and control method for cleaning base station |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20180904 |