CN109245202A - Intelligence machine equipment recharging method, device and equipment - Google Patents
Intelligence machine equipment recharging method, device and equipment Download PDFInfo
- Publication number
- CN109245202A CN109245202A CN201811042714.3A CN201811042714A CN109245202A CN 109245202 A CN109245202 A CN 109245202A CN 201811042714 A CN201811042714 A CN 201811042714A CN 109245202 A CN109245202 A CN 109245202A
- Authority
- CN
- China
- Prior art keywords
- induced current
- machine equipment
- intelligence machine
- inductance coil
- robot
- Prior art date
- 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 25
- 230000006698 induction Effects 0.000 claims abstract description 21
- 230000005611 electricity Effects 0.000 claims description 9
- 238000011022 operating instruction Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 108010001267 Protein Subunits Proteins 0.000 claims 3
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000011156 evaluation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- H02J7/025—
-
- H02J5/005—
-
- 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
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- 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
- H02J50/70—Circuit arrangements or systems for wireless supply or distribution of electric power involving the reduction of electric, magnetic or electromagnetic leakage fields
-
- 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
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligence machine equipment recharging method, device and equipment, comprising: when robot is reset near initial position, obtains the first induced current and the second induced current that the first inductance coil and the second inductance coil receive；When the first induced current is greater than the second induced current, then the instruction rotated to the first induction coil side is sent to driving device；When the first induced current is less than the second induced current, then the instruction rotated to the second induction coil side is sent to driving device.Using intelligence machine equipment recharging method, device and equipment provided by the invention, when robot is reset near initial position, the first induced current and the second induced current that the first inductance coil and the second inductance coil receive are obtained first；Then compare the first induced current and the second faradic size, and the direction of motion according to comparison result control robot, finally allow the robot to accurately recharge position.
Description
Technical field
The invention belongs to field of locating technology more particularly to a kind of intelligence machine equipment recharging methods, device and equipment.
Background technique
Sweeper refers to sweeping robot, and with the continuous improvement of China living standard, sweeping robot enters into flat
Ordinary people home, and received by more and more people, become the essential cleaning helper of each family.Household floor-sweeping machine is with circle
It based on dish-type, is operated using rechargeable battery, generally energy setting time reservation is swept, charging of voluntarily making a return voyage.
For sweeping robot generally using charge position as Origin And Destination, recharging base constantly issues signal, then sweeps the floor
Receiver at the top of machine robot receives signal, eventually finds the road of " going home ".It is attached that current sweeper returns to recharging base
Generally pass through laser, ultrasonic wave or mechanical structure when close to be returned on recharging base, locating effect is undesirable, and naked
The charging interface of dew is both non-watertight, and there is also security risks.
It is therefore desirable to provide a kind of intelligence machine equipment recharging method, device and equipment, intelligence machine equipment is being realized
While accurate positioning to starting point, safety is further increased.
Summary of the invention
It makes a return voyage the purpose of the present invention is to solve current intelligence machine equipment and positions not accurate enough problem, propose
A kind of intelligence machine equipment recharging method, device and equipment, while realizing that intelligence machine equipment is accurately positioned starting point, into
One step improves safety.
The invention proposes a kind of intelligence machine equipment recharging methods, which comprises when robot resets to starting
When near position, the first induced current and the second induced electricity that the first inductance coil and the second inductance coil receive are obtained
Stream；When first induced current is greater than second induced current, then send to driving device to first line of induction
Enclose the instruction of side rotation；When first induced current is less than second induced current, then sent out to the driving device
It is sent to the instruction of second induction coil side rotation.
The invention also provides a kind of intelligence machine equipment recharging device, described device includes: induced current acquiring unit,
For when robot is reset near initial position, obtaining the first inductance coil and the second inductance coil receive first
Induced current and the second induced current；First rotating unit, for being greater than second induction when first induced current
When electric current, then the instruction rotated to first induction coil side is sent to driving device；Second rotating unit, for working as institute
When stating the first induced current less than second induced current, then send to the driving device to second induction coil one
The instruction of side rotation.
The invention also provides a kind of intelligence machine equipment, the equipment includes:
Robot；And
Intelligence machine equipment recharging device as described above.
The beneficial effects of the present invention are work as machine by providing a kind of intelligence machine equipment recharging method, device and equipment
When device people is reset near initial position, the first induction that the first inductance coil and the second inductance coil receive is obtained first
Electric current and the second induced current；Then compare the first induced current and the second faradic size, and according to comparison result
The direction of motion for controlling robot, finally allows the robot to accurately recharge position.
Detailed description of the invention
Fig. 1 is the flow diagram for the intelligence machine equipment recharging method that the embodiment of the present invention one provides；
Fig. 2 is that the process that distance adjusts during the first intelligence machine equipment that the embodiment of the present invention one provides recharges is shown
It is intended to；
Fig. 3 is that the process of speed control during second of the intelligence machine equipment that the embodiment of the present invention one provides recharges is shown
It is intended to；
Fig. 4 is the structural schematic diagram of intelligence machine equipment recharging device provided by Embodiment 2 of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1
In embodiments of the present invention, intelligence machine equipment recharging method according to the present invention may include: when robot is multiple
When position is near initial position, the first induced current that the first inductance coil and the second inductance coil receive and the are obtained
Two induced currents；When the first induced current is greater than the second induced current, then send to driving device to the first induction coil one
The instruction of side rotation；When the first induced current is less than the second induced current, then send to driving device to the second induction coil
The instruction of side rotation.
The purpose of the embodiment of the present invention is that in order to solve the problems, such as current intelligence machine equipment make a return voyage positioning it is not accurate enough,
A kind of intelligence machine equipment recharging method is proposed, while realizing that intelligence machine equipment is accurately positioned starting point, further
Improve safety.
Fig. 1 shows the flow diagram of intelligence machine equipment recharging method provided in an embodiment of the present invention.Fig. 2 shows
The flow diagram that distance adjusts during a kind of intelligence machine equipment provided in an embodiment of the present invention recharges.Fig. 3 shows this
The flow diagram of speed control during another intelligence machine equipment that inventive embodiments provide recharges.Below with reference to Fig. 1
The specific steps of intelligence machine equipment recharging method according to the present invention are described in detail to Fig. 3.
In step s101, when robot is reset near initial position, the first inductance coil and the second electricity are obtained
The first induced current and the second induced current that sense coil receives.
The charging of making a return voyage of robot has there are many technical principle using infrared ray positioning, has using bluetooth positioning,
There are also radar fix is used, it should be noted that initial position, the application are regarded in the position of recharging base by robot
In the initial position mentioned each mean at recharging base.
In embodiments of the present invention, there are two bionical ultrasonic transmitters for installation on recharging base, issue fan-shaped sound wave,
When robot receives signal, the position of current robot just would know that according to the angle of two sound waves, robot starts to reset.
Transmit coil is equally installed on recharging base, in this way when robot is reset near initial position, in robot first
Inductance coil and the second inductance coil will generate induced current.
As an optimal enforcement example of the embodiment of the present invention, the axis edge of the first inductance coil and the second inductance coil
Same straight line.
When the axis of two inductance coils is along same straight line, interaction depends on the distance between two coils.
As an optimal enforcement example of the embodiment of the present invention, when the first inductance coil and the second inductance coil receive
When the first induced current and the second induced current, then low speed operating instruction is sent to driving device.
When the first inductance coil and the second inductance coil receive the first induced current and the second induced current, say
Bright robot at this time has been reset to initial position nearby, we need to reduce the speed of service of robot at this time, carries out
Orientation adjustment, so that robot being capable of face charge port.
When robot is close to recharging base, the first induced current and the second induction can be gradually increased, and detect size of current
It can determine whether distance.The movement velocity of robot is 5-10cm/s, this field under low speed operating instruction in embodiments of the present invention
It will be appreciated by the skilled person that low speed operating instruction can set definite value for the movement velocity of robot, it can also be according to detection
Size of current carries out nonlinear Control to the movement velocity of robot.
As an optimal enforcement example of the embodiment of the present invention, step S101 further includes step S201 and step S202.
In step s 201, judge that the first induced current and the second induced current reach default electricity with the presence or absence of any one
Flow valuve.
Specifically, when robot makes a return voyage and charges, it would be desirable to judge whether robot has returned at recharging base.?
Closer apart from recharging base when robot makes a return voyage, the first induced current and the second induced current are also bigger.Here, we are sharp
Reach pre-set current value with the presence or absence of any one with the first induced current and the second induced current to determine.
In step S202, if the determination result is YES, then halt instruction is sent to driving device.
Specifically, when judging that any one of the first induced current and the second induced current reach pre-set current value,
Illustrate that robot has had returned at recharging base at this time, therefore, halt instruction is sent to driving device at this time, so that machine
People's movement velocity is 0.
When recharging base is located at the first inductance coil and the second inductance coil middle position, the first induced current and second
Induced current size is the same, and difference zero, other situations then will appear current difference, the electricity of the inductance coil close apart from recharging base
Flow valuve can be greater than the current value far from recharging base inductance coil.The size for comparing the current value of two coils generation, can sentence
The direction of disconnected sweeper out.
In step s 102, it when the first induced current is greater than the second induced current, then sends to driving device to first
The instruction of induction coil side rotation.
When the first induced current is greater than the second induced current, illustrate that the first inductance coil at this time is located closer to charge
Pedestal, therefore the instruction rotated to the first induction coil side is sent to driving device at this time, to adjust the direction of robot.
In step s 103, it when the first induced current is less than the second induced current, then sends to driving device to second
The instruction of induction coil side rotation.
When the first induced current is less than the second induced current, illustrate that the second inductance coil at this time is located closer to charge
Pedestal, therefore the instruction rotated to the second induction coil side is sent to driving device at this time, to adjust the direction of robot.
As an optimal enforcement example of the embodiment of the present invention, step S103 includes step S301 and step S302.
In step S301, judge whether the first induced current and the second faradic difference reach preset difference value.
Specifically, when the direction of robot should be face charge port, the first induced current and the second faradic size
It is identical, therefore, by judging whether the first induced current and the second faradic difference reach preset difference value, so that it may judge
Whether the orientation of robot is correct.
In step s 302, if the determination result is YES, then orientation fixed instruction is sent to driving device.
If the determination result is YES, when the direction for illustrating robot should be face charge port, at this time to driving device sender
Position fixed instruction.
In the embodiment of the present invention, there are two bionical ultrasonic transmitter and a transmit coil, machines for setting on recharging base
Ultrasonic receiver and two inductance coils are provided on device people, two bionical ultrasonic transmitters issue fan-shaped sound wave, work as machine
After device people receives ultrasonic signal, it can start to make a return voyage according to the angle of two sound waves；Two inductance coils in robot
Axis is on same straight line, and distance between the two is 6cm, and in robot on two inductance coils and recharging base
Transmit coil parameter it is completely the same, detailed data is as shown in table 1.
Table 1
| Parameter name | Transmit coil | First inductance coil | Second inductance coil |
| Coil diameter/mm | 200 | 200 | 200 |
| Coil line footpath/mm | 1.5 | 1.5 | 1.5 |
| The number of turns/n | 4 | 4 | 4 |
| Inductance/μ H | 7.55 | 7.55 | 7.55 |
| Capacitor/nF | 1.985 | 1.985 | 1.985 |
| Mutual inductance resonance frequency/Hz | 1.3×106 | 1.3×106 | 1.3×106 |
As constantly the first inductance coil on recharging base, robot and the second inductance coil start for robot
Induced current is generated, robot has arrived near recharging base at this time, therefore sends low speed operation to driving device and refer to
It enables, to facilitate the orientation of adjustment robot.
Table 2 shows some experimental data of power and current value under the first inductance coil and transmit coil different distance,
Wherein, for the first inductance coil than the second inductance coil closer at recharging base, current value described in table all refers to it effectively
Current value.
Table 2
| First inductance coil and transmit coil distance/cm | 10 | 20 | 30 |
| First inductance coil power/w | 4.6 | 3.9 | 1.8 |
| Second inductance coil power/w | 2.1 | 1.0 | 0.2 |
| First induced current/A | 0.92 | 0.78 | 0.36 |
| Second induced current/A | 0.42 | 0.20 | 0.04 |
| Current differential/A | 0.50 | 0.58 | 0.32 |
In embodiments of the present invention, pre-set current value 1A, preset difference value 0.05A.
Using the experimental data in such as table 2, we will carry out following several simultaneously and work: first, compare the first sense
Answer electric current and the second faradic size, and the direction of motion according to comparison result adjustment robot；Second, judge the first sense
Answer whether any one of electric current and the second induced current reach pre-set current value, to judge whether robot has arrived at charging
At pedestal, there is any one to reach pre-set current value, so that it may send halt instruction, robot no longer needs to be moved；Third,
The first induced current and the second faradic difference are calculated, and judges whether this difference reaches preset difference value, to determine machine
Whether the orientation of people is accurate.
The embodiment of the present invention is by providing a kind of intelligence machine equipment recharging method, when to reset to initial position attached for robot
When close, the first induced current and the second induced electricity that the first inductance coil and the second inductance coil receive are obtained first
Stream；Then compare the first induced current and the second faradic size, and the movement side according to comparison result control robot
To finally allowing the robot to accurately recharge position.
Embodiment 2
Fig. 4 is the structural schematic diagram of intelligence machine equipment recharging device according to the present invention.
As shown in figure 4, according to an embodiment of the invention, providing a kind of intelligence machine equipment recharging device, comprising: induction
Electric current acquiring unit 1, for obtaining the first inductance coil and the second inductor wire when robot is reset near initial position
Enclose the first induced current and the second induced current received；First rotating unit 2, for being greater than the when the first induced current
When two induced currents, then the instruction rotated to the first induction coil side is sent to driving device；Second rotating unit 3, is used for
When the first induced current is less than the second induced current, then the finger rotated to the second induction coil side is sent to driving device
It enables.
The purpose of the embodiment of the present invention is that in order to solve the problems, such as current intelligence machine equipment make a return voyage positioning it is not accurate enough,
A kind of intelligence machine equipment recharging device is proposed, while realizing that intelligence machine equipment is accurately positioned starting point, further
Improve safety.
As an optimal enforcement example of the embodiment of the present invention, device further include: current value judgment sub-unit 4, for sentencing
Disconnected first induced current and the second induced current whether there is any one and reach pre-set current value；Halt instruction transmission sub-unit
5, for if the determination result is YES, then sending halt instruction to driving device.
As an optimal enforcement example of the embodiment of the present invention, the axis edge of the first inductance coil and the second inductance coil
Same straight line.
As an optimal enforcement example of the embodiment of the present invention, device further include: low speed controls subelement 6, for when the
When one inductance coil and the second inductance coil receive the first induced current and the second induced current, then sent out to driving device
Send low speed operating instruction.
As an optimal enforcement example of the embodiment of the present invention, device further include: difference judgment sub-unit 7, for judging
Whether the first induced current and the second faradic difference reach preset difference value；Subelement 8 is fixed in orientation, if for judging knot
Fruit be it is yes, then to driving device send orientation fixed instruction.
In embodiments of the present invention, recharging base is adaptive AC power source, voltage effective value 12V, effective current value
For 0.5A；First inductance coil and the second inductance coil are replaced with two BQ51013BEVM-764 evaluation modules of TI company, and
The distance of two modules is 3cm, equally can achieve beneficial effect of the presently claimed invention.
Table 3 shows under different distance the power of two evaluation modules and some experimental data of current value, wherein first
For evaluation module than the second evaluation module closer at recharging base, current value described in table all refers to its effective current value.
Table 3
| First evaluation module and recharging base distance/cm | 0 | 1 | 2 | 3 | 4 |
| Recharging base power/w | 6 | 6 | 6 | 6 | 6 |
| First evaluation module receives power/w | 3.06 | 2.64 | 2.46 | 2.15 | 1.98 |
| Second evaluation module receives power/w | 2.15 | 1.98 | 1.7 | 1.14 | 0.48 |
| First inductive current/A | 0.612 | 0.528 | 0.492 | 0.430 | 0.396 |
| Second inductive current/A | 0.430 | 0.396 | 0.341 | 0.228 | 0.096 |
| Current differential/mA | 182 | 132 | 151 | 202 | 300 |
In embodiments of the present invention, pre-set current value 0.55A, preset difference value 0.05A.
Using the experimental data in such as table 3, we will carry out following several simultaneously and work: first, compare the first sense
Answer electric current and the second faradic size, and the direction of motion according to comparison result adjustment robot；Second, judge the first sense
Answer whether any one of electric current and the second induced current reach pre-set current value, to judge whether robot has arrived at charging
At pedestal, there is any one to reach pre-set current value, so that it may send halt instruction, robot no longer needs to be moved；Third,
The first induced current and the second faradic difference are calculated, and judges whether this difference reaches preset difference value, to determine machine
Whether the orientation of people is accurate.
The embodiment of the present invention is by providing a kind of intelligence machine equipment recharging device, when to reset to initial position attached for robot
When close, the first induced current and the second induced electricity that the first inductance coil and the second inductance coil receive are obtained first
Stream；Then compare the first induced current and the second faradic size, and send a command to driving device according to comparison result,
To control the direction of motion of robot, finally allow the robot to accurately recharge position.
Embodiment 3
The embodiment of the present invention, provides a kind of intelligence machine equipment, and equipment includes: robot and intelligence machine equipment
Recharging device.
The embodiment of the present invention provides a kind of intelligence machine equipment, and machinery equipment recharging device is installed in equipment, works as machine
When people is reset near initial position, the first induced electricity that the first inductance coil and the second inductance coil receive is obtained first
Stream and the second induced current；Then compare the first induced current and the second faradic size, and according to comparison result, machine
Device human hair goes out control instruction, controls movement velocity and the direction of the equipment, and finally enables the device to accurately return to
Position is recharged, in this way, the equipment just has the function of recharging automatically.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (11)
1. a kind of intelligence machine equipment recharging method, which is characterized in that the described method includes:
When robot is reset near initial position, the first inductance coil and the second inductance coil receive first is obtained
Induced current and the second induced current；
When first induced current is greater than second induced current, then send to driving device to first line of induction
Enclose the instruction of side rotation；
When first induced current is less than second induced current, then send to the driving device to second sense
The instruction for answering coil side to rotate.
2. intelligence machine equipment recharging method according to claim 1, wherein the first inductance coil of the acquisition and
After the step of the first induced current and the second induced current that two inductance coils receive, further includes:
Judge that first induced current and the second induced current reach pre-set current value with the presence or absence of any one；
If the determination result is YES, then halt instruction is sent to the driving device.
3. intelligence machine equipment recharging method according to claim 1, wherein first inductance coil and the second electricity
The axis of coil is felt along same straight line.
4. intelligence machine equipment recharging method according to claim 1, wherein when first inductance coil and second
When inductance coil receives the first induced current and the second induced current, then low speed operation is sent to the driving device and referred to
It enables.
5. intelligence machine equipment recharging method according to claim 1, wherein the method also includes:
Judge whether first induced current and the described second faradic difference reach preset difference value；
If the determination result is YES, then orientation fixed instruction is sent to the driving device.
6. a kind of intelligence machine equipment recharging device, which is characterized in that described device includes:
Induced current acquiring unit obtains the first inductance coil and for when robot is reset near initial position
The first induced current and the second induced current that two inductance coils receive；
First rotating unit, for when first induced current is greater than second induced current, then being sent out to driving device
It is sent to the instruction of first induction coil side rotation；
Second rotating unit, for when first induced current is less than second induced current, then being filled to the driving
Set the instruction for sending and rotating to second induction coil side.
7. intelligence machine equipment recharging device according to claim 6, wherein described device further include:
Current value judgment sub-unit, for judging that first induced current and the second induced current are reached with the presence or absence of any one
To pre-set current value；
Halt instruction transmission sub-unit, for if the determination result is YES, then sending halt instruction to the driving device.
8. intelligence machine equipment recharging device according to claim 6, wherein first inductance coil and the second electricity
The axis of coil is felt along same straight line.
9. intelligence machine equipment recharging device according to claim 6, wherein described device further include: low speed control
Unit, for receiving the first induced current and the second induced current when first inductance coil and the second inductance coil
When, then low speed operating instruction is sent to the driving device.
10. intelligence machine equipment recharging device according to claim 6, wherein described device further include:
Difference judgment sub-unit, for judging whether first induced current reaches pre- with the described second faradic difference
If difference；
Subelement is fixed in orientation, for if the determination result is YES, then sending orientation fixed instruction to the driving device.
11. a kind of intelligence machine equipment, which is characterized in that the equipment includes:
Robot；And
Such as the described in any item intelligence machine equipment recharging devices of claim 6 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811042714.3A CN109245202A (en) | 2018-09-07 | 2018-09-07 | Intelligence machine equipment recharging method, device and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811042714.3A CN109245202A (en) | 2018-09-07 | 2018-09-07 | Intelligence machine equipment recharging method, device and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109245202A true CN109245202A (en) | 2019-01-18 |
Family
ID=65060136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811042714.3A Pending CN109245202A (en) | 2018-09-07 | 2018-09-07 | Intelligence machine equipment recharging method, device and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109245202A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111657795A (en) * | 2020-06-17 | 2020-09-15 | 江苏美的清洁电器股份有限公司 | Sweeper recharging system and method, sweeper and charging seat |
| CN115373375A (en) * | 2021-05-18 | 2022-11-22 | 未岚大陆(北京)科技有限公司 | Method and device for returning robot to charging pile, robot and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130033224A1 (en) * | 2011-08-05 | 2013-02-07 | Evatran Llc | Method and apparatus for aligning a vehicle with an inductive charging system |
| CN103507067A (en) * | 2012-06-15 | 2014-01-15 | 华硕电脑股份有限公司 | Robot device and method for guiding robot to return base station |
| CN105580241A (en) * | 2013-09-27 | 2016-05-11 | 高通股份有限公司 | Device alignment in inductive power transfer systems |
| CN105914906A (en) * | 2016-04-25 | 2016-08-31 | 中惠创智无线供电技术有限公司 | Wireless power transmission transmit-receive coil relative position detection device and method |
| CN106909143A (en) * | 2015-12-22 | 2017-06-30 | 苏州宝时得电动工具有限公司 | Self-movement robot system |
| CN107919696A (en) * | 2012-07-13 | 2018-04-17 | 斯飞乐有限公司 | self-optimizing power transmission |
-
2018
- 2018-09-07 CN CN201811042714.3A patent/CN109245202A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130033224A1 (en) * | 2011-08-05 | 2013-02-07 | Evatran Llc | Method and apparatus for aligning a vehicle with an inductive charging system |
| CN103507067A (en) * | 2012-06-15 | 2014-01-15 | 华硕电脑股份有限公司 | Robot device and method for guiding robot to return base station |
| CN107919696A (en) * | 2012-07-13 | 2018-04-17 | 斯飞乐有限公司 | self-optimizing power transmission |
| CN105580241A (en) * | 2013-09-27 | 2016-05-11 | 高通股份有限公司 | Device alignment in inductive power transfer systems |
| CN106909143A (en) * | 2015-12-22 | 2017-06-30 | 苏州宝时得电动工具有限公司 | Self-movement robot system |
| CN105914906A (en) * | 2016-04-25 | 2016-08-31 | 中惠创智无线供电技术有限公司 | Wireless power transmission transmit-receive coil relative position detection device and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111657795A (en) * | 2020-06-17 | 2020-09-15 | 江苏美的清洁电器股份有限公司 | Sweeper recharging system and method, sweeper and charging seat |
| CN111657795B (en) * | 2020-06-17 | 2022-06-21 | 美智纵横科技有限责任公司 | Sweeper recharging system and method, sweeper and charging seat |
| CN115373375A (en) * | 2021-05-18 | 2022-11-22 | 未岚大陆(北京)科技有限公司 | Method and device for returning robot to charging pile, robot and storage medium |
| CN115373375B (en) * | 2021-05-18 | 2023-08-18 | 未岚大陆(北京)科技有限公司 | Method and device for returning charging pile of robot, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6694528B2 (en) | Wireless power transmission device for seat | |
| US10576833B2 (en) | Vehicle charger positioning method and charger assembly | |
| CN105467983B (en) | Automatic running device guidance system and method | |
| CN107040043B (en) | Adaptive wireless energy-delivering system | |
| US20170244286A1 (en) | Wireless power repeater and method thereof | |
| US9963040B2 (en) | Non-contact power supply system, and power transmission device and vehicle used therein | |
| US20180054086A1 (en) | Method and device for adjusting position of coils in wireless power transmission system | |
| JP7192181B2 (en) | Vehicle inductive power transfer system and method | |
| KR20110111956A (en) | Robot cleaning system and control method that equip wireless electric power charge function | |
| CN107181327B (en) | Wireless charging device and coil switching method thereof, and related device | |
| CN105467982B (en) | The system and method for making automatic running device be worked in limited area | |
| Huang et al. | Wireless power and bidirectional data transfer scheme for battery charger | |
| CN105896664B (en) | A kind of charging localization method of automatic charging | |
| JP2012070463A (en) | Non-contact power supply device | |
| JP2013188127A (en) | Wireless power transmitter, wireless power receiver, and power receiving method | |
| CN109245202A (en) | Intelligence machine equipment recharging method, device and equipment | |
| KR20170047820A (en) | Wireless power transmitter, wireless power receiver, wireless system for transmitting and receving wireless signals and operating method thereof | |
| JP2012138976A (en) | Power transmission system | |
| EP3512073A1 (en) | Wireless electrical charging system with object detection circuitry and method of operating same | |
| CN105406556A (en) | Auxiliary equipment charging system and method | |
| JP2003143712A (en) | Feeder | |
| JP2016103933A (en) | Vehicle power supply equipment | |
| CN210669643U (en) | Control system of wireless charger | |
| CN206135502U (en) | Wireless charging system of robot sweeps floor | |
| CN105846501B (en) | A kind of charging localization method of automatic charging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190118 |
|
| RJ01 | Rejection of invention patent application after publication |