CN109245205A - Charging equipment and its location regulation method, equipment, storage medium and charging system - Google Patents
Charging equipment and its location regulation method, equipment, storage medium and charging system Download PDFInfo
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- CN109245205A CN109245205A CN201811075043.0A CN201811075043A CN109245205A CN 109245205 A CN109245205 A CN 109245205A CN 201811075043 A CN201811075043 A CN 201811075043A CN 109245205 A CN109245205 A CN 109245205A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000004590 computer program Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 241001417527 Pempheridae Species 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000003032 molecular docking Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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Classifications
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- H02J7/0027—
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- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/125—Control of position or direction using feedback using discrete position sensor
-
- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
Abstract
The application proposes a kind of charging equipment and its location regulation method, equipment, storage medium and charging system, wherein method includes: to obtain the first relative position information between the current location of charging equipment and reference object when returning charging；According to the first relative position information, identify whether current location shifts with respect to reference object；If current location shifts with respect to reference object, according to the first relative position information, the current location for adjusting the charging equipment deviates it no longer with reference object.This method is when charging equipment position shifts, the position of charging equipment is adjusted according to the offset information of charging equipment position, to making charging equipment be back to setting position, improves from mobile device and charging equipment and dock efficiency, it is ensured that from charging normal for mobile device.
Description
Technical field
This application involves technical field of electric device control more particularly to a kind of charging equipment and its location regulation method, equipment,
Storage medium and charging system.
Background technique
As the improvement of people's living standards, sweeper is gradually spread in each family, ground is cleaned by sweeper
The both hands of user have been liberated, have brought convenience for user.After sweeper not enough power supply or completion cleaning task, need to return
It is contacted at charging equipment and with the charging electrode of charging equipment, to charge.
In the related technology, since the position of charging equipment is not fixed and is easy to happen offset, in order to avoid charging equipment hair
When raw offset, the electrode loose contact of sweeper and charging equipment and influence to charge, usually charging equipment is placed against the wall and is set, and
Non-slip mat is set in charging equipment bottom, to hinder the position of charging equipment to shift as far as possible.
However, it has been found that charging equipment still can be influenced by external force and be shifted, for example, working as in practical application
When user accidentally kicks charging equipment or hooks the power supply line for arriving charging equipment, the non-slip mat of charging equipment can not prevent charging from setting
It is standby to shift, cause charging equipment to be in positional shift state, it, may after sweeper is docked with the electrode of charging equipment at this time
The case where there are poor contacts, and then influence charging.
Summary of the invention
The application proposes a kind of charging equipment and its location regulation method, equipment, storage medium and charging system, this method
The relative position information of detection charging equipment and reference object is being confirmed with judging whether the position of charging equipment shifts
After the positional shift of charging equipment, the driving instruction of driving assembly in control charging equipment is generated according to offset information, passes through drive
Dynamic component is back to adjusting the position of charging equipment to control charging equipment according to instruction with the rotation of corresponding speed
Setting position, convenient for being docked from mobile device with the charging electrode of charging equipment, it is ensured that from charging normal for mobile device.
The application first aspect embodiment proposes a kind of location regulation method of charging equipment, comprising:
When returning charging, the first relative position information between the current location of charging equipment and reference object is obtained；
According to the first relative position information, identify whether current location shifts with respect to reference object；
If current location shifts with respect to reference object, according to the first relative position information, charging equipment is adjusted
Current location deviates it no longer with reference object.
The application second aspect embodiment proposes a kind of charging equipment, comprising:
Module is obtained, for obtaining first between the current location of charging equipment and reference object when returning charging
Relative position information；
Identification module, for identifying that the current location is relatively described referring to right according to first relative position information
As if it no shifts；
Module is adjusted, for when the relatively described reference object in the current location shifts, according to first phase
To location information, the current location for adjusting the charging equipment deviates it no longer with the reference object.
The application another aspect embodiment proposes a kind of charging system, including the charging equipment as described in above-described embodiment
With from mobile device, wherein charging equipment to from mobile device for charging.
The application another aspect embodiment proposes a kind of electronic equipment, including processor and memory, wherein the place
Reason device is corresponding with the executable program code to run by reading the executable program code stored in the memory
Program, with the location regulation method for realizing the charging equipment as described in above-described embodiment.
The application another aspect embodiment proposes a kind of non-transitorycomputer readable storage medium, is stored thereon with meter
Calculation machine program realizes the location regulation method of the charging equipment as described in above-described embodiment when the program is executed by processor.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1, it when the current location of charging equipment shifts with respect to reference object, according to the first relative position information, adjusts
The current location of whole charging equipment deviates it no longer with reference object.According to the current position letter of the charging equipment detected
Breath, determines the driving instruction of the driving assembly of charging equipment, and the position of charging equipment is adjusted by driving assembly, makes charging equipment
It is back to setting position, convenient for docking from mobile device with the charging electrode of charging equipment, it is ensured that from the normal of mobile device
Charging.
2, by the first distance detector and second distance detector on charging equipment, obtain current location with referring to right
The first relative distance and the second relative distance as between, using the first relative distance and the second relative distance as the first opposite position
Confidence breath.The distance between two lateral extent reference objects of charging equipment is measured by the range finder on charging equipment, more
The accurate relative position obtained between charging equipment and reference object, convenient for according to currently practical relative position information adjustment
The position of charging equipment adjusts scene suitable for different positions.
If 3, charging equipment current location does not shift with respect to reference object, controls driving assembly and be in locking shape
State；If charging equipment front position shifts with respect to reference object, driving assembly is controlled from lock state and is switched to unlock
State.According to whether having the needs of adjustment charging equipment position, the locking and unlock of driving assembly are controlled, is set in adjustment charging
Driving assembly is unlocked when standby position, is run convenient for driving assembly according to driving instruction, to adjust the position of charging equipment, is being charged
Driving assembly is locked when the position of equipment does not shift, is kept current location convenient for charging equipment, is reduced the shifting of charging equipment
It is dynamic.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of the location regulation method of charging equipment provided by the embodiments of the present application；
Fig. 2 is a kind of appearance diagram of charging equipment provided by the embodiments of the present application；
Fig. 3 is the schematic diagram that a kind of charging equipment provided by the embodiments of the present application detects present position；
Fig. 4 is the schematic diagram that a kind of charging equipment provided by the embodiments of the present application adjusts position；
Fig. 5 is a kind of structural schematic diagram of charging equipment provided by the embodiments of the present application；And
Fig. 6 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present application proposes.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and should not be understood as the limitation to the application.
The embodiment of the present application is mainly in the related technology, and charging equipment is influenced by external force and to occur position to the rear, can not
The position for adjusting charging equipment, causes charging equipment to be constantly in the position of offset, can not normally dock with sweeper or right
Rear poor contact is connect, thus the technical issues of affecting sweeper charging.
The location regulation method of the charging equipment of the embodiment of the present application detects the relative position of charging equipment and reference object
Information, to judge whether the position of charging equipment shifts, after the positional shift of confirmation charging equipment, according to offset information
The driving instruction for generating driving assembly in control charging equipment, by driving assembly according to instruction with the rotation of corresponding speed,
To adjust the position of charging equipment, so that controlling charging equipment is back to setting position, it is convenient for from mobile device and charging equipment
Charging electrode docking, it is ensured that from charging normal for mobile device.
Below with reference to the accompanying drawings the charging equipment and its location regulation method, equipment, storage medium of the embodiment of the present application are described
And charging system.
Fig. 1 is a kind of flow diagram of the location regulation method of charging equipment provided by the embodiments of the present application.
As shown in Figure 1, the location regulation method of the charging equipment the following steps are included:
Step 101, when returning charging, the first opposite position between the current location of charging equipment and reference object is obtained
Confidence breath.
Wherein, reference object can be the object of reference that wall etc. determines charging equipment relative position information.Charging equipment is
It is docked by charging electrode and sweeper etc. from mobile device, with to the cradle from mobile power supply equipment, Fig. 2 is that the application is real
A kind of appearance diagram of charging equipment of example offer is provided.
As shown in Fig. 2, the charging equipment includes the potential device that charging equipment back is arranged in, charging electrode, Yi Jishe
Set the supporting element of driving assembly and setting in the second area in the first area of charging equipment bottom.Wherein, first area is
Region corresponding with potential device in charging equipment bottom, the driving assembly in first area can be the drivings such as driving wheel charging
The mobile component of equipment, driving assembly at least two, and be symmetricly set in the first area, convenient for driving charging equipment
It is mobile to different directions, and can smoothly move；Second area be in the region of charging equipment bottom with charging electrode pair
The region answered, the supporting element in second area can be universal wheel, and universal wheel is used to support charging equipment and auxiliary charging equipment
It is mobile according to the rotation direction of driving wheel.It, can after the charging electrode of the charging equipment is docked with from mobile device when concrete application
To from mobile power supply equipment.
It should be noted that in order to avoid as far as possible charging equipment deviate initial position, cause from mobile device can not with fill
Electrode normally docks, and is usually placed against the wall charging equipment and sets, and corresponding distance is set between charging equipment and reference object.
However, being influenced in practical application by accident, charging equipment position may shift, and cause to set from movement
For can not normally be docked with charging equipment when being returned according to desired guiding trajectory, to influence from charging of mobile devices.Therefore,
In the embodiment of the present application, when being charged from mobile device recurrence charging equipment position, charging equipment, which needs to detect, works as
The first relative position information between front position and reference object, convenient for the subsequent position for determining the need for adjustment charging equipment
It sets.
When it is implemented, as a kind of possible implementation, as shown in figure 3, in advance in the first side of charging equipment
It is upper to be symmetrical arranged two range finders, wherein first side is side of the charging equipment towards objects of reference such as walls, and distance is visited
Surveying device can be the spacing of the detection objects such as ultrasonic distance sensor, infrared distance sensor or light pulse range sensor
From sensor.During sweeper is returned and charged, the first distance detector and first at charging equipment both ends is set
Range finder real-time detection charging equipment is under current location, first relative distance of the left and right ends between reference object
(LL) and the second relative distance (RL), the first relative position information between charging equipment and reference object is thereby determined that.
Step 102, according to the first relative position information, identify whether current location shifts with respect to reference object.
Specifically, charging equipment according to the first relative distance and the second relative distance got, determine charging equipment with
Whether the relative distance between reference object deviates.
As a kind of possible implementation, charging equipment is by the first relative position information and preset second relative position
Information is compared, if the first relative position information and the second relative position information are inconsistent, it is determined that current location is opposite
Reference object shifts.Wherein, the second relative distance information is setting when charging equipment does not deviate between reference object
Relative distance, it will be understood that when the position of charging equipment does not deviate, first distance detector and second distance detector are detected
The relative distance between charging equipment and reference object arrived, is setting relative distance.
When it is implemented, first distance detector and second distance detector when position does not deviate is stored in advance in charging equipment
Then the setting relative distance detected compares the first relative distance and the second relative distance with setting relative distance respectively
Compared with if the first relative distance and the second relative distance are respectively less than or are equal to setting relative distance, it is determined that charging equipment is worked as
Front position does not shift with respect to reference object, if one of them in the first relative distance and the second relative distance is greater than setting
Relative distance, it is determined that current location shifts with respect to reference object.
For example, if the right end of charging equipment is far from reference object, the second distance on the right side of charging equipment is set
The second relative distance that detector detects is greater than setting relative distance, and then determines that charging equipment position shifts, alternatively,
When charging equipment is whole to be deviated to the direction far from reference object, first distance detector is detected with second distance detector
The first relative distance and the second relative distance be all larger than setting relative distance, then settled front position occurs inclined with respect to reference object
It moves.
As a result, according to the charging equipment and the current relative distance of reference object of range finder detection, more accurately
Judge whether the position of charging equipment shifts, convenient for it is subsequent from mobile device according to currently practical relative position information tune
The position of whole charging equipment, suitable for being adjusted under different scenes to the position of charging equipment.
Step 103, if current location shifts with respect to reference object, according to the first relative position information, adjustment is filled
The current location of electric equipment deviates it no longer with reference object.
Specifically, charging equipment is according to the first phase after determining that charging equipment current location shifts with respect to reference object
The driving instruction of each driving assembly is generated to location information, each driving assembly is run according to driving instruction, wherein driving instruction can
To include the revolving speed of each driving assembly.It is run by each driving assembly with different revolving speeds, universal wheel is driven to turn to respective direction
It is dynamic, to adjust the position of charging equipment, deviate it no longer with reference object.
As a kind of possible implementation, as shown in figure 3, the first driving assembly is arranged in the bottom of charging equipment in advance
With the second driving assembly, wherein the first driving assembly and the second driving assembly are symmetricly set on the two of charging equipment first axle
Side, the first driving assembly and first distance detector are the same as in first axle side, the second driving assembly and second distance detector
With in the other side of first axle.Wherein, first axle is the symmetry axis of charging equipment.
When charging equipment does not shift, the first driving assembly and the second driving assembly are in the lock state, convenient for filling
Electric equipment keeps current location, reduces the movement of charging equipment.When according to the first relative position information detected, confirmation charging
After equipment current location shifts with respect to reference object, charging equipment controls driving assembly and is switched to unlock shape from lock state
State, and according to the first relative position information, generate the driving instruction of the first driving assembly and the second driving assembly.In turn, it controls
First driving assembly and the second driving assembly are run according to respective driving instruction, so that charging equipment is moved to reference object direction
It is dynamic, until the first relative position information indicates that current location deviates it no longer with reference object.
As an example, when there is one to be greater than setting relative distance in the first relative distance and the second relative distance,
Charging equipment is determined to be greater than the first relative distance for setting relative distance or the second relative distance as target relative distance, then
According to target relative distance, the first driving instruction with the matched target drives component of target relative distance is generated, wherein target
Driving assembly is the driving assembly ipsilateral with target relative distance, in turn, according to another relative distance, generate with it is another it is opposite away from
Second driving instruction of another driving assembly matched from relative distance.
For example, as shown in figure 4, setting relative distance when the second relative distance (RL) of charging equipment is greater than, first
It is same with the second relative distance using the second relative distance as target relative distance when relative distance (LL) is less than setting relative distance
Second driving assembly of side is target drives component, in turn, when target relative distance is the second relative distance, first it is opposite away from
It is another driving assembly with the first ipsilateral driving assembly of the first relative distance from for another relative distance.Then, according to second
Relative distance generates the first driving instruction of the second driving assembly, generates the second of the first driving assembly according to the first relative distance
Driving instruction.
Wherein, the first revolving speed of target drives component is carried in the first driving instruction, is carried in the second driving instruction another
Second revolving speed of driving assembly, and the first revolving speed is greater than the second revolving speed, wherein and the tachometer value of the first revolving speed and the second revolving speed can
To be determined according to target relative distance and another relative distance.Referring to Fig. 4 example, charging equipment is respectively according to the second relative distance
With the first relative distance, the first revolving speed of the second driving assembly and the second revolving speed of the first driving assembly are set, and second drives
The revolving speed of dynamic component is greater than the revolving speed of the first driving assembly.
Further, charging equipment control target drives component and another driving assembly are respectively with the first revolving speed and second turn
Speed is run, so that charging equipment is mobile to reference object direction, until target relative distance is less than or equal to setting phase
It adjusts the distance.
With continued reference to Fig. 4 example, it will be understood that when the revolving speed of the second driving assembly is greater than the revolving speed of the first driving assembly
When, the move distance of the second driving assembly is greater than the move distance of the first driving assembly in the unit time, thus the second driving group
Part and the first driving assembly drive universal wheel to move along clockwise direction, keep charging equipment mobile to reference object direction, until
Second relative distance is less than or equal to setting relative distance.Also, it is driven since the move distance of the second driving assembly is greater than first
The move distance of dynamic component, the position of the equipment of adjustable charging is until the first axle and references object of charging equipment hang down
Directly, i.e., adjustment charging equipment returns to initial, set position as indicated at 3, convenient for normal from the electrode of mobile device and charging equipment
Docking.
As another example, when the first relative distance and the second relative distance are all larger than setting relative distance, by the
One relative distance and the second relative distance make the difference, to identify the size relation of the first relative distance and the second relative distance, then,
According to the size relation compared, respectively with matched first driving assembly of the first relative distance, and with the second relative distance
Matched second driving assembly generates the first driving instruction and the second driving instruction.Wherein, first is carried in the first driving instruction
First revolving speed of driving assembly carries the second revolving speed of the second driving assembly, and the first revolving speed and in the second driving instruction
The size relation of two revolving speeds is consistent with the size relation of the first relative distance and the second relative distance.
For example, if the first relative distance and the second relative distance are all larger than setting relative distance, and by the first phase
Adjust the distance with the second relative distance relatively after, show that the first relative distance is greater than the second relative distance, then according to first it is opposite away from
From with the second relative distance, generate with matched first driving instruction of the first driving assembly, and matched with the second driving assembly
The second driving instruction, and the first revolving speed in the first driving instruction be greater than the second driving instruction in the second revolving speed, first
The difference of relative distance and the second relative distance is bigger, then the difference of the first revolving speed and the second revolving speed is also bigger.
Further, charging equipment controls the first driving assembly and the second driving assembly respectively with the first revolving speed and second turn
Speed is run, so that charging equipment is mobile to reference object direction, until target relative distance is less than or equal to setting phase
It adjusts the distance.It is appreciated that due to the size relation of the first revolving speed and the second revolving speed and the first relative distance and the second relative distance
Size relation it is consistent, the position of the equipment of adjustable charging until the first axle of charging equipment is vertical with references object,
I.e. adjustment charging equipment returns to initial, set position as indicated at 3, convenient for normally right from the electrode of mobile device and charging equipment
It connects.
It should be noted that during the first driving assembly and the second driving assembly are run, in order to avoid setting is driven
The deviation that may be had when the revolving speed of dynamic component, or during adjusting charging equipment position, charging equipment is by external force shadow
It rings position to change again, and influences charging equipment position adjusted, in the application one embodiment, charge in adjustment
During device location, first distance detector and second distance detection are continued to test between charging equipment and reference object
First relative distance and the second relative distance, charging equipment according to the first relative distance detected again and second it is opposite away from
From the real-time revolving speed for adjusting the first driving assembly and the second driving assembly, it is ensured that charging equipment can return to the initial bit of setting
It sets.The accuracy and reliability for improving adjustment charging equipment position as a result, reduces accident to charging equipment position tune
Whole interference increases from mobile device and docks successful probability with charging equipment.
In conclusion the location regulation method of the charging equipment of the embodiment of the present application, fills from mobile device recurrence first
When electric, the first relative position information between the current location of charging equipment and reference object is obtained, it is then opposite according to first
Location information, whether identification current location shifts with respect to reference object, if current location occurs partially with respect to reference object
It moves, then adjusts the current location of charging equipment according to the first relative position information, deviate it no longer with reference object.This method
The driving instruction that driving assembly in control charging equipment is generated according to offset information, by driving assembly according to instruction with corresponding
The rotation of speed improves the accuracy and specific aim of adjustment charging equipment position, by filling to adjust the position of charging equipment
Electric equipment avoids the step of user adjusts charging equipment position from main modulation present position, improve from mobile device with fill
The efficiency of electric equipment docking improves charging equipment confession convenient for normally docking from mobile device with the charging electrode of charging equipment
The reliability of electricity.
In order to realize above-described embodiment, the embodiment of the present application also proposes a kind of charging equipment.Fig. 5 mentions for the embodiment of the present application
A kind of structural schematic diagram of the charging equipment supplied.
As shown in figure 5, the charging equipment includes: to obtain module 110, identification module 120 and adjustment module 130.
Wherein, obtain module 110, for return charging when, obtain charging equipment current location and reference object it
Between the first relative position information.
Identification module 120, for identifying whether current location occurs with respect to reference object according to the first relative position information
Offset.
Module 130 is adjusted, for being believed according to the first relative position when current location shifts with respect to reference object
Breath, the current location for adjusting charging equipment deviates it no longer with reference object.
In a kind of possible implementation of the embodiment of the present application, obtains module 110 and be specifically used for by charging equipment
First distance detector and second distance detector, obtain the first relative distance between current location and reference object and the
Two relative distances, using the first relative distance and the second relative distance as the first relative position information.
Further, in a kind of possible implementation of the embodiment of the present application, identification module 120 is also used to the first phase
Location information is compared with preset second relative position information, if the first relative position information and the second relative position
Information is inconsistent, it is determined that current location shifts with respect to reference object.
Specifically, the second relative distance information include when charging equipment does not deviate it is opposite with the setting between reference object away from
From, wherein when charging equipment does not deviate, the distance detected is setting for first distance detector and second distance detector
Relative distance.To, identification module 120 be specifically used for the first relative distance and the second relative distance respectively with setting it is opposite away from
From being compared, if the first relative distance and the second relative distance are respectively less than or are equal to setting relative distance, it is determined that when
Front position does not shift with respect to reference object, if one of them in the first relative distance and the second relative distance is greater than setting
Relative distance, it is determined that current location shifts with respect to reference object.
Further, in a kind of possible implementation of the embodiment of the present application, adjustment module 130 is also used to according to the
One relative position information, generate the first driving assembly and the second driving assembly driving instruction, with control the first driving assembly and
Second driving assembly is run according to respective driving instruction, keeps charging equipment mobile to reference object direction, until first is opposite
Location information indicates that current location deviates it no longer with reference object.
Specifically, adjustment module 130 is specifically used for having one to be greater than in the first relative distance and the second relative distance and set
When determining relative distance, identification is greater than the target relative distance of setting relative distance, then according to target relative distance, generation and mesh
The first driving instruction for marking the matched target drives component of relative distance, according to another relative distance, generate with it is another it is opposite away from
Second driving instruction of another driving assembly matched from relative distance, finally, control target drives component and another driving group
Part is run respectively with the first revolving speed and the second revolving speed, so that charging equipment is mobile to reference object direction, until target phase
It adjusts the distance and is less than or equal to setting relative distance.
Alternatively, when the first relative distance and the second relative distance are all larger than setting relative distance, identification first it is opposite away from
From the size relation with the second relative distance, then according to size relation, driven respectively with the first relative distance matched first
Component, and with matched second driving assembly of the second relative distance, generate the first driving instruction and the second driving instruction, most
Afterwards, it controls the first driving assembly and the second driving assembly is run respectively with the first revolving speed and the second revolving speed, so that charging is set
It is standby mobile to reference object direction, until target relative distance is less than or equal to setting relative distance.
In a kind of possible implementation of the embodiment of the present application, adjustment module 130 be also used in the first driving assembly and
During second driving assembly is run, according to the first relative distance and the second relative distance detected again, adjustment first
The revolving speed of driving assembly and the second driving assembly.
It should be noted that the explanation of the aforementioned location regulation method embodiment to charging equipment, is also applied for this
The charging equipment of embodiment and from mobile device, therefore details are not described herein.
In conclusion the charging equipment of the embodiment of the present application obtains charging and sets first when returning charging from mobile device
The first relative position information between standby current location and reference object, then according to the first relative position information, identification is worked as
Whether front position shifts with respect to reference object, if current location shifts with respect to reference object, according to the first phase
To the current location of location information adjustment charging equipment, deviate it no longer with reference object.The device is raw according to offset information
At the driving instruction of driving assembly in control charging equipment, by driving assembly according to instruction with the rotation of corresponding speed, with
The position for adjusting charging equipment improves the accuracy and specific aim of adjustment charging equipment position, by charging equipment from homophony
Whole present position avoids the step of user adjusts charging equipment position, improves and docks with charging equipment from mobile device
Efficiency improves the reliability of charging equipment power supply convenient for normally docking from mobile device with the charging electrode of charging equipment.
In order to realize above-described embodiment, the embodiment of the present application also proposes a kind of charging system, which includes such as above-mentioned reality
Apply the example charging equipment and from mobile device, wherein charging equipment to from mobile device for charging.
In order to realize above-described embodiment, the application also proposes a kind of electronic equipment.
Fig. 6 is the structural schematic diagram for a kind of electronic equipment that one embodiment of the application proposes.As shown in fig. 6, the electronics is set
Standby 120 include: processor 121 and memory 122；Memory 122 is for storing executable program code；Processor 121 passes through
The executable program code that stores is read in memory 122 to run program corresponding with executable program code, for realizing
The location regulation method of charging equipment as described in realizing and as above state embodiment.
In order to realize above-described embodiment, the embodiment of the present application also proposes a kind of non-transitorycomputer readable storage medium,
It is stored thereon with computer program, the position of the charging equipment as described in above-described embodiment is realized when which is executed by processor
Method of adjustment.
In the description of this specification, term " first ", " second " are used for description purposes only, and should not be understood as instruction or
It implies relative importance or implicitly indicates the quantity of indicated technical characteristic.The spy of " first ", " second " is defined as a result,
Sign can explicitly or implicitly include at least one of the features.In the description of the present application, the meaning of " plurality " is at least two
It is a, such as two, three etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the application
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
Embodiments herein is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the application
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of application
Type.
Claims (14)
1. a kind of location regulation method of charging equipment, which comprises the following steps:
When returning charging, the first relative position information between the current location of charging equipment and reference object is obtained；
According to first relative position information, identify whether the relatively described reference object in the current location shifts；
If the relatively described reference object in the current location shifts, according to first relative position information, institute is adjusted
The current location for stating charging equipment deviates it no longer with the reference object.
2. the location regulation method of charging equipment according to claim 1, which is characterized in that the bottom of the charging equipment
It is provided with the first driving assembly and the second driving assembly；First driving assembly and the second driving assembly are symmetricly set on described
The two sides of the first axle of charging equipment, wherein when the charging equipment position and the references object do not deviate, institute
It is vertical with the references object to state first axle；
It is described according to first relative position information, the current location for adjusting the charging equipment makes itself and the reference object
No longer deviate, comprising:
According to first relative position information, the driving for generating first driving assembly and second driving assembly refers to
It enables；
It controls first driving assembly and second driving assembly is run according to respective driving instruction, so that the charging
Equipment is mobile to the reference object direction, until first relative position information indicates that the current location makes itself and institute
Reference object is stated no longer to deviate.
3. the location regulation method of charging equipment according to claim 2, which is characterized in that further include:
If the relatively described reference object in the current location does not shift, control the driving component is in the lock state；
If the relatively described reference object in the front position shifts, control the driving component switches from the lock state
To unlocked state.
4. the location regulation method of charging equipment according to claim 2, which is characterized in that described according to first phase
To location information, identify whether the relatively described reference object in the current location shifts, comprising:
First relative position information is compared with preset second relative position information, if the described first opposite position
Confidence breath is inconsistent with second relative position information, it is determined that the relatively described reference object in the current location occurs inclined
It moves.
5. the location regulation method of charging equipment according to claim 4, which is characterized in that the acquisition charging equipment
The first relative position information between current location and reference object, comprising:
By the first distance detector and second distance detector on the charging equipment, obtain the current location with it is described
The first relative distance and the second relative distance between reference object, by first relative distance and second relative distance
As first relative position information；
Wherein, the first distance detector and the second distance detector are symmetricly set on the first of the charging equipment face
On side, the first side is the side towards the reference object.
6. the location regulation method of charging equipment according to claim 5, which is characterized in that the second relative distance letter
Breath includes the setting relative distance when charging equipment does not deviate between the reference object；Wherein, the first distance
Detector and second distance detector when the charging equipment does not deviate, the distance detected be the setting it is opposite away from
From；
The described method includes:
First relative distance and second relative distance are compared with the setting relative distance respectively, if institute
It states the first relative distance and second relative distance is respectively less than or is equal to the setting relative distance, it is determined that is described current
The relatively described reference object in position does not shift；
If one of them in first relative distance and second relative distance is greater than the setting relative distance, really
The fixed relatively described reference object in the current location shifts.
7. the location regulation method of charging equipment according to claim 6, which is characterized in that described according to first phase
To location information, the driving instruction of at least two driving assembly is generated, comprising:
When there is one to be greater than the setting relative distance in first relative distance and second relative distance, identification is big
In the target relative distance of the setting relative distance；Wherein, the target relative distance be first relative distance or
Second relative distance；
According to the target relative distance, generates the first driving with the matched target drives component of the target relative distance and refer to
It enables；Wherein, the target drives component is first driving assembly or second driving assembly；
According to another relative distance, generates and driven with the second of another matched another driving assembly of relative distance relative distance
Dynamic instruction；Wherein, the first revolving speed of the target drives component, second driving instruction are carried in first driving instruction
Middle the second revolving speed for carrying another driving assembly；First revolving speed is greater than second revolving speed；
Control the target drives component and another driving assembly respectively with first revolving speed and second revolving speed into
Row operation, so that the charging equipment is mobile to the reference object direction, until the target relative distance is less than or waits
In the setting relative distance.
8. the location regulation method of charging equipment according to claim 6, which is characterized in that described according to first phase
To location information, the driving instruction of first driving assembly and second driving assembly is generated, comprising:
When first relative distance and second relative distance are all larger than the setting relative distance, identification described first
The size relation of relative distance and second relative distance；
According to the size relation, respectively with matched first driving assembly of first relative distance, and with described second
Matched second driving assembly of relative distance generates the first driving instruction and the second driving instruction；Wherein, first driving refers to
The first revolving speed of first driving assembly is carried in order, and the of second driving assembly is carried in second driving instruction
Two revolving speeds；The size relation and first relative distance of first revolving speed and second revolving speed and it is described second it is opposite away from
From size relation it is consistent；
Control first driving assembly and second driving assembly respectively with first revolving speed and second revolving speed into
Row operation, so that the charging equipment is mobile to the reference object direction, until the target relative distance is less than or waits
In the setting relative distance.
9. the location regulation method of charging equipment according to claim 7 or 8, which is characterized in that further include:
It is opposite according to first detected again during first driving assembly and second driving assembly are run
Distance and the second relative distance adjust the revolving speed of first driving assembly and second driving assembly.
10. according to the location regulation method of the described in any item charging equipments of claim 2-8, which is characterized in that further include:
At least two driving assembly is arranged in the first area of the charging equipment bottom；
The second area of the bottom of the charging equipment is provided with moveable supporting element.
11. a kind of charging equipment characterized by comprising
Module is obtained, it is first opposite between the current location of charging equipment and reference object for obtaining when returning charging
Location information；
Identification module, for identifying that the relatively described reference object in the current location is according to first relative position information
It is no to shift；
Module is adjusted, for when the relatively described reference object in the current location shifts, according to the described first opposite position
Confidence breath, the current location for adjusting the charging equipment deviates it no longer with the reference object.
12. a kind of charging system characterized by comprising charging equipment described in claim 11 and from mobile device, it is described
Charging equipment to described from mobile device for charging.
13. a kind of electronic equipment, which is characterized in that including memory, processor；
Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, with the location regulation method for realizing the charging equipment as described in any in claim 1-9.
14. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The location regulation method of the charging equipment as described in any in claim 1-9 is realized when being executed by processor.
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| CN201811075043.0A CN109245205B (en) | 2018-09-14 | 2018-09-14 | Charging device, position adjusting method thereof, device, storage medium, and charging system |
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| CN201811075043.0A CN109245205B (en) | 2018-09-14 | 2018-09-14 | Charging device, position adjusting method thereof, device, storage medium, and charging system |
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| CN109245205B (en) | 2020-09-25 |
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