CN109245205B - Charging device, position adjusting method thereof, device, storage medium, and charging system - Google Patents
Charging device, position adjusting method thereof, device, storage medium, and charging system Download PDFInfo
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- CN109245205B CN109245205B CN201811075043.0A CN201811075043A CN109245205B CN 109245205 B CN109245205 B CN 109245205B CN 201811075043 A CN201811075043 A CN 201811075043A CN 109245205 B CN109245205 B CN 109245205B
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000008569 process Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 abstract 1
- 241001417527 Pempheridae Species 0.000 description 11
- 210000001503 joint Anatomy 0.000 description 10
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- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 2
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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
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- 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
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- 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 provides a charging device and a position adjusting method, a device, a storage medium and a charging system thereof, wherein the method comprises the following steps: when the charging device is used for carrying out regression charging, acquiring first relative position information between the current position of the charging device and a reference object; identifying whether the current position is offset relative to the reference object or not according to the first relative position information; and if the current position deviates relative to the reference object, adjusting the current position of the charging equipment to enable the current position of the charging equipment not to deviate from the reference object according to the first relative position information. According to the method, when the position of the charging equipment deviates, the position of the charging equipment is adjusted according to the deviation information of the position of the charging equipment, so that the charging equipment returns to the set position, the docking efficiency of the self-moving equipment and the charging equipment is improved, and the normal charging of the self-moving equipment is ensured.
Description
Technical Field
The present disclosure relates to the field of electrical appliance control technologies, and in particular, to a charging device, a position adjustment method thereof, a device, a storage medium, and a charging system.
Background
Along with the improvement of living standard of people, the sweeper is gradually popularized to each family, and the hands of a user are liberated by sweeping the ground through the sweeper, so that convenience is brought to the user. When the electric quantity of the sweeper is insufficient or the sweeping task is finished, the sweeper needs to return to the charging equipment and contact with a charging electrode of the charging equipment to charge.
In the related art, because the position of the charging device is not fixed and is easy to deviate, in order to avoid that the charging device deviates, the sweeper is in poor contact with the electrode of the charging device to affect charging, the charging device is usually placed close to a wall, and a non-slip mat is arranged at the bottom of the charging device to block the position of the charging device from deviating as much as possible.
However, the applicant finds that, in practical applications, the charging device may still be affected by external force and may be deviated, for example, when a user accidentally kicks or hooks the power line of the charging device, the non-slip mat of the charging device cannot prevent the charging device from deviating, so that the charging device is in a position deviation state, and at this time, after the sweeper is abutted to the electrode of the charging device, there may be a situation of poor contact, which may affect charging.
Disclosure of Invention
The method detects relative position information of the charging device and a reference object to judge whether the position of the charging device deviates or not, generates a driving instruction for controlling a driving assembly in the charging device according to the deviation information after confirming the position deviation of the charging device, and adjusts the position of the charging device through the rotation of the driving assembly at a corresponding speed according to the instruction, so that the charging device is controlled to return to a set position, the self-moving device is convenient to be in butt joint with a charging electrode of the charging device, and normal charging of the self-moving device is ensured.
An embodiment of a first aspect of the present application provides a position adjustment method for a charging device, including:
when the charging device is used for carrying out regression charging, acquiring first relative position information between the current position of the charging device and a reference object;
identifying whether the current position is offset relative to the reference object or not according to the first relative position information;
and if the current position deviates relative to the reference object, adjusting the current position of the charging equipment to enable the current position of the charging equipment not to deviate from the reference object according to the first relative position information.
An embodiment of a second aspect of the present application provides a charging apparatus, including:
the acquisition module is used for acquiring first relative position information between the current position of the charging equipment and a reference object during regression charging;
the identification module is used for identifying whether the current position deviates relative to the reference object or not according to the first relative position information;
and the adjusting module is used for adjusting the current position of the charging equipment to enable the current position of the charging equipment not to deviate from the reference object according to the first relative position information when the current position deviates from the reference object.
Another embodiment of the present application provides a charging system, including the charging device and the self-moving device as described in the above embodiments, wherein the charging device is configured to charge the self-moving device.
Another embodiment of the present application provides an electronic device, including a processor and a memory, where the processor runs a program corresponding to an executable program code by reading the executable program code stored in the memory, so as to implement the position adjustment method of the charging device according to the foregoing embodiment.
Another embodiment of the present application provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the position adjustment method of the charging device according to the above embodiment.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
1. and when the current position of the charging equipment deviates relative to the reference object, adjusting the current position of the charging equipment according to the first relative position information to ensure that the current position of the charging equipment does not deviate from the reference object. The driving instruction of the driving assembly of the charging device is determined according to the detected current position information of the charging device, the position of the charging device is adjusted through the driving assembly, the charging device is returned to the set position, the self-moving device is conveniently in butt joint with the charging electrode of the charging device, and normal charging of the self-moving device is guaranteed.
2. A first relative distance and a second relative distance between the current position and a reference object are acquired through a first distance detector and a second distance detector on the charging device, and the first relative distance and the second relative distance are used as first relative position information. The distance between the two sides of the charging equipment and the reference object is measured through the distance detector on the charging equipment, so that the relative position between the charging equipment and the reference object is more accurately obtained, the position of the charging equipment is convenient to adjust according to the current actual relative position information, and the method is suitable for different position adjusting scenes.
3. If the current position of the charging equipment does not deviate relative to the reference object, controlling the driving assembly to be in a locking state; and controlling the driving assembly to switch from the locking state to the unlocking state if the front position of the charging equipment is deviated relative to the reference object. The locking and unlocking of the driving assembly are controlled according to the requirement of adjusting the position of the charging equipment, the driving assembly is unlocked when the position of the charging equipment is adjusted, the driving assembly can conveniently operate according to a driving instruction to adjust the position of the charging equipment, the driving assembly is locked when the position of the charging equipment does not deviate, the charging equipment can conveniently keep the current position, and the movement of the charging equipment is reduced.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flowchart of a method for adjusting a position of a charging device according to an embodiment of the present disclosure;
fig. 2 is an external view of a charging device according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating a position detected by a charging device according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating an adjustment position of a charging device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a charging device according to an embodiment of the present disclosure; and
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The embodiment of the application mainly aims at the technical problems that in the related art, the charging equipment is influenced by external force, and the position of the charging equipment cannot be adjusted after being deviated, so that the charging equipment is always in the deviated position and cannot be normally butted with a sweeper or the contact of the sweeper is poor after being butted, and the charging of the sweeper is influenced.
According to the position adjusting method of the charging equipment, the relative position information of the charging equipment and a reference object is detected to judge whether the position of the charging equipment deviates, after the position deviation of the charging equipment is confirmed, a driving instruction for controlling a driving assembly in the charging equipment is generated according to the deviation information, the position of the charging equipment is adjusted through the rotation of the driving assembly at a corresponding speed according to the instruction, and therefore the charging equipment is controlled to return to a set position, the self-moving equipment is convenient to be in butt joint with a charging electrode of the charging equipment, and normal charging of the self-moving equipment is guaranteed.
A charging apparatus, a position adjustment method thereof, an apparatus, a storage medium, and a charging system according to embodiments of the present application are described below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for adjusting a position of a charging device according to an embodiment of the present disclosure.
As shown in fig. 1, the position adjustment method of the charging apparatus includes the steps of:
step 101, in the process of returning charging, first relative position information between the current position of the charging equipment and a reference object is obtained.
The reference object may be a reference object such as a wall for determining the relative position information of the charging device. The charging device is a charging seat which is connected with a self-moving device such as a sweeper in a butt joint mode through a charging electrode to supply power to the self-moving device, and fig. 2 is an appearance schematic diagram of the charging device provided by the embodiment of the application.
As shown in fig. 2, the charging apparatus includes a transforming device disposed at the back of the charging apparatus, a charging electrode, and a driving assembly disposed in a first region of the bottom of the charging apparatus and a support disposed in a second region. The first area is an area corresponding to the voltage transformation device in the bottom of the charging equipment, the driving assemblies in the first area can be assemblies such as driving wheels and the like for driving the charging equipment to move, at least two driving assemblies are arranged in the first area symmetrically, the charging equipment can be driven to move towards different directions conveniently, and the charging equipment can move stably; the second area is an area corresponding to the charging electrode in the area of the bottom of the charging device, and the support member in the second area may be a universal wheel for supporting the charging device and assisting the charging device to move in accordance with the rotation direction of the driving wheel. When the charging device is applied specifically, after the charging electrode of the charging device is in butt joint with the self-moving device, power can be supplied to the self-moving device.
In order to avoid the situation that the self-moving device cannot be normally docked with the charging electrode due to the fact that the charging device is shifted from the initial position as much as possible, the charging device is usually placed close to a wall, and a corresponding distance is set between the charging device and a reference object.
However, in practical applications, due to an unexpected event, the position of the charging device may shift, so that the self-moving device cannot be normally docked with the charging device when returning according to the preset track, thereby affecting the charging of the self-moving device. Therefore, in the embodiment of the present application, when the mobile device returns to the position of the charging device for charging, the charging device needs to detect the first relative position information between the current position and the reference object, so as to facilitate the subsequent determination of whether the position of the charging device needs to be adjusted.
In a specific implementation, as shown in fig. 3, two distance detectors are symmetrically arranged on a first side surface of the charging device in advance, where the first side surface is a side surface of the charging device facing a reference object such as a wall, and the distance detectors may be sensors that detect a distance between objects, such as an ultrasonic distance sensor, an infrared distance sensor, or an optical pulse distance sensor. In the returning and charging process of the sweeper, a first distance detector and a first distance detector which are arranged at two ends of the charging equipment detect a first relative distance (LL) and a second relative distance (RL) between the left end and the right end of the charging equipment and a reference object at the current position in real time, and therefore first relative position information between the charging equipment and the reference object is determined.
And 102, identifying whether the current position is deviated from the reference object or not according to the first relative position information.
Specifically, the charging device determines whether the relative distance between the charging device and the reference object is offset according to the acquired first relative distance and the acquired second relative distance.
As a possible implementation manner, the charging device compares the first relative position information with preset second relative position information, and determines that the current position is offset from the reference object if the first relative position information is inconsistent with the second relative position information. The second relative position information is a set relative distance between the charging device and the reference object when the charging device is not shifted, and it can be understood that, when the charging device is not shifted, the relative distances between the charging device and the reference object, which are detected by the first distance detector and the second distance detector, are both set relative distances.
In specific implementation, the charging device stores a preset relative distance detected by the first distance detector and the second distance detector when the position of the charging device is not shifted in advance, then compares the first relative distance and the second relative distance with the preset relative distance respectively, determines that the current position of the charging device is not shifted relative to the reference object if the first relative distance and the second relative distance are both smaller than or equal to the preset relative distance, and determines that the current position is shifted relative to the reference object if one of the first relative distance and the second relative distance is larger than the preset relative distance.
For example, if the right end of the charging device is far away from the reference object, the second relative distance detected by the second distance detector arranged on the right side of the charging device is greater than the set relative distance, and then it is determined that the position of the charging device is shifted, or when the charging device is shifted in a direction far away from the reference object as a whole, the first relative distance and the second relative distance detected by the first distance detector and the second distance detector are both greater than the set relative distance, and it is determined that the current position is shifted relative to the reference object.
Therefore, whether the position of the charging equipment deviates or not can be judged more accurately according to the current relative distance between the charging equipment and the reference object detected by the distance detector, the position of the charging equipment can be adjusted conveniently by the follow-up self-moving equipment according to the current actual relative position information, and the method and the device are suitable for adjusting the position of the charging equipment in different scenes.
And 103, if the current position deviates from the reference object, adjusting the current position of the charging equipment to make the current position of the charging equipment not deviate from the reference object according to the first relative position information.
Specifically, after it is determined that the current position of the charging device deviates from the reference object, the charging device generates a driving instruction of each driving component according to the first relative position information, and each driving component operates according to the driving instruction, where the driving instruction may include a rotation speed of each driving component. The universal wheels are driven to rotate in corresponding directions by the driving components running at different rotating speeds so as to adjust the position of the charging equipment and prevent the charging equipment from deviating from a reference object.
As a possible implementation manner, as shown in fig. 3, a first driving assembly and a second driving assembly are arranged at the bottom of the charging device in advance, wherein the first driving assembly and the second driving assembly are symmetrically arranged at two sides of a first axis of the charging device, the first driving assembly and the first distance detector are arranged at one side of the first axis, and the second driving assembly and the second distance detector are arranged at the other side of the first axis. Wherein the first axis is a symmetry axis of the charging device.
When the charging equipment does not deviate, the first driving assembly and the second driving assembly are in a locked state, so that the charging equipment can keep the current position conveniently, and the movement of the charging equipment is reduced. And when the current position of the charging equipment is confirmed to be deviated relative to the reference object according to the detected first relative position information, the charging equipment controls the driving assembly to be switched from the locking state to the unlocking state, and generates driving instructions of the first driving assembly and the second driving assembly according to the first relative position information. And further controlling the first driving assembly and the second driving assembly to operate according to respective driving instructions so that the charging equipment moves towards the reference object until the first relative position information indicates that the current position is not deviated from the reference object.
As an example, when one of the first relative distance and the second relative distance is greater than the set relative distance, the charging device determines that the first relative distance or the second relative distance greater than the set relative distance is the target relative distance, and then generates a first driving instruction of a target driving component matching the target relative distance according to the target relative distance, wherein the target driving component is a driving component on the same side as the target relative distance, and further generates a second driving instruction of another driving component matching the other relative distance according to the other relative distance.
For example, as shown in fig. 4, when the second relative distance (RL) of the charging device is greater than the set relative distance and the first relative distance (LL) is less than the set relative distance, the second relative distance is taken as the target relative distance, and the second driving element on the same side as the second relative distance is taken as the target driving element. Then, a first driving command of the second driving assembly is generated according to the second relative distance, and a second driving command of the first driving assembly is generated according to the first relative distance.
The first driving instruction carries a first rotating speed of the target driving assembly, the second driving instruction carries a second rotating speed of the other driving assembly, and the first rotating speed is greater than the second rotating speed, wherein rotating speed values of the first rotating speed and the second rotating speed can be determined according to the target relative distance and the other relative distance. Referring to the example of fig. 4, the charging device sets a first rotation speed of the second driving assembly and a second rotation speed of the first driving assembly according to the second relative distance and the first relative distance, respectively, and the rotation speed of the second driving assembly is greater than the rotation speed of the first driving assembly.
Further, the charging device controls the target driving assembly and the other driving assembly to operate at a first rotating speed and a second rotating speed respectively, so that the charging device moves towards the reference object until the target relative distance is smaller than or equal to the set relative distance.
Continuing to refer to the example of fig. 4, it can be understood that when the rotation speed of the second driving assembly is greater than the rotation speed of the first driving assembly, the movement distance of the second driving assembly per unit time is greater than the movement distance of the first driving assembly, so that the second driving assembly and the first driving assembly drive the universal wheel to move clockwise, and the charging device moves towards the reference object until the second relative distance is less than or equal to the set relative distance. In addition, since the movement distance of the second driving assembly is greater than that of the first driving assembly, the position of the charging device can be adjusted until the first axis of the charging device is perpendicular to the reference object, that is, the charging device is adjusted to return to the initial setting position shown in fig. 3, so that the self-moving device can be conveniently and normally butted with the electrode of the charging device.
As another example, when both the first relative distance and the second relative distance are greater than the set relative distance, the first relative distance and the second relative distance are differentiated to identify a magnitude relationship between the first relative distance and the second relative distance, and then, according to the compared magnitude relationship, the first drive component matching the first relative distance and the second drive component matching the second relative distance respectively generate the first drive command and the second drive command. The first driving instruction carries a first rotating speed of the first driving assembly, the second driving instruction carries a second rotating speed of the second driving assembly, and the magnitude relation between the first rotating speed and the second rotating speed is consistent with the magnitude relation between the first relative distance and the second relative distance.
For example, if the first relative distance and the second relative distance are both greater than the set relative distance, and the first relative distance is greater than the second relative distance after the first relative distance and the second relative distance are compared, a first driving command matched with the first driving component and a second driving command matched with the second driving component are generated according to the first relative distance and the second relative distance, a first rotating speed in the first driving command is greater than a second rotating speed in the second driving command, and the greater the difference between the first relative distance and the second relative distance, the greater the difference between the first rotating speed and the second rotating speed.
Further, the charging device controls the first driving assembly and the second driving assembly to operate at the first rotating speed and the second rotating speed respectively, so that the charging device moves towards the reference object until the target relative distance is smaller than or equal to the set relative distance. It can be understood that, since the magnitude relationship between the first rotating speed and the second rotating speed is consistent with the magnitude relationship between the first relative distance and the second relative distance, the position of the charging device can be adjusted until the first axis of the charging device is perpendicular to the reference object, that is, the charging device is adjusted to return to the initial setting position shown in fig. 3, so that the self-moving device and the electrode of the charging device can be conveniently and normally docked.
It should be noted that, in the process of operating the first driving assembly and the second driving assembly, in order to avoid a deviation that may be brought when the rotation speed of the driving assembly is set, or in the process of adjusting the position of the charging device, the position of the charging device affected by the external force changes again to affect the adjusted position of the charging device, in an embodiment of the present application, in the process of adjusting the position of the charging device, the first distance detector and the second distance detector continue to detect the first relative distance and the second relative distance between the charging device and the reference object, and the charging device adjusts the rotation speed of the first driving assembly and the second driving assembly in real time according to the re-detected first relative distance and second relative distance, so as to ensure that the charging device can return to the set initial position. Therefore, the accuracy and the reliability of adjusting the position of the charging equipment are improved, the interference of an accident to the position adjustment of the charging equipment is reduced, and the probability of successful butt joint of the self-moving equipment and the charging equipment is increased.
To sum up, in the method for adjusting a position of a charging device according to the embodiment of the present application, first, when the self-moving device performs regression charging, first relative position information between a current position of the charging device and a reference object is obtained, and then, according to the first relative position information, whether the current position is offset with respect to the reference object is identified, and if the current position is offset with respect to the reference object, the current position of the charging device is adjusted according to the first relative position information, so that the current position is not offset with respect to the reference object. The method generates a driving instruction for controlling a driving assembly in the charging equipment according to the offset information, adjusts the position of the charging equipment by rotating the driving assembly at a corresponding speed according to the instruction, improves the accuracy and pertinence of adjusting the position of the charging equipment, avoids the step of adjusting the position of the charging equipment by a user by automatically adjusting the position of the charging equipment, improves the butt joint efficiency of the self-moving equipment and the charging equipment, facilitates the normal butt joint of the self-moving equipment and a charging electrode of the charging equipment, and improves the power supply reliability of the charging equipment.
In order to implement the above embodiments, the present application further provides a charging device. Fig. 5 is a schematic structural diagram of a charging device according to an embodiment of the present application.
As shown in fig. 5, the charging apparatus includes: an acquisition module 110, an identification module 120, and an adjustment module 130.
The obtaining module 110 is configured to obtain first relative position information between a current position of the charging device and a reference object during the return charging.
The identifying module 120 is configured to identify whether the current position is offset from the reference object according to the first relative position information.
And an adjusting module 130, configured to adjust the current position of the charging device to make the current position of the charging device not offset from the reference object according to the first relative position information when the current position is offset from the reference object.
In a possible implementation manner of the embodiment of the application, the obtaining module 110 is specifically configured to obtain a first relative distance and a second relative distance between the current position and the reference object through a first distance detector and a second distance detector on the charging device, and use the first relative distance and the second relative distance as the first relative position information.
Further, in a possible implementation manner of the embodiment of the present application, the identifying module 120 is further configured to compare the first relative position information with preset second relative position information, and determine that the current position is offset from the reference object if the first relative position information is inconsistent with the second relative position information.
Specifically, the second relative position information includes a set relative distance between the charging device and the reference object when the charging device is not offset, wherein the detected distances of the first distance detector and the second distance detector are both the set relative distance when the charging device is not offset. Thus, the identification module 120 is specifically configured to compare the first relative distance and the second relative distance with the set relative distance, determine that the current position is not shifted with respect to the reference object if both the first relative distance and the second relative distance are less than or equal to the set relative distance, and determine that the current position is shifted with respect to the reference object if one of the first relative distance and the second relative distance is greater than the set relative distance.
Further, in a possible implementation manner of the embodiment of the present application, the adjusting module 130 is further configured to generate a driving instruction of the first driving component and the second driving component according to the first relative position information, so as to control the first driving component and the second driving component to operate according to the respective driving instruction, so that the charging device moves toward the reference object until the first relative position information indicates that the current position is no longer offset from the reference object.
Specifically, the adjusting module 130 is specifically configured to, when one of the first relative distance and the second relative distance is greater than the set relative distance, identify a target relative distance that is greater than the set relative distance, then generate a first driving instruction of a target driving component that matches the target relative distance according to the target relative distance, generate a second driving instruction of another driving component that matches the other relative distance according to the other relative distance, and finally, control the target driving component and the another driving component to operate at the first rotation speed and the second rotation speed, respectively, so that the charging device moves toward the reference object until the target relative distance is less than or equal to the set relative distance.
Or when the first relative distance and the second relative distance are both larger than the set relative distance, identifying the magnitude relation between the first relative distance and the second relative distance, then respectively generating a first driving command and a second driving command according to the magnitude relation, wherein the first driving command is matched with the first relative distance, and the second driving command is matched with the second relative distance, and finally controlling the first driving module and the second driving module to respectively operate at a first rotating speed and a second rotating speed so that the charging equipment moves towards the reference object until the target relative distance is smaller than or equal to the set relative distance.
In a possible implementation manner of the embodiment of the present application, the adjusting module 130 is further configured to adjust the rotation speeds of the first driving assembly and the second driving assembly according to the re-detected first relative distance and second relative distance during the operation of the first driving assembly and the second driving assembly.
It should be noted that the foregoing explanation of the embodiment of the position adjustment method for the charging device is also applicable to the charging device and the mobile device in this embodiment, and therefore, the explanation is not repeated here.
To sum up, the charging device in the embodiment of the application, first, when returning and charging from the mobile device, obtains first relative position information between a current position of the charging device and a reference object, and then, according to the first relative position information, identifies whether the current position is offset relative to the reference object, and if the current position is offset relative to the reference object, adjusts the current position of the charging device according to the first relative position information, so that the current position is not offset from the reference object. The device generates a driving instruction for controlling a driving assembly in the charging equipment according to the offset information, and the driving assembly rotates at a corresponding speed according to the instruction to adjust the position of the charging equipment, so that the accuracy and pertinence of adjusting the position of the charging equipment are improved, the position of the charging equipment is automatically adjusted by the charging equipment, the step of adjusting the position of the charging equipment by a user is avoided, the butt joint efficiency of the self-moving equipment and the charging equipment is improved, the normal butt joint of the self-moving equipment and a charging electrode of the charging equipment is facilitated, and the power supply reliability of the charging equipment is improved.
In order to implement the foregoing embodiment, an embodiment of the present application further provides a charging system, which includes the charging device and a self-moving device as described in the foregoing embodiment, where the charging device is configured to charge the self-moving device.
In order to implement the above embodiments, the present application further provides an electronic device.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 120 includes: a processor 121 and a memory 122; the memory 122 is used for storing executable program code; the processor 121 runs a program corresponding to the executable program code by reading the executable program code stored in the memory 122, for implementing the position adjustment method of the charging apparatus as described in the above-described embodiments.
In order to implement the above embodiments, the present application also proposes a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the position adjustment method of the charging device as described in the above embodiments.
In the description of the present specification, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (13)
1. A position adjusting method of a charging device is characterized by comprising the following steps:
in the regression charging, acquiring first relative position information between a current position of a charging device and a reference object, wherein the acquiring of the first relative position information between the current position of the charging device and the reference object includes: acquiring a first relative distance and a second relative distance between the current position and the reference object through a first distance detector and a second distance detector on the charging equipment, and taking the first relative distance and the second relative distance as first relative position information; the first distance detector and the second distance detector are symmetrically arranged on a first side surface of the charging equipment, and the first side surface is a side surface facing the reference object;
identifying whether the current position deviates relative to the reference object or not according to the first relative position information;
and if the current position deviates relative to the reference object, adjusting the current position of the charging equipment to enable the current position of the charging equipment not to deviate from the reference object according to the first relative position information.
2. The position adjustment method of a charging device according to claim 1, wherein a first driving assembly and a second driving assembly are provided at a bottom of the charging device; the first driving assembly and the second driving assembly are symmetrically arranged on two sides of a first axis of the charging device, wherein the first axis is perpendicular to the reference object when the charging device is not offset from the reference object;
the adjusting, according to the first relative position information, the current position of the charging device so that the current position of the charging device is not offset from the reference object includes:
generating driving instructions of the first driving assembly and the second driving assembly according to the first relative position information;
and controlling the first driving assembly and the second driving assembly to operate according to respective driving instructions so as to enable the charging equipment to move towards the direction of the reference object until the first relative position information indicates that the current position is enabled not to deviate from the reference object.
3. The position adjustment method of a charging apparatus according to claim 2, characterized by further comprising:
if the current position does not deviate relative to the reference object, controlling the driving assembly to be in a locking state;
and controlling the driving assembly to switch from the locking state to the unlocking state if the current position deviates relative to the reference object.
4. The method according to claim 2, wherein the identifying whether the current position is offset from the reference object according to the first relative position information includes:
and comparing the first relative position information with preset second relative position information, and determining that the current position deviates relative to the reference object if the first relative position information is inconsistent with the second relative position information.
5. The position adjustment method of a charging device according to claim 4, wherein the second relative position information includes a set relative distance from the reference object when the charging device is not offset; when the charging equipment does not deviate, the detected distances of the first distance detector and the second distance detector are the set relative distance;
the method comprises the following steps:
comparing the first relative distance and the second relative distance with the set relative distance respectively, and if the first relative distance and the second relative distance are both smaller than or equal to the set relative distance, determining that the current position is not shifted relative to the reference object;
and if one of the first relative distance and the second relative distance is greater than the set relative distance, determining that the current position is offset relative to the reference object.
6. The position adjustment method of a charging device according to claim 5, wherein the generating of the drive instruction of the first drive component and the second drive component according to the first relative position information includes:
when one of the first relative distance and the second relative distance is greater than the set relative distance, identifying a target relative distance greater than the set relative distance; wherein the target relative distance is the first relative distance or the second relative distance;
generating a first driving instruction of a target driving component matched with the target relative distance according to the target relative distance; wherein the target drive assembly is the first drive assembly or the second drive assembly;
generating a second driving instruction of another driving component matched with the other relative distance according to the other relative distance; wherein the first driving instruction carries a first rotating speed of the target driving component, and the second driving instruction carries a second rotating speed of the other driving component; the first rotational speed is greater than the second rotational speed;
and controlling the target driving assembly and the other driving assembly to operate at the first rotating speed and the second rotating speed respectively so as to enable the charging equipment to move towards the reference object until the target relative distance is smaller than or equal to the set relative distance.
7. The position adjustment method of a charging device according to claim 6, wherein the generating of the drive instruction of the first drive component and the second drive component according to the first relative position information includes:
when the first relative distance and the second relative distance are both larger than the set relative distance, identifying the magnitude relation of the first relative distance and the second relative distance;
according to the size relationship, a first driving assembly matched with the first relative distance and a second driving assembly matched with the second relative distance respectively generate a first driving instruction and a second driving instruction; the first driving instruction carries a first rotating speed of the first driving assembly, and the second driving instruction carries a second rotating speed of the second driving assembly; the magnitude relation between the first rotating speed and the second rotating speed is consistent with the magnitude relation between the first relative distance and the second relative distance;
and controlling the first driving assembly and the second driving assembly to operate at the first rotating speed and the second rotating speed respectively so as to enable the charging equipment to move towards the reference object until the target relative distance is smaller than or equal to the set relative distance.
8. The position adjustment method of a charging apparatus according to claim 6 or 7, characterized by further comprising:
and in the process of operating the first driving assembly and the second driving assembly, adjusting the rotating speed of the first driving assembly and the second driving assembly according to the re-detected first relative distance and second relative distance.
9. The position adjustment method of a charging device according to any one of claims 2 to 7, characterized by further comprising:
the first driving assembly and the second driving assembly are arranged in a first area at the bottom of the charging device;
a second region of the bottom of the charging device is provided with a movable support.
10. A charging device, comprising:
the acquisition module is specifically used for acquiring a first relative distance and a second relative distance between the current position and a reference object through a first distance detector and a second distance detector on the charging equipment, and taking the first relative distance and the second relative distance as the first relative position information; the first distance detector and the second distance detector are symmetrically arranged on a first side surface of the charging equipment, and the first side surface is a side surface facing the reference object;
the identification module is used for identifying whether the current position deviates relative to the reference object or not according to the first relative position information;
and the adjusting module is used for adjusting the current position of the charging equipment to enable the current position of the charging equipment not to deviate from the reference object according to the first relative position information when the current position deviates from the reference object.
11. An electrical charging system, comprising: the charging device of claim 10 and a self-moving device, the charging device to charge the self-moving device.
12. An electronic device comprising a memory, a processor;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for implementing the position adjustment method of the charging apparatus according to any one of claims 1 to 9.
13. A non-transitory computer-readable storage medium on which a computer program is stored, the program being characterized by implementing a position adjustment method of a charging apparatus according to any one of claims 1 to 9 when executed by a processor.
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| CN110081862B (en) * | 2019-05-07 | 2021-12-24 | 达闼科技（北京）有限公司 | Object positioning method, positioning device, electronic equipment and storage medium |
| CN110960149A (en) * | 2019-12-17 | 2020-04-07 | 江苏美的清洁电器股份有限公司 | Sweeper recharging method and device, sweeper and system |
| CN114601379B (en) * | 2021-08-18 | 2023-11-24 | 北京石头创新科技有限公司 | Cleaning system control method, device, equipment and storage medium |
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| US9059591B2 (en) * | 2011-08-30 | 2015-06-16 | L&P Property Management Company | Docking station for inductively charged portable electronic device |
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| JP2013054706A (en) * | 2011-08-10 | 2013-03-21 | Digi I's Ltd | Stage moving device and non-contact charger |
| CN105207280A (en) * | 2014-06-20 | 2015-12-30 | 展讯通信（上海）有限公司 | Charging position calibration method, charging position calibration device, wireless charging equipment and mobile terminal |
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