CN109773831A - A kind of self-service make-up system of mobile device and method - Google Patents
A kind of self-service make-up system of mobile device and method Download PDFInfo
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- CN109773831A CN109773831A CN201910163888.3A CN201910163888A CN109773831A CN 109773831 A CN109773831 A CN 109773831A CN 201910163888 A CN201910163888 A CN 201910163888A CN 109773831 A CN109773831 A CN 109773831A
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Abstract
This application discloses a kind of self-service make-up systems of mobile device, comprising: module is obtained, for obtaining the supply parameter of mobile device；Drive module, for judging mobile device with the presence or absence of position to be fed, if so, control mobile device is moved to supply corresponding with position to be fed position according to supply parameter；For executing the supply module of supply operation；Control module, for after detecting the signal in place of mobile device, control supply is closed the switch, so that supply module corresponding with supply position after receiving and allowing to feed signal, treats supply position and executes supply and operates；It is also used to after receiving stopping supply signal, control supply switch disconnection, so that supply module stops supply operation.The automatic supply of mobile device may be implemented in the application, does not need human assistance, and high degree of automation is fed high-efficient.Disclosed herein as well is a kind of self-service replenishing methods of mobile device, have above-mentioned beneficial effect.
Description
Technical field
This application involves robot fields, more particularly to a kind of self-service make-up system of mobile device and method.
Background technique
Currently, for the supply scheme such as the benefit electricity of cleaning robot, moisturizing, generally by what is be accomplished manually, it is contemplated that
Operation field cleaning robot is more, if by manual control cleaning robot to be fed to default supply position, by filling
Motor or water replanishing device complete supply operation to cleaning robot, and time cost is high, and the degree of automation is low, reduces cleaning robot
Task efficiency.
Therefore, how to provide a kind of scheme of solution above-mentioned technical problem is that those skilled in the art need to solve at present
Problem.
Summary of the invention
The purpose of the application is to provide a kind of self-service make-up system of mobile device and method, may be implemented mobile device from
Dynamic supply, does not need human assistance, and high degree of automation is fed high-efficient.
In order to solve the above technical problems, this application provides a kind of self-service make-up systems of mobile device, comprising:
Module is obtained, for obtaining the supply parameter of mobile device；
Drive module, for judging that the mobile device whether there is position to be fed according to the supply parameter, if so,
It controls the mobile device and is moved to supply position corresponding with the position to be fed；
For executing the supply module of supply operation；
Control module is closed the switch for after detecting the signal in place of the mobile device, controlling supply, so that with
The corresponding supply module in the supply position executes the benefit to the position to be fed after receiving and allowing to feed signal
To operation；It is also used to after receiving stopping supply signal, controls the supply switch and disconnect, so that supply module stopping
The supply operation.
Preferably, the supply module is also used to receive the signal in place that the mobile device is sent, and receiving
After stating signal in place, judge the signal in place whether is detected in preset time period, if it is not, then generating movable signal；
The then drive module, is also used to control the mobile device again after receiving the movable signal and is moved to
Supply position corresponding with the position to be fed.
Preferably, the self-service make-up system of the mobile device further include:
First preprocessing module, for all supply positions to be marked the navigation system in the mobile device in advance
In；
Then the control mobile device is moved to the process for feeding position corresponding with the position to be fed specifically:
The mobile device, which is controlled, by the navigation system is moved to supply position corresponding with the position to be fed.
Preferably, the self-service make-up system of the mobile device further include:
Second preprocessing module, for presetting two dimensional code；
In the mobile device, for scanning the identification device of the two dimensional code；
Then the control mobile device is moved to the process for feeding position corresponding with the position to be fed specifically:
The mobile device is controlled according to the two dimensional code of identification device scanning to be moved to and the position pair to be fed
The supply position answered.
Preferably, the supply module is also used to obtain the number of mobile device.
Preferably, the control module includes:
Photoelectric sensor and/or close switch, for detecting the signal in place of the mobile device.
Preferably, the stopping supply signal includes:
Pipeline time reaches the first signal generated when the first preset value and/or generation when increment reaches the second preset value
Second signal and/or artificial power-off signal.
Preferably, the mobile device is cleaning robot.
Preferably, the supply parameter includes battery capacity and/or high water tank.
In order to solve the above technical problems, being applied to as above present invention also provides a kind of self-service replenishing method of mobile device
The self-service make-up system of mobile device described in literary any one, comprising:
The supply parameter of mobile device is obtained by obtaining module；
Judge that the mobile device whether there is position to be fed according to the supply parameter by drive module, if so,
It controls the mobile device and is moved to supply position corresponding with the position to be fed；
Through control module after detecting the signal in place of the mobile device, control supply is closed the switch, so that with
The corresponding supply module in the supply position executes the benefit to the position to be fed after receiving and allowing to feed signal
To operation, until controlling the supply switch after receiving stopping supply signal and disconnecting, so that described in supply module stopping
Supply operation.
This application provides a kind of self-service make-up systems of mobile device, comprising: module is obtained, for obtaining mobile device
Feed parameter；Drive module, for judging mobile device with the presence or absence of position to be fed, if so, control moves according to supply parameter
Dynamic equipment is moved to supply corresponding with position to be fed position；For executing the supply module of supply operation；Control module is used for
After detecting the signal in place of mobile device, control supply is closed the switch, so that supply module corresponding with supply position is connecing
It receives after allowing to feed signal, treats supply position and execute supply operation；It is also used to after receiving stopping supply signal, control
Supply switch disconnects, so that supply module stops supply operation.As it can be seen that in practical applications, using the scheme of the application, according to
Whether the supply parameter decision mobile device of mobile device itself needs to feed, and control needs the mobile device that feeds to be moved to pair
The supply position answered operates the supply of the mobile device by the supply module execution on the supply position, realizes oneself of mobile device
Dynamic supply, does not need human assistance, and high degree of automation is fed high-efficient.Present invention also provides a kind of mobile device is self-service
Replenishing method has beneficial effect identical with the self-service make-up system of above-mentioned mobile device.
Detailed description of the invention
It in order to more clearly explain the technical solutions in the embodiments of the present application, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the self-service make-up system of mobile device provided herein；
Fig. 2 is the structural schematic diagram of the self-service make-up system of another mobile device provided herein；
Fig. 3 is the structural schematic diagram of the self-service make-up system of another mobile device provided herein；
Fig. 4 is a kind of step flow chart of the self-service replenishing method of mobile device provided herein.
Specific embodiment
The core of the application is to provide a kind of self-service make-up system of mobile device and method, may be implemented mobile device from
Dynamic supply, does not need human assistance, and high degree of automation is fed high-efficient.
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Fig. 1 is please referred to, Fig. 1 is a kind of structural schematic diagram of the self-service make-up system of mobile device provided herein, packet
It includes:
Module 1 is obtained, for obtaining the supply parameter of mobile device；
Specifically, the acquisition module 1 being set to inside mobile device feeds parameter by the default Rule that obtains, wherein pre-
If obtaining rule can be to obtain or obtain in real time by predetermined period, mobile device is specifically as follows cleaning robot, mends
It include battery capacity and/or high water tank etc. to parameter, correspondingly, obtaining includes being set to inside cleaning robot in module 1
Sensor for acquiring the sensor of battery capacity and for acquiring high water tank.
Drive module 2, for judging mobile device with the presence or absence of position to be fed, if so, control moves according to supply parameter
Dynamic equipment is moved to supply corresponding with position to be fed position；
It is understood that in a mobile device, position to be fed corresponding with battery capacity is battery, with high water tank
Corresponding position to be fed is water tank.The function of drive module 2 is illustrated by taking battery capacity as an example, when battery capacity is less than
When preset value, illustrate to need to charge the battery, i.e., mobile device has position to be fed, and position to be fed is battery.It drives
Dynamic model block 2 controls mobile device and is moved to corresponding supply position, and supply position is that charging unit (for battery, feeds module 3
For charging unit) it can be the position that mobile device charges, for main cleaning robot, charging unit is set on shifting
Multiple chargers in the working region of dynamic equipment, for each sub- cleaning robot corresponding with main cleaning robot,
Charging unit is the battery inside main cleaning robot, and drive module 2 can choose distance when controlling mobile device movement
The nearest supply position in mobile device current location.Wherein, when feeding position is water tank, drive module 2 should control movement and set
Standby to be moved to supply corresponding with water replanishing device position, when feeding position is battery, drive module 2 should control mobile device shifting
Move supply corresponding with charging unit position.After mobile device is moved to corresponding supply position, module 3 and mobile device are fed
Communication is established, carries out data exchange to feed module 3 and mobile device.
For executing the supply module 3 of supply operation；
Specifically, supply module 3 is charging unit when feeding position is battery, corresponding supply operation: for battery
Charging；When feeding position is water tank, supply module 3 is water replanishing device, corresponding supply operation: for water tank moisturizing.
Control module 4, for after detecting the signal in place of mobile device, control supply to be closed the switch, so that with benefit
To the corresponding supply module 3 in position receive allow feed signal after, treat supply position execute supply operation；It is also used to connecing
After receiving stopping supply signal, control supply switch is disconnected, so that supply module 3 stops supply operation.
Specifically, may include photoelectric sensor, travel switch or close switch etc. in control module 4 for acquiring movement
The sensor of the signal in place of equipment can also detect that signal in place has indicated mobile device including supervisory controller etc.
Correctly supply position is reached, supply module 3 can execute supply operation to it, and the control supply of control module 4 closes the switch, with
Just supply module 3 receive allow feed signal after, treat supply position carry out supply operation.To feed module 3 as charging
It is illustrated for machine, after mobile device reaches correctly supply position, charger and BMS (Battery Management
System, battery management system) it shakes hands, after the completion of shaking hands, the control supply of control module 4 is closed the switch, charger and shifting
Charge circuit conducting between dynamic equipment, after charger detects cell voltage, starting charging.Stop supply letter when receiving
After number, charger stops output, and the control supply switch of control module 4 disconnects, and mobile device leaves supply position, and stopping here being mended
When the first signal and/or increment generated when can reach the first preset value to signal for pipeline time reaches the second preset value
The second signal of generation and/or artificial power-off signal.Specifically, similarly, water tank fills when carrying out water-refilling operation to mobile device
After can trigger liquid level monitoring module, control module 4 will receive feedback signal, terminate moisturizing work, and mobile device leaves supply position.
Autonomous make-up system provided herein, can make mobile device when needing to feed, and be automatically moved to corresponding supply position,
It is fed by supply module 3, does not need human assistance, high degree of automation is high-efficient.
This application provides a kind of self-service make-up systems of mobile device, comprising: module is obtained, for obtaining mobile device
Feed parameter；Drive module, for judging mobile device with the presence or absence of position to be fed, if so, control moves according to supply parameter
Dynamic equipment is moved to supply corresponding with position to be fed position；For executing the supply module of supply operation；Control module is used for
After detecting the signal in place of mobile device, control supply is closed the switch, so that supply module corresponding with supply position is connecing
It receives after allowing to feed signal, treats supply position and execute supply operation；It is also used to after receiving stopping supply signal, control
Supply switch disconnects, so that supply module stops supply operation.As it can be seen that in practical applications, using the scheme of the application, according to
Whether the supply parameter decision mobile device of mobile device itself needs to feed, and control needs the mobile device that feeds to be moved to pair
The supply position answered operates the supply of the mobile device by the supply module execution on the supply position, realizes oneself of mobile device
Dynamic supply, does not need human assistance, and high degree of automation is fed high-efficient.
On the basis of the above embodiments:
Embodiment as one preferred, feed module 3, be also used to receive mobile device transmission signal in place, and
After receiving signal in place, judge signal in place whether is detected in preset time period, if it is not, then generating movable signal；
Then drive module 2 are also used to after receiving movable signal control mobile device again and are moved to and to supply portion
The corresponding supply position in position.
Specifically, sending signal in place to supply module 3, supply module 3 is receiving after mobile device reaches supply position
In place after signal, the signal in place of mobile device is detected by photoelectric sensor or travel switch or close to sensors such as switches,
If supply module 3 does not receive signal in place more than preset time, then says after the signal in place for receiving mobile device transmission
Bright mobile device does not reach supply position accurately, and therefore, supply module 3 generates and sends movable signal, and drive module 2 is receiving
After movable signal, control mobile device is re-moved to corresponding supply position.This secondary detection mode, ensure that supply module
3 and position location matches to be fed accuracy, treat supply position to feed module 3 and carry out reliable supply operation, separately
Outside, after receiving signal in place, then signal in place is detected, photoelectric sensor, travel switch, moving close to switch can be reduced
Make number, extends its service life.
Certainly, control module 4 can also acquire signal in place by predetermined period or in real time, according to mobile device in supply position
Residence time judge whether need be closed supply switch.
Referring to figure 2., Fig. 2 is the structural schematic diagram of the self-service make-up system of another mobile device provided herein,
The self-service make-up system of the mobile device is on the basis of the above embodiments:
Embodiment as one preferred, the self-service make-up system of the mobile device further include:
First preprocessing module 5, in advance by all supply positions label in the navigation system of mobile device；
Then control the process that mobile device is moved to supply position corresponding with position to be fed specifically:
Mobile device, which is controlled, by navigation system is moved to supply corresponding with position to be fed position.
Specifically, the application determines the position of each supply position first, the position mark of each supply position is set in movement
In the path of standby navigation system, when existing when feeding position in mobile device, so that it may which the commander along navigation system is to right
The supply displacement answered is dynamic.
Referring to figure 3., Fig. 3 is the structural schematic diagram of the self-service make-up system of another mobile device provided herein,
The self-service make-up system of the mobile device is on the basis of the above embodiments:
Embodiment as one preferred, the self-service make-up system of the mobile device further include:
Second preprocessing module 6, for presetting two dimensional code；
Identification device 7 in mobile device, for scanning the two-dimensional code；
Then control the process that mobile device is moved to supply position corresponding with position to be fed specifically:
The two dimensional code control mobile device scanned according to identification device 7 is moved to supply corresponding with position to be fed position.
It is understood that being illustrated using position to be fed as battery to the present embodiment, for main cleaning robot
Speech, corresponding multiple sub- cleaning robots carry out electricity supply, each main cleaning machine by the battery of main cleaning robot
Device people is equipped with multiple supply positions that electricity supply is carried out for sub- cleaning robot, is being risen first by the second default processing module
Movement in next step is carried out after marking two dimensional code, group cleaning robot to recognize the two dimensional code in drop flat surface, until son cleaning
The position to be fed of robot matches with the supply module 3 on hoistable platform, that is, shows that sub- cleaning robot reaches correct
Feed position.Wherein, sub- cleaning robot bottom is equipped with the identification device 7 for scanning the two-dimensional code.
Embodiment as one preferred, supply module 3 are also used to obtain the number of mobile device.
Specifically, supply module 3 obtains the number of mobile device after mobile device reaches correctly supply position, go forward side by side
Row record, analyzes mobile device so as to subsequent.
Referring to figure 4., Fig. 4 is a kind of step flow chart of the self-service replenishing method of mobile device provided herein, is answered
The self-service make-up system of mobile device for any one such as above, comprising:
Step 1: the supply parameter of mobile device is obtained by obtaining module；
Step 2: mobile device is judged with the presence or absence of position to be fed, if so, control according to supply parameter by drive module
Mobile device processed is moved to supply corresponding with position to be fed position；
Step 3: through control module after detecting the signal in place of mobile device, control supply is closed the switch, so that
With the corresponding supply module in supply position after receiving and allowing to feed signal, treats supply position and execute supply operation, up to connecing
After receiving stopping supply signal, control supply switch is disconnected, so that supply module stops supply operation.
The self-service replenishing method of a kind of mobile device provided herein has and the autonomous make-up system of above-mentioned mobile device
Identical beneficial effect.
Above-described embodiment is please referred to for a kind of introduction of the self-service replenishing method of mobile device provided herein, this Shen
It please details are not described herein.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For method disclosed in embodiment
For, since it is corresponding with system disclosed in embodiment, so being described relatively simple, related place is defended oneself referring to Account Dept
It is bright.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of self-service make-up system of mobile device characterized by comprising
Module is obtained, for obtaining the supply parameter of mobile device；
Drive module, for judging the mobile device with the presence or absence of position to be fed, if so, control according to the supply parameter
The mobile device is moved to supply position corresponding with the position to be fed；
For executing the supply module of supply operation；
Control module, for after detecting the signal in place of the mobile device, control supply to be closed the switch, so that with described
The corresponding supply module in supply position executes the supply behaviour to the position to be fed after receiving and allowing to feed signal
Make；It is also used to after receiving stopping supply signal, controls the supply switch and disconnect, so that described in supply module stopping
Supply operation.
2. the self-service make-up system of mobile device according to claim 1, which is characterized in that the supply module is also used to
Receive the signal in place that the mobile device is sent, and after receiving the signal in place, judge in preset time period whether
The signal in place is detected, if it is not, then generating movable signal；
The then drive module is also used to control the mobile device again after receiving the movable signal and is moved to and institute
State the corresponding supply position in position to be fed.
3. the self-service make-up system of mobile device according to claim 2, which is characterized in that the self-service supply system of the mobile device
System further include:
First preprocessing module, in advance by all supply position labels in the navigation system of the mobile device；
Then the control mobile device is moved to the process for feeding position corresponding with the position to be fed specifically:
The mobile device, which is controlled, by the navigation system is moved to supply position corresponding with the position to be fed.
4. the self-service make-up system of mobile device according to claim 2, which is characterized in that the self-service supply system of the mobile device
System further include:
Second preprocessing module, for presetting two dimensional code；
In the mobile device, for scanning the identification device of the two dimensional code；
Then the control mobile device is moved to the process for feeding position corresponding with the position to be fed specifically:
It is moved to according to the two dimensional code control mobile device of identification device scanning corresponding with the position to be fed
Feed position.
5. the self-service make-up system of mobile device according to claim 1, which is characterized in that the supply module is also used to obtain
Take the number of mobile device.
6. the self-service make-up system of mobile device according to claim 1, which is characterized in that the control module includes:
Photoelectric sensor and/or close switch, for detecting the signal in place of the mobile device.
7. the self-service make-up system of mobile device according to claim 1, which is characterized in that the stopping feeds signal packet
It includes:
Pipeline time reaches the first signal generated when the first preset value and/or increment reaches generated when the second preset value
Binary signal and/or artificial power-off signal.
8. the self-service make-up system of mobile device described in -7 any one according to claim 1, which is characterized in that the mobile device
For cleaning robot.
9. the self-service make-up system of mobile device according to claim 8, which is characterized in that the supply parameter includes battery
Electricity and/or high water tank.
10. a kind of self-service replenishing method of mobile device, which is characterized in that be applied to as described in any one of claims 1-9
The self-service make-up system of mobile device, comprising:
The supply parameter of mobile device is obtained by obtaining module；
The mobile device is judged with the presence or absence of position to be fed, if so, control according to the supply parameter by drive module
The mobile device is moved to supply position corresponding with the position to be fed；
Through control module after detecting the signal in place of the mobile device, control supply is closed the switch, so that with described
The corresponding supply module in supply position executes the supply behaviour to the position to be fed after receiving and allowing to feed signal
Make, until controlling the supply switch after receiving stopping supply signal and disconnecting, so that the supply module stops the supply
Operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910163888.3A CN109773831A (en) | 2019-03-05 | 2019-03-05 | A kind of self-service make-up system of mobile device and method |
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| CN114227713A (en) * | 2021-10-23 | 2022-03-25 | 奥佳华智能健康科技集团股份有限公司 | Robot |
| CN114246524A (en) * | 2020-09-24 | 2022-03-29 | 深圳市神州云海智能科技有限公司 | Supplying method and device for cleaning robot |
| CN117075681A (en) * | 2023-08-17 | 2023-11-17 | 苏州冠礼科技有限公司 | Automatic docking system and docking method |
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Application publication date: 20190521 |
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