CN110890772B - Recharging method, recharging equipment and recharging storage medium - Google Patents
Recharging method, recharging equipment and recharging storage medium Download PDFInfo
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- CN110890772B CN110890772B CN201911203482.XA CN201911203482A CN110890772B CN 110890772 B CN110890772 B CN 110890772B CN 201911203482 A CN201911203482 A CN 201911203482A CN 110890772 B CN110890772 B CN 110890772B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
- H01M10/446—Initial charging measures
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/425—Structural combination with electronic components, e.g. electronic circuits integrated to the outside of the casing
- H01M2010/4278—Systems for data transfer from batteries, e.g. transfer of battery parameters to a controller, data transferred between battery controller and main controller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The application discloses a recharging method, recharging equipment and a storage medium, wherein when the battery electric quantity of a robot is determined to be lower than a preset electric quantity threshold value, an infrared signal transmitted by a charging seat is received first, and the infrared signal is converted into a square wave electric signal; and analyzing the square wave electric signal to obtain a position code of the robot, and generating a control instruction according to the position code of the robot so as to control the robot to move to the charging seat according to the control instruction. So can realize the automation of robot and fill back for the robot can keep enough electric quantity all the time to carry out the operation, thereby improved user experience.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method, an apparatus, and a storage medium for refilling.
Background
With the development of intelligent technology, robots (e.g., sweeping robots) are receiving increasing attention. In order to ensure that the robot performs operations in accordance with instructions in a timely manner, the robot must be kept with sufficient power.
However, since the user of the robot easily forgets to charge the robot, the robot is easily in a state of lacking electric energy, and the robot cannot execute operation according to the instruction in time, thereby reducing user experience.
Disclosure of Invention
In order to solve the technical problems in the prior art, the application provides a recharging method, recharging equipment and a storage medium, which can realize automatic recharging of a robot, so that the robot can always keep enough electric quantity to execute operation, and user experience is improved.
In order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:
the embodiment of the application provides a recharging method, which comprises the following steps:
when the battery electric quantity of the robot is determined to be lower than a preset electric quantity threshold value, receiving an infrared signal transmitted by a charging seat;
converting the infrared signal into a square wave electric signal, and analyzing the square wave electric signal to obtain a position code of the robot;
and generating a control instruction according to the position code of the robot, and controlling the robot to move to the charging seat according to the control instruction.
Optionally, when the square-wave electrical signal includes at least one signal cycle, the analyzing the square-wave electrical signal to obtain a position code of the robot includes:
acquiring each signal period in the square wave electric signal;
acquiring the target level duration in each signal period; wherein the target level is a low level or a high level;
determining a coding value corresponding to each signal period according to the target level duration in each signal period;
and generating a position code of the robot according to the code value corresponding to each signal period.
Optionally, the acquiring each signal period in the square wave electrical signal includes:
acquiring the receiving time of each target signal edge in the square wave electric signals; wherein the target signal edge is a falling edge or a rising edge;
and determining each signal period in the square wave electric signal according to the receiving time of each target signal edge in the square wave electric signal.
Optionally, the determining each signal period in the square-wave electric signal according to the receiving time of each target signal edge in the square-wave electric signal includes:
if the time difference between the ith target signal edge and the (i + 1) th target signal edge in the square wave electric signal is not less than the cycle duration threshold, determining that the square wave electric signal between the ith target signal edge and the (i + 1) th target signal edge in the square wave electric signal is a signal cycle;
if the time difference between the ith target signal edge and the (i + M) th target signal edge in the square-wave electric signal is smaller than the cycle time threshold value, and the time difference between the ith target signal edge and the (i + M + 1) th target signal edge in the square-wave electric signal is not smaller than the cycle time threshold value, determining that the square-wave electric signal between the ith target signal edge and the (i + M + 1) th target signal edge in the square-wave electric signal is a signal cycle; wherein i is a positive integer and M is a positive integer.
Optionally, the obtaining the duration of the target level in each signal period includes:
if the target signal period comprises two target signal edges, taking the actual duration of the target level in the target signal period as the target level duration in the target signal period; the target signal period is any signal period in the square wave electric signal;
if the target signal period comprises at least three target signal edges, taking a preset time length as a target level duration time length in the target signal period;
optionally, the determining, according to the target level duration in each signal period, the code value corresponding to each signal period includes:
if the target level duration in the target signal period is within a first time interval, determining that the coded value corresponding to the target signal period is a first code value;
and if the target level duration in the target signal period is within a second duration interval, determining that the code value corresponding to the target signal period is a second code value.
Optionally, the determining, according to the target level duration in each signal period, the code value corresponding to each signal period includes:
and determining the coding value corresponding to each signal period according to the target level duration and the number of target signal edges in each signal period.
Optionally, the determining, according to the target level duration and the number of target signal edges in each signal period, the code value corresponding to each signal period includes:
if the number of the target signals in the target signal period is 2 and the target level duration in the target signal period is within a first time interval, determining that the code value corresponding to the target signal period is a first code value; the target signal period is any signal period in the square wave electric signal;
if the number of the target signals in the target signal period is 2 and the target level duration in the target signal period is within a second duration interval, determining that the code value corresponding to the target signal period is a second code value;
and if the number of the target signals in the target signal period is at least 3, determining that the code value corresponding to the target signal period is a first code value.
Optionally, when the square-wave electrical signal corresponds to at least one position code, and each position code includes at least one code value, the generating a position code of the robot according to the code value corresponding to each signal cycle includes:
combining the code values corresponding to the signal periods according to a time sequence to obtain a position code of the robot; and the last bit code value in the position codes of the robot is a code value corresponding to a signal cycle with the duration longer than a preset duration threshold.
An embodiment of the present application further provides an apparatus, where the apparatus includes a processor and a memory:
the memory is used for storing a computer program;
the processor is used for executing any implementation mode of the recharging method provided by the embodiment of the application according to the computer program.
Embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program, where the computer program is used to execute any implementation manner of the backfill method provided in the embodiments of the present application.
Compared with the prior art, the embodiment of the application has at least the following advantages:
in the recharging method provided by the embodiment of the application, when the electric quantity of the battery of the robot is determined to be lower than a preset electric quantity threshold value, an infrared signal transmitted by a charging seat is received first, and the infrared signal is converted into a square wave electric signal; and analyzing the square wave electric signal to obtain a position code of the robot, and generating a control instruction according to the position code of the robot so as to control the robot to move to the charging seat according to the control instruction. So can realize the automation of robot and fill back for the robot can keep enough electric quantity all the time to carry out the operation, thereby improved user experience.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a refilling method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a square-wave electrical signal provided by an embodiment of the present application;
FIG. 3 is a flowchart illustrating the resolution of a square-wave electrical signal according to an embodiment of the present disclosure;
FIG. 4 is a flowchart of one implementation of S31 provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a falling edge and a rising edge provided by an embodiment of the present application;
FIG. 6 is a block diagram of an interfered square-wave electrical signal provided by an embodiment of the present application;
FIG. 7 is a flowchart of a first implementation of S32 provided by an embodiment of the present application;
FIG. 8 is a flowchart of a second implementation manner of S32 according to an embodiment of the present application;
fig. 9 is a schematic diagram of a robot position code provided in an embodiment of the present application;
FIG. 10 is a flowchart of a first implementation of generating a control command according to an embodiment of the present disclosure;
fig. 11 is a schematic view of a charging stand according to an embodiment of the present application;
FIG. 12 is a schematic diagram of the infrared region provided by an embodiment of the present application;
FIG. 13 is a flowchart of a second implementation manner of generating a control command according to an embodiment of the present application; (ii) a
Fig. 14 is a schematic diagram illustrating a determination of coordinates of a charging dock location based on a pair of historical location codes according to an embodiment of the present application;
fig. 15 is a schematic diagram illustrating a determination of coordinates of a charging dock location based on multiple pairs of historical location codes according to an embodiment of the present application;
fig. 16 is a flowchart for determining coordinates of a charging dock location based on multiple pairs of historical location codes according to an embodiment of the present application.
Detailed Description
In order to solve the technical problems in the background art, the embodiment of the application provides a recharging method based on an infrared signal, wherein in the recharging method, when the electric quantity of a battery of a robot is determined to be lower than a preset electric quantity threshold value, the infrared signal transmitted by a charging seat is received first, and the infrared signal is converted into a square wave electric signal; and analyzing the square wave electric signal to obtain the position code of the robot, and generating a control instruction according to the position code of the robot so as to control the robot to move to the charging seat according to the control instruction. So can realize the automation of robot and fill back for the robot can keep enough electric quantity all the time to carry out the operation, thereby improved user experience.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Method embodiment one
Referring to fig. 1, a flowchart of a refilling method according to an embodiment of the present application is shown.
The refilling method provided by the embodiment of the application comprises the following steps of S1-S5:
s1: and when the battery electric quantity of the robot is determined to be lower than a preset electric quantity threshold value, receiving an infrared signal transmitted by a charging seat.
The preset electric quantity threshold value can be preset, and especially can be set according to application scenes. For example, the preset charge threshold may be 11V or 12V.
The robot can receive the infrared signal that the charging seat transmitted to remove to the charging seat based on this infrared signal and charge. The embodiment of the application does not limit the robot, for example, the robot may be a sweeper robot.
In the embodiment of the application, after the battery electric quantity of the robot is determined to be lower than the preset electric quantity threshold value, the infrared signal transmitted by the charging seat can be received, so that the robot can be controlled to move to the charging seat based on the received infrared signal in the following process.
S2: the infrared signal is converted into a square wave electric signal.
The square wave electrical signal (for example, as shown in fig. 2) is converted from an infrared signal, and the embodiment of the present application is not limited to the conversion method of converting the infrared signal into the square wave electrical signal, and can be implemented by any existing or future conversion method capable of converting the infrared signal into the square wave electrical signal. In addition, the square-wave electric signal may include at least one signal period, for example, the square-wave electric signal shown in fig. 2 includes 16 signal periods T.
S3: and analyzing the square wave electric signal to obtain the position code of the robot.
The position code of the robot is used for representing the position information of the robot; furthermore, the position code of the robot is not limited in the embodiments of the present application, for example, the position code of the robot may be represented by eight-bit binary code (for example, the position code of the robot may be 00000111).
In the embodiment of the application, after the square wave signal is obtained by conversion, the square wave signal obtained by conversion can be analyzed to obtain the position code of the robot, so that the robot can be controlled to move to the charging seat based on the position code of the robot in the following process.
S4: and generating a control command according to the position code of the robot.
In this embodiment of the application, after the position code of the robot is obtained, the control instruction may be generated according to the position code of the robot, so that the generated control instruction can control the robot to move to the charging seat.
S5: and controlling the robot to move to the charging seat according to the control instruction.
In the above specific implementation manner of the recharging method provided by the embodiment of the present application, in the implementation manner, when it is determined that the battery power of the robot is lower than the preset power threshold, the infrared signal transmitted by the charging seat is received first, and the infrared signal is converted into a square wave electrical signal; and analyzing the square wave electric signal to obtain a position code of the robot, and generating a control instruction according to the position code of the robot so as to control the robot to move to the charging seat according to the control instruction. So can realize the automation of robot and fill back for the robot can keep enough electric quantity all the time to carry out the operation, thereby improved user experience.
Method embodiment two
In addition, in order to improve the accuracy of robot recharging control, the present application also provides an implementation manner of resolving a square wave electrical signal (i.e., S3), and as shown in fig. 3, when the square wave electrical signal includes at least one signal period, the resolving of the square wave electrical signal may specifically include S31-S33:
s31: individual signal periods in the square electrical signal are acquired.
The signal period is used for representing the variation trend of the square wave electric signal; also, one signal period may be composed of one low level signal and one high level signal. For example, the square wave electrical signal shown in fig. 2 includes 16 cycles, and each cycle has a duration of 3.6 seconds. The embodiments of the present application do not limit the manner of acquiring the signal period of the square-wave electrical signal.
Wherein, each signal period is composed of a low level signal and a high level signal, so that each signal period can be determined according to the transition edge (e.g. falling edge or rising edge) of high and low levels. Based on this, the present application example also provides an implementation manner of S31, and in this implementation manner, as shown in fig. 4, S31 may specifically include S311-S312:
s311: and acquiring the receiving time of each target signal edge in the square wave electric signal.
Wherein, the target signal edge may be a falling edge (as shown in fig. 5) or a rising edge (as shown in fig. 5); moreover, the target signal edge can be preset, and especially can be set according to application scenes. For example, the target signal edge may be a falling edge.
S312: and determining each signal period in the square wave electric signal according to the receiving time of each target signal edge in the square wave electric signal.
In the embodiment of the application, after the receiving time of each target signal edge in the square-wave electric signal is obtained, each signal period in the square-wave electric signal can be determined according to the receiving time of each target signal edge in the square-wave electric signal. For example, when the target signal edge is a falling edge, S312 may specifically be: respective signal periods in the square-wave electrical signal (e.g., the respective signal periods shown in fig. 2) are determined based on the reception times of the respective falling edges in the square-wave electrical signal.
In addition, in some cases, because the infrared signal that exists in the environment can produce the signal stack with the infrared signal of charging seat transmission for the infrared signal that exists in the environment can produce signal interference to the infrared signal with the charging seat transmission, so lead to the infrared signal received to be the infrared signal after the interference. In addition, since the infrared signal existing in the environment changes irregularly, the disturbed infrared signal cannot change according to the normal signal rule, so that the square-wave electrical signal (for example, the signal shown in fig. 6) converted from the disturbed infrared signal cannot change according to the normal signal period (for example, the signal period T shown in fig. 2).
At this time, in order to eliminate the influence of the interference signal, an embodiment of the present application further provides a method for determining a signal period (that is, an implementation manner of S312), in which the determining process of the signal period specifically includes: (1) and if the time difference between the ith target signal edge and the (i + 1) th target signal edge in the square wave electric signal is not less than the period duration threshold, determining that the square wave electric signal between the ith target signal edge and the (i + 1) th target signal edge in the square wave electric signal is a signal period. (2) And if the time difference between the ith target signal edge and the (i + M) th target signal edge in the square-wave electric signal is smaller than the period duration threshold value, and the time difference between the ith target signal edge and the (i + M + 1) th target signal edge in the square-wave electric signal is not smaller than the period duration threshold value, determining that the square-wave electric signal between the ith target signal edge and the (i + M + 1) th target signal edge in the square-wave electric signal is a signal period. Wherein i is a positive integer and M is a positive integer. It should be noted that the signal period determination process is applicable to the determination of any signal period.
The period duration threshold is used for representing the duration of a normal signal period; moreover, the period duration threshold may be preset according to an application scenario. For example, the cycle duration threshold may be 3.6 milliseconds.
In this embodiment of the present application, after the receiving time of each target signal edge in the square wave electrical signal is obtained, the square wave electrical signal between two target signal edges whose time interval reaches the period duration threshold may be sequentially used as a signal period from the 1 st target signal edge in the square wave electrical signal, where the specific process is as follows: starting from the 1 st target signal edge in the square-wave electrical signal, for the ith (for example, i is 1, 2, 3 … …) target signal edge, firstly, determining whether the time difference between the ith target signal edge and the (i + 1) th target signal edge in the square-wave electrical signal reaches a period duration threshold, if so, determining that the signal in the current signal period is not interfered, and at this time, directly setting the square-wave electrical signal between the ith target signal edge and the (i + 1) th target signal edge in the square-wave electrical signal as one signal period; if not, determining that the signal in the current signal period is interfered, at this time, continuously determining whether the time difference between the ith target signal edge and the (i + 1) (or i +2, or i +3 … …) th target signal edge in the square-wave electric signal reaches the period duration threshold … … until the end of finding the target signal edge whose time difference between the ith target signal edge and the period duration threshold in the square-wave electric signal is reached, and taking the square-wave electric signal between the found target signal edge and the ith target signal edge as a signal period. In addition, for ease of understanding and explanation, the following description is made with reference to examples.
As an example, assume that the target signal edge is a falling edge and the cycle duration threshold is 3.6. Based on this assumption, S312 may specifically be: starting from the 1 st falling edge in the square wave electric signal, firstly judging whether the time difference between the 1 st falling edge and the 2 nd falling edge in the square wave electric signal reaches 3.6 milliseconds, if so, taking the square wave electric signal between the 1 st falling edge and the 2 nd falling edge in the square wave electric signal as a signal period; if not, continuously judging whether the time difference between the 1 st falling edge and the 3 rd falling edge in the square-wave electric signal reaches 3.6 milliseconds … … or not until the end of finding the falling edge with the time difference between the 1 st falling edge and the 3.6 milliseconds in the square-wave electric signal, and taking the square-wave electric signal between the falling edge to be found and the 1 st falling edge as a signal period … … (and so on, finding other signal periods in the square-wave electric signal in turn according to the above process (for example, as shown in fig. 6)).
S32: and acquiring the target level duration in each signal period, and determining the coding value corresponding to each signal period according to the target level duration in each signal period.
The target level is used to characterize a reference level to be referenced in determining a code value corresponding to a signal period. Wherein the target level is a low level or a high level; and the target level may be preset according to an application scenario. For example, the target level may be a low level.
The code value corresponding to a signal period may be a binary code value, for example, the code value corresponding to a signal period may be "0" or "1".
In this embodiment of the application, after each signal period in the square-wave electrical signal is acquired, the target level duration in each signal period may be acquired first, and then the code value corresponding to each signal period may be determined based on the target level duration in each signal period. For example, when the target level is a low level, S32 may specifically be: and acquiring the low level duration in each signal period, and determining the coding value corresponding to each signal period based on the low level duration in each signal period.
In addition, because of the number of target signal edges in the signal period, whether the signal in each signal period is interfered can be accurately characterized, which specifically comprises the following steps: the number of target signal edges in the undisturbed signal period is 2, and the number of target signal edges in the disturbed signal period exceeds 2. In this case, in order to avoid the influence of the interference signal on the position code, the code value corresponding to each signal period may be determined based on the number of edges of the target signal in each signal period. Based on this, the present application provides two implementations of S32, which will be described in turn below.
As a first implementation of S32, as shown in fig. 7, S32 may specifically include S321-S322:
s321: and determining the target level duration in each signal period according to the number of the target signal edges in each signal period.
In this embodiment of the present application, the target level duration in each signal period may be determined by the number of target signal edges in each signal period, and specifically may be: (1) and if the target signal period comprises two target signal edges, taking the actual duration of the target level in the target signal period as the target level duration in the target signal period. (2) And if the target signal period comprises at least three target signal edges, taking the preset duration as the target level duration in the target signal period. The target signal period is any signal period in the square wave electric signal.
Based on the above, in this embodiment, for each signal period in the square wave electrical signal, if two target signal edges are included in the signal period, it is determined that the signal period is not interfered by the signal, and the actual duration of the target level in the target signal period may be taken as the duration of the target level in the target signal period. However, if the signal period includes at least three target signal edges, it is determined that the signal period is interfered by the signal, at this time, the preset duration may be used as the target level duration in the target signal period, so that the signal periods interfered by the signal can be set to the same code value based on the preset duration in the following, and thus, the influence of the interfered signal can be effectively avoided.
S322: and determining the coding value corresponding to each signal period according to the target level duration in each signal period.
In this embodiment of the present application, the code value corresponding to each signal period may be determined according to the target level duration in each signal period, and specifically may be: (1) and if the target level duration in the target signal period is within the first time interval, determining the code value corresponding to the target signal period as a first code value. (2) And if the target level duration in the target signal period is within the second duration interval, determining the code value corresponding to the target signal period as a second code value. (3) The preset time length is within the first time length interval.
The first time interval may be preset according to an application scenario. For example, the first time interval is [0.4 msec, 0.7 msec ]. In addition, the second duration interval may be preset according to an application scenario. For example, the second duration interval is [2.5 milliseconds, 3.5 milliseconds ].
The first code value and the second code value may each be binary code values, e.g., the first code value may be "0" and the second code value may be "1".
As can be seen from the above, in this embodiment, for each signal period in the square-wave electrical signal, if it is determined that the target level duration in the signal period is within the first time interval, the code value corresponding to the signal period is determined to be the first code value. However, if it is determined that the target level duration in the signal period is within the second duration interval, the code value corresponding to the signal period is determined to be the second code value. In order to avoid the influence of the interference signal on the position code, the preset time length can be set to any numerical value in the first time length interval, so that the code values corresponding to the interfered signal periods can be unified into the first code value, the analysis error can be avoided, and the influence generated by the interfered signal can be effectively avoided.
In the first implementation manner of S32 provided above for the embodiment of the present application, in this implementation manner, the target level duration in each signal period may be determined according to the number of target signal edges in each signal period, so that the target level duration in the signal period is not affected by signal interference, and thus, the code value corresponding to the signal period determined based on the target level duration in the signal period is also not affected by signal interference. For example, assume that the target signal edge is a falling edge, the target level is a low level, the first duration is [0.4 msec, 0.7 msec ], the second duration is [2.5 msec, 3.5 msec ], and the preset duration is 0.5 msec. Based on this assumption, S32 may specifically be: firstly, judging whether the number of falling edges in a target signal period exceeds 2, if so, setting the target level duration in the target signal period to be 0.5 millisecond; and if not, taking the actual duration of the low level in the target signal period as the target level duration in the target signal period. Then, it is determined that the duration of the target level in the target signal period is within [0.4 ms, 0.7 ms ] or [2.5 ms, 3.5 ms ], and if the duration is within [0.4 ms, 0.7 ms ], it is determined that the target signal period includes a narrow low level, and at this time, the code value corresponding to the target signal period may be set to "0"; however, if it is within [2.5 ms, 3.5 ms ], it is determined that the target signal period includes a wide low level, and the code value corresponding to the target signal period may be set to "1". In this way, all the interfered signal periods can be unified into "0", so that analysis errors can be avoided, and the influence of the interfered signals can be effectively avoided.
As a second embodiment of S32, as shown in fig. 8, S32 may specifically include S32A to S32B:
S32A: and acquiring the target level duration in each signal period.
S32B: and determining the coding value corresponding to each signal period according to the target level duration and the number of target signal edges in each signal period.
In this embodiment of the present application, the code value corresponding to each signal period may be determined according to the target level duration and the number of target signal edges in each signal period, and specifically may be: (1) if the number of target signals in a target signal period is 2 and the target level duration in the target signal period is within a first time interval, determining that the code value corresponding to the target signal period is a first code value. (2) And if the number of the target signals in the target signal period is 2 and the target level duration in the target signal period is within a second duration interval, determining that the code value corresponding to the target signal period is a second code value. (3) And if the number of the target signals in the target signal period is at least 3, determining that the code value corresponding to the target signal period is a first code value. The target signal period is any signal period in the square wave electric signal.
In the second implementation manner of S32 provided above for the embodiment of the present application, in this implementation manner, after the target level duration in each signal period is obtained, the code value corresponding to each signal period may be determined according to the target level duration and the number of target signal edges in each signal period. For example, assume that the target signal edge is a falling edge, the target level is a low level, the first duration is [0.4 msec, 0.7 msec ], the second duration is [2.5 msec, 3.5 msec ], and the preset duration is 0.5 msec. Based on this assumption, S32 may specifically be: and simultaneously judging whether the falling edges in the target signal period exceed 2, and judging whether the target level duration in the target signal period is within [0.4 millisecond, 0.7 millisecond ] or [2.5 millisecond, 3.5 millisecond ]. If the number of falling edges in the target signal period is 2 and the target level duration in the target signal period is within [0.4 millisecond, 0.7 millisecond ], setting the code value corresponding to the target signal period to be '0'; if the number of falling edges in the target signal period is 2 and the target level duration in the target signal period is within [2.5 milliseconds, 3.5 milliseconds ], setting the code value corresponding to the target signal period to be '1'; and if the number of falling edges in the target signal period is determined to be more than 2, setting the code value corresponding to the target signal period to be 0. In this way, all the interfered signal periods can be unified into "0", so that analysis errors can be avoided, and the influence of the interfered signals can be effectively avoided.
S33: and generating a position code of the robot according to the code value corresponding to each signal period.
It should be noted that the square-wave electrical signal may correspond to at least one position code, for example, the square-wave electrical signal shown in fig. 2 includes two frames of data, each frame of data includes 8 signal periods, and each frame of data corresponds to one position code.
In the embodiment of the application, when the code value corresponding to each signal period is obtained, the position code of the robot is generated, which specifically includes: when the square wave electric signal corresponds to at least one position code and each position code comprises at least one code value, combining the code values corresponding to each signal period according to a time sequence to obtain the position code of the robot; and the last bit code value in the position codes of the robot is a code value corresponding to a signal cycle with the duration longer than a preset duration threshold. It should be noted that the preset duration threshold may be set according to an application scenario, and in particular, may be determined according to a time difference (e.g., 40 ms) between two adjacent pulses (i.e., two frames of adjacent data). For example, the preset duration threshold may be 10 milliseconds.
For example, as shown in fig. 9, it is assumed that the encoded value corresponding to the first period is "0", the encoded value corresponding to the second period is "0", the encoded value corresponding to the third period is "0", the encoded value corresponding to the fourth period is "0", the encoded value corresponding to the fifth period is "0", the encoded value corresponding to the sixth period is "1", the encoded value corresponding to the seventh period is "1", the encoded value corresponding to the eighth period is "1", the duration of the eighth period is 43.5 milliseconds, and the preset duration threshold is 10 milliseconds. Based on this assumption, the first cycle to the eighth cycle are combined in time series, and the code value corresponding to the eighth cycle is used as the last code value in the position code of the robot, so that the position code "00000111" of the robot is obtained.
In the above embodiment of analyzing the square-wave electrical signal (i.e., S3) provided in the embodiment of the present application, in this embodiment, the code value corresponding to each signal period may be determined according to the target level duration and the number of edges of the target signal in each signal period, and the position code of the robot may be generated according to the code value corresponding to each signal period. The number of the target signal edges in the signal period can represent whether the signal in each signal period is interfered, so that the encoding value corresponding to the signal period determined based on the number of the target signal edges in the signal period can avoid the influence of the interference signal, and the accuracy of the robot recharging control is improved.
Method embodiment three
In addition, in order to improve the accuracy of robot recharging control, the embodiment of the present application further provides two implementation manners of generating a control command (i.e., S4), which will be described in turn below.
As a first embodiment of S4, as shown in fig. 10, S4 may specifically include S4a1-S4a 2:
S4A 1: and matching the position code of the robot with the region code of the infrared region corresponding to the charging seat to determine the infrared region of the robot.
The infrared region corresponding to the charging seat is the region generated by the interaction of the infrared signals emitted by lighthouse signals at different positions on the charging seat. The following description is made with reference to examples.
For example, as shown in fig. 11, the charging stand may include five signal lights, wherein the first beacon signal S is located in the middle of the charging stand, and the infrared signal emitted by the first beacon signal S can be received only when the robot approaches the charging stand; the second lighthouse signal L1 is located at the leftmost position of the charging dock; the third lighthouse signal L2 is located to the left of the middle of the charging dock; the fourth lighthouse signal R2 is located at the middle right position of the charging dock; the fifth lighthouse signal R1 is located at the rightmost position of the cradle. At this time, as shown in fig. 12, the infrared regions corresponding to the charging dock in fig. 11 may include first to eighth infrared regions a1 to A8.
The zone code is used to uniquely identify the infrared zone. For example, as can be seen from the charging station shown in fig. 11 and the respective infrared regions shown in fig. 12, when the code value of the first beacon signal S is: OXO1(00000001), the code value of the fourth lighthouse signal R2 is: OXO2(00000010), the code value of the third lighthouse signal L2 is: OXO4(00000100), the code value of the fifth lighthouse signal R1 is: OX28(00101000), the code value for the second lighthouse signal L1 is: OX50(01010000) indicates that the code value for the first infrared region A1 in FIG. 12 is 01010000, the code value for the second infrared region A2 is 01010100, the code value for the third infrared region A3 is 00000100, the code value for the fourth infrared region A4 is 00000110, the code value for the fifth infrared region A5 is 00000010, the code value for the sixth infrared region A6 is 00101010, the code value for the seventh infrared region A7 is 00101000, and the code value for the eighth infrared region A8 is 00000001.
As can be seen from the above, after the position code of the robot is acquired, the position code of the robot may be matched with the region code of the infrared region corresponding to the charging dock, so that the infrared region successfully matched with the position code of the robot may be determined as the infrared region where the robot is located. For example, as can be seen from the example in the previous paragraph, when the position of the robot is encoded as 00101000, then S4a1 may specifically be: and matching the position codes 00101000 of the robot with the region codes from the first infrared region A1 to the eighth infrared region A8 respectively, and determining the seventh infrared region A7 as the infrared region where the robot is located when the position codes 00101000 of the robot and the code value of the seventh infrared region A7 are determined to be 00101000.
S4A 2: and generating a control instruction according to the infrared region where the robot is located.
In the embodiment of the application, after the infrared region where the robot is located is determined, a control instruction may be generated according to the infrared region where the robot is located, so that the subsequent robot can move towards the charging seat under the control instruction.
In addition, an implementation manner of S4a2 is also provided in the examples of this application, and in this implementation manner, S4a2 may specifically include: and determining the movement control parameters of the robot according to the infrared region where the robot is located, and generating a control instruction according to the movement control parameters of the robot.
The movement control parameters are used for representing parameters which need to be controlled in the movement process of the robot; also, the movement control parameters may include a steering parameter and/or a movement speed parameter. The steering parameters are used for representing the steering angle information of the robot; also, the moving speed parameter is used to represent moving speed information of the robot.
In addition, different infrared regions correspond to different movement control parameters due to different positions of the different infrared regions. For example, as shown in fig. 12, when the infrared region corresponding to the charging dock includes the first infrared region a1 through the eighth infrared region A8, the first infrared region a1 corresponds to the first right turn parameter; the second infrared region a2 corresponds to a second right turn parameter; the third infrared region a3 corresponds to a third right turn parameter; the fourth infrared region a4 corresponds to the straight-going parameters; the fifth infrared region a5 corresponds to the first left turn parameter; the sixth infrared region a6 corresponds to the second left turn parameter; the seventh infrared region a7 corresponds to the third left turn parameter; the eighth infrared region A8 corresponds to the movement trim parameter. The first right-turn parameter, the second right-turn parameter and the third right-turn parameter are all used for controlling the robot to move in a right-turn mode; the straight-moving parameters are used for controlling the robot to move linearly; the first left-turn parameter, the second left-turn parameter and the third left-turn parameter are all used for controlling the robot to move in a left-turn mode; and the moving fine-tuning parameters are used for controlling the robot to carry out moving fine tuning and/or steering fine tuning.
It should be noted that the first right-turn parameter, the second right-turn parameter, the third right-turn parameter, the straight-going parameter, the first left-turn parameter, the second left-turn parameter, the third left-turn parameter, and the movement fine-tuning parameter may be set in advance according to the application scenario. For example, the first right turn parameter includes a first right turn angle and a first moving speed; the second right-turn parameter comprises a second right-turn angle and a second moving speed; the third right-turn parameter comprises a third right-turn angle and a third moving speed; the straight-moving parameter comprises a fourth moving speed; the first left turn parameter comprises a first left turn angle and a fifth moving speed; the second left-turn parameter comprises a second left-turn angle and a sixth moving speed; the third left turn parameter comprises a third left turn angle and a seventh moving speed; the movement fine-tuning parameters include a fine-tuning direction angle (e.g., 10 ° right turn or 10 ° left turn) and/or a fine-tuning movement speed (e.g., 1 m/s). Wherein the first right-turn angle, the second right-turn angle, and the third right-turn angle may be the same (e.g., 30 °) or different; the first, second, and third left-turn angles may be the same (e.g., 30 °) or different; the first moving speed to the seventh moving speed may be the same (e.g., 10 m/s) or may be different.
Based on the above, when the infrared region corresponding to the charging seat includes the first infrared region to the eighth infrared region, the "determining the movement control parameter of the robot according to the infrared region where the robot is located" may specifically include: (1) and if the infrared region where the robot is located is the first infrared region, taking the first right-turn parameter corresponding to the first infrared region as the movement control parameter of the robot. (2) And if the infrared region where the robot is located is the second infrared region, taking the second right-turning parameter corresponding to the second infrared region as the movement control parameter of the robot. (3) And if the infrared region where the robot is located is a third infrared region, taking a third right-turn parameter corresponding to the third infrared region as a movement control parameter of the robot. (4) And if the infrared region where the robot is located is a fourth infrared region, taking the straight-moving parameter corresponding to the fourth infrared region as the movement control parameter of the robot. (5) And if the infrared region where the robot is located is a fifth infrared region, taking a first left-turn parameter corresponding to the fifth infrared region as a movement control parameter of the robot. (6) And if the infrared region where the robot is located is a sixth infrared region, taking a second left-turn parameter corresponding to the sixth infrared region as the movement control parameter of the robot. (7) And if the infrared region where the robot is located is a seventh infrared region, taking a third left-turn parameter corresponding to the seventh infrared region as the movement control parameter of the robot. (8) And if the infrared region where the robot is located is the eighth infrared region, taking the movement fine adjustment parameter corresponding to the eighth infrared region as the movement control parameter of the robot.
In the first implementation manner of S4 provided in the present embodiment, in this implementation manner, the infrared region where the robot is located may be determined according to the position code of the robot, and then the control command may be generated according to the movement control parameter corresponding to the infrared region where the robot is located. The mobile control parameters corresponding to the infrared regions can be used for controlling the robot in the regions to move to the central charging position of the charging seat, so that the control instruction generated based on the mobile control parameters corresponding to the infrared regions where the robot is located can effectively control the robot to quickly reach the central charging position of the charging seat for charging.
In addition, the embodiment of the application can also predict the position of the charging seat by means of a plurality of pieces of historical position information of the robot, so that the control instruction can be generated based on the current position of the robot and the position of the charging seat. Based on this, the present application example further provides a second implementation manner of S4, in this implementation manner, as shown in fig. 13, when the position code corresponding to the square-wave electric signal includes at least one pair of historical position codes, S4 may specifically include S4B1-S4B 2:
S4B 1: and determining the position coordinates of the charging seat according to at least one pair of historical position codes and the historical position coordinates of the robot corresponding to the historical position codes.
The historical position refers to the position of the robot at the historical time; furthermore, the historical position may correspond to a historical position code, such that the historical position code is capable of identifying infrared region information in which the robot was located at the historical time.
The historical position coordinates of the robot refer to actual position coordinates of the robot determined based on a preset coordinate system at historical time.
In the historical time, the historical position coordinates of the robot correspond to the historical position codes one by one.
In the embodiment of the present application, the position coordinates of the charging seat may be determined based on a principle that one point coordinate and one direction angle can determine one straight line and a principle that two straight lines can determine an intersection point, which may specifically be: and determining at least two straight lines according to at least one pair of historical position codes and the historical position coordinates of the robot corresponding to the historical position codes, and determining the position coordinates of the charging seat based on the intersection point of the at least two straight lines. For ease of understanding and explanation, the following description is made in conjunction with two examples.
As a first example, as shown in fig. 14, when the position code to which the square-wave electrical signal corresponds includes a pair of historical position codes, the pair of historical position codes is a1 st historical position code and a2 nd historical position code, the 1 st historical position code corresponds to the historical position coordinates P1 of the robot, and the 2 nd historical position code corresponds to the historical position coordinates P2 of the robot, then S4B1 may specifically be: a straight line1 is determined from the 1 st historical position code and the historical position coordinates P1 of the robot, and a straight line2 is determined from the 2 nd historical position code and the historical position coordinates P2 of the robot, so that the position coordinates of the charging stand are determined from the intersection of the straight line1 and the straight line 2.
As a second example, as shown in fig. 15, the position code corresponding to the square-wave electric signal includes N pairs of historical position codes; the 1 st pair of historical position codes is the 1 st historical position code and the 2 nd historical position code, … …, the Nth pair of historical position codes is the 2N-1 st historical position code and the 2 Nth historical position code; when the 1 st pair of historical position codes corresponds to the historical position coordinates P (1), … … of the robot, and the 2N pair of historical position codes corresponds to the historical position coordinates P (2N) of the robot, the S4B1 may specifically be: a straight line (1) is determined from the 1 st historical position code and the historical position coordinate P (1) of the robot, a straight line (2) is determined from the 2 nd historical position code and the historical position coordinate P (2) of the robot, … …, and a straight line (2N) is determined from the 2 nth historical position code and the historical position coordinate P (2N) of the robot, so that the position coordinates of the charging dock are determined from the intersection of the straight line (1) and the straight line (2), … …, and from the intersection of the straight line (2N-1) and the straight line (2N).
Based on the above, the present embodiment provides an implementation manner of determining the position coordinates of the charging dock based on N pairs of historical position codes, and in this implementation manner, as shown in fig. 16, when the position code corresponding to the square wave electrical signal includes the 1 st pair of historical position codes to the nth pair of historical position codes, S4B1 may specifically include:
S4B 11: and determining the coordinates of the charging seat position predicted under the 1 st pair of historical position codes according to the 1 st pair of historical position codes and the historical position coordinates of the robot corresponding to the 1 st pair of historical position codes.
S4B 12: and determining the coordinates of the charging seat position predicted under the 2 nd pair of historical position codes according to the 2 nd pair of historical position codes and the historical position coordinates of the robot corresponding to the 2 nd pair of historical position codes.
Determining the coordinates of the charging seat position predicted under the jth pair of historical position codes according to the jth pair of historical position codes and the coordinates of the robot historical position corresponding to the jth pair of historical position codes by analogy; wherein j can be any positive integer between 1 and N, and N is a positive integer greater than or equal to 2.
S4B 13: and determining the coordinates of the charging seat predicted under the Nth pair of historical position codes according to the Nth pair of historical position codes and the historical position coordinates of the robot corresponding to the Nth pair of historical position codes.
S4B 14: and taking the average value of the coordinates of the charging seat position predicted under the 1 st pair of historical position codes to the coordinates of the charging seat position predicted under the Nth pair of historical position codes as the position coordinates of the charging seat.
In this embodiment, the predicted charging-stand position coordinates under each pair of historical position codes can be determined according to each pair of historical position codes and the corresponding historical position coordinates of the robot, so that the position coordinates of the charging stand can be determined comprehensively according to the predicted charging-stand position coordinates under all the pairs of historical position codes.
In addition, the embodiment of the present application further provides a specific implementation manner of determining the charging seat position coordinates predicted under each pair of historical position codes, in this implementation manner, when the jth pair of historical position codes includes the first historical position code and the second historical position code, then performing the action "determining the charging seat position coordinates predicted under the jth pair of historical position codes according to the jth pair of historical position codes and the robot historical position coordinates corresponding to the jth pair of historical position codes" may specifically include the following three steps:
the first step is as follows: and matching the first historical position code with the zone code of the infrared zone corresponding to the charging seat, determining the first historical infrared zone where the robot is located, and generating a first straight line according to a first direction angle corresponding to the first historical infrared zone and the historical position coordinate of the robot corresponding to the first historical position code.
The first straight line comprises a robot historical position coordinate point corresponding to the first historical position code and a charging seat position coordinate point predicted under the j-th historical position code. The first straight line may be determined according to the coordinate point of the historical position of the robot corresponding to the first historical position code and the first direction angle.
The second step is that: and matching the second historical position code with the region code of the infrared region corresponding to the charging seat, determining the second historical infrared region where the robot is located, and generating a second straight line according to a second direction angle corresponding to the second historical infrared region and the historical position coordinate of the robot corresponding to the second historical position code.
And the second straight line comprises a robot historical position coordinate point corresponding to the second historical position code and a charging seat position coordinate point predicted under the j-th historical position code. The second straight line may be determined according to the coordinate point of the historical position of the robot corresponding to the second historical position code and the second direction angle.
The third step: and taking the intersection point of the first straight line and the second straight line as the coordinate of the charging seat position predicted under the j-th pair of historical position codes.
The first direction angle and the second direction angle are both set according to the application scenario. In addition, each infrared region corresponds to a directional angle, and the directional angle can be used to determine the position coordinates of the charging dock in combination with the robot position coordinates within that infrared region. Additionally, the three steps provided above can be used to determine the predicted cradle position coordinates under any pair of historical position codes.
S4B 2: and generating a control instruction according to the position coordinates of the charging seat and the current position coordinates of the robot.
In the embodiment of the application, after the position coordinates of the charging seat and the current position coordinates of the robot are acquired, the control instruction can be generated according to the position coordinates of the charging seat and the current position coordinates of the robot, so that the control instruction can control the robot to quickly reach the charging seat. For example, the control instruction may be generated according to a straight line where the position coordinates of the charging stand and the current position coordinates of the robot are located, so that the control instruction can control the robot to quickly reach the charging stand along the straight line.
In the second implementation manner of S4 provided above for the embodiment of the present application, the position coordinates of the charging stand may be determined based on the historical position information of the plurality of robots, so that a control command may be generated based on the position coordinates of the charging stand and the current position coordinates of the robot in the following, and the robot may be controlled to rapidly arrive at the charging stand for charging according to the control command.
In addition, an embodiment of the present application further provides an apparatus, where the apparatus includes a processor and a memory:
the memory is used for storing a computer program;
the processor is configured to execute any implementation of the recharging method provided by the above method embodiments according to the computer program.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium is used to store a computer program, where the computer program is used to execute any implementation manner of the backfill method provided by the foregoing method embodiment.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (9)
1. A method of recharging, comprising:
when the battery electric quantity of the robot is determined to be lower than a preset electric quantity threshold value, receiving an infrared signal transmitted by a charging seat;
converting the infrared signal into a square wave electric signal, and analyzing the square wave electric signal to obtain a position code of the robot;
generating a control instruction according to the position code of the robot, and controlling the robot to move to the charging seat according to the control instruction;
when the square wave electric signal comprises at least one signal period, the analyzing the square wave electric signal to obtain the position code of the robot comprises: acquiring each signal period in the square wave electric signal; acquiring the target level duration in each signal period; wherein the target level is a low level or a high level; determining a coding value corresponding to each signal period according to the target level duration in each signal period; generating a position code of the robot according to the code value corresponding to each signal period;
when the square-wave electric signal corresponds to at least one position code and each position code comprises at least one code value, generating a position code of the robot according to the code value corresponding to each signal cycle comprises: combining the code values corresponding to the signal periods according to a time sequence to obtain a position code of the robot; and the last bit code value in the position codes of the robot is a code value corresponding to a signal cycle with the duration longer than a preset duration threshold.
2. The method of claim 1, wherein said acquiring each signal cycle in said square electrical signal comprises:
acquiring the receiving time of each target signal edge in the square wave electric signals; wherein the target signal edge is a falling edge or a rising edge;
and determining each signal period in the square wave electric signal according to the receiving time of each target signal edge in the square wave electric signal.
3. The method of claim 2, wherein determining each signal period in the square-wave electrical signal according to a time of receipt of each target signal edge in the square-wave electrical signal comprises:
if the time difference between the ith target signal edge and the (i + 1) th target signal edge in the square wave electric signal is not less than the cycle duration threshold, determining that the square wave electric signal between the ith target signal edge and the (i + 1) th target signal edge in the square wave electric signal is a signal cycle;
if the time difference between the ith target signal edge and the (i + M) th target signal edge in the square-wave electric signal is smaller than the cycle time threshold value, and the time difference between the ith target signal edge and the (i + M + 1) th target signal edge in the square-wave electric signal is not smaller than the cycle time threshold value, determining that the square-wave electric signal between the ith target signal edge and the (i + M + 1) th target signal edge in the square-wave electric signal is a signal cycle; wherein i is a positive integer and M is a positive integer.
4. The method of any one of claims 1 to 3, wherein said obtaining the duration of the target level in each signal period comprises:
if the target signal period comprises two target signal edges, taking the actual duration of the target level in the target signal period as the target level duration in the target signal period; the target signal period is any signal period in the square wave electric signal;
and if the target signal period comprises at least three target signal edges, taking a preset time length as a target level duration time length in the target signal period.
5. The method according to any one of claims 2 to 3, wherein determining the code value corresponding to each signal period according to the target level duration in each signal period comprises:
if the target level duration in the target signal period is within a first time interval, determining that the coded value corresponding to the target signal period is a first code value;
and if the target level duration in the target signal period is within a second duration interval, determining that the code value corresponding to the target signal period is a second code value.
6. The method according to any one of claims 1 to 3, wherein determining the code value corresponding to each signal period according to the target level duration in each signal period comprises:
and determining the coding value corresponding to each signal period according to the target level duration and the number of target signal edges in each signal period.
7. The method of claim 6, wherein determining the code value corresponding to each signal period based on the target level duration and the number of target signal edges in each signal period comprises:
if the number of the target signals in the target signal period is 2 and the target level duration in the target signal period is within a first time interval, determining that the code value corresponding to the target signal period is a first code value; the target signal period is any signal period in the square wave electric signal;
if the number of the target signals in the target signal period is 2 and the target level duration in the target signal period is within a second duration interval, determining that the code value corresponding to the target signal period is a second code value;
and if the number of the target signals in the target signal period is at least 3, determining that the code value corresponding to the target signal period is a first code value.
8. An apparatus, comprising a processor and a memory:
the memory is used for storing a computer program;
the processor is configured to perform the method of any one of claims 1-7 in accordance with the computer program.
9. A computer-readable storage medium for storing a computer program which, when run on a computer, causes the computer to perform the method of any one of claims 1-7.
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| CN209265549U (en) * | 2018-08-31 | 2019-08-16 | 成都越凡创新科技有限公司 | Vending machine recharges system automatically |
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| CN209265549U (en) * | 2018-08-31 | 2019-08-16 | 成都越凡创新科技有限公司 | Vending machine recharges system automatically |
| CN110109450A (en) * | 2019-04-01 | 2019-08-09 | 深圳市女娲机器人科技有限公司 | A kind of automatic recharging method of robot, device and terminal device |
| CN110086549A (en) * | 2019-04-02 | 2019-08-02 | 北京小米移动软件有限公司 | Audio data transmission method and device |
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