CN110960149A - Sweeper recharging method and device, sweeper and system - Google Patents
Sweeper recharging method and device, sweeper and system Download PDFInfo
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- CN110960149A CN110960149A CN201911305000.1A CN201911305000A CN110960149A CN 110960149 A CN110960149 A CN 110960149A CN 201911305000 A CN201911305000 A CN 201911305000A CN 110960149 A CN110960149 A CN 110960149A
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- sweeper
- uwb
- charging seat
- charging
- determining
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
Abstract
The invention discloses a sweeper recharging method and device, a sweeper and a sweeper recharging system. Wherein, the method is applied to a sweeper; the sweeper is provided with an ultra wide band UWB base station, and the method comprises the following steps: receiving a UWB signal sent by a UWB tag; the UWB tag is arranged in a position area where a charging seat matched with the sweeper is located; determining at least two distance values between the sweeper and the charging seat according to the UWB signals; the at least two distance values are measured based on the received UWB signals during the movement of the sweeper; and moving to a position area where the charging seat is located based on the at least two distance values so as to carry out recharging operation in the position area.
Description
Technical Field
The invention relates to the technical field of sweeper, in particular to a sweeper recharging method, a sweeper recharging device, a sweeper and a sweeper system.
Background
In the related art, when the distance between the start position of the sweeper and the charging seat of the sweeper is long, the difficulty in acquiring the charging seat of the sweeper is increased, which results in the increase of the time for the sweeper to search for the charging seat of the sweeper.
Disclosure of Invention
In view of this, embodiments of the present invention provide a sweeper recharging method, device, sweeper and system, so as to at least solve the problem in the related art that it is difficult to obtain a charging seat of the sweeper.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a recharging method of a sweeper, which is applied to the sweeper; the sweeper is provided with an ultra wide band UWB base station; the method comprises the following steps:
receiving a UWB signal sent by a UWB tag; the UWB tag is arranged in a position area where a charging seat matched with the sweeper is located;
determining at least two distance values between the sweeper and the charging seat according to the UWB signals; the at least two distance values are measured based on the received UWB signals during the movement of the sweeper;
and moving to a position area where the charging seat is located based on the at least two distance values so as to carry out recharging operation in the position area.
In the foregoing solution, based on the at least two distance values, moving to the location area where the charging seat is located includes:
determining a position area of the charging seat based on each distance value of the at least two distance values and the position of the sweeper when the corresponding distance value is measured;
determining a route moving from the current position of the sweeper to the position area according to the map data set in the sweeper;
moving to the location area based on the route.
In the above solution, when moving to the location area of the charging stand based on the at least two distance values, the method includes:
and when a distance value is determined, determining the moving direction of the sweeper according to the difference value between the currently determined distance value and the last determined distance value. In the above scheme, receiving the UWB signal sent by the charging dock includes:
receiving UWB signals sent by the charging seat while executing the current cleaning task;
based on the at least two distance values, moving to a position area where the charging seat is located includes:
and after the cleaning task is finished, moving to the position area where the charging seat is located.
In the above scheme, when determining at least two distance values between the sweeper and the charging stand according to the UWB signal, the method includes:
determining a first time interval between a first time and a second time; the first time is the time when the UWB tag sends out a UWB signal; the second time is the time when the UWB tag receives a response about the corresponding UWB signal sent by the sweeper;
determining a second time interval between the third time and the second time; the third time is the time when the sweeper receives the corresponding UWB signal;
and determining the distance value between the sweeper and the charging seat according to the first time interval and the second time interval.
In the above scheme, when determining at least two distance values between the sweeper and the charging stand according to the UWB signal, the method includes:
detecting the signal strength of the UWB signal;
and under the condition that the signal intensity is greater than a set threshold value, determining the distance value between the sweeper and the charging seat according to the corresponding UWB signal.
In the above solution, move to the location area where the charging seat is located, so as to perform recharging operation in the location area, including:
moving to the position area of the charging seat;
detecting an infrared signal sent by the charging seat in the position area;
and according to the detection result of the infrared signal, the charging base is in butt joint with the charging base so as to carry out recharging operation.
In the above solution, the receiving the UWB signal transmitted by the charging dock includes:
and under the condition that the infrared signal is not detected, starting the UWB base station and receiving the UWB signal sent by the charging seat.
The embodiment of the invention also provides a recharging device of the sweeper, which is arranged on the sweeper; the sweeper is provided with a UWB base station; with be provided with the UWB label on the charging seat that the machine of sweeping the floor matches, the device includes:
the receiving unit is used for receiving UWB signals sent by the UWB tag; the UWB tag is arranged in a position area where a charging seat matched with the sweeper is located;
the determining unit is used for determining at least two distance values between the sweeper and the charging seat according to the UWB signals; the at least two distance values are measured based on the received UWB signals during the movement of the sweeper;
and the mobile unit is used for moving to the position area where the charging seat is located based on the at least two distance values so as to carry out recharging operation in the position area.
The embodiment of the invention also provides a sweeper, which comprises: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is configured to perform the steps of any of the above methods when running the computer program.
The embodiment of the invention also provides a recharging system of a sweeper, which comprises the sweeper and a charging seat matched with the sweeper, wherein the recharging system of the sweeper comprises:
the UWB tag is arranged in the area where the charging seat is located;
the sweeper is provided with a UWB base station; the sweeper is used for realizing the steps of executing any one of the methods.
In the embodiment of the invention, at least two distances between the sweeper and the charging seat are determined according to the UWB signals, so that the sweeper can move to the position area where the charging seat is located to carry out recharging operation, the position information of the charging seat can be determined under the condition of long distance, and the speed of the sweeper for searching the charging seat is improved.
Drawings
Fig. 1 is a schematic structural diagram of a recharging system of a sweeper provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating an implementation of the recharging method of the sweeper according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating an implementation of the recharging method of the sweeper according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating an implementation of the recharging method of the sweeper according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a relationship between a first time and a second time in the recharging method of the sweeper according to an embodiment of the present invention;
fig. 6 is a schematic flow chart illustrating an implementation of the recharging method of the sweeper according to an embodiment of the present invention;
fig. 7 is a schematic flow chart illustrating an implementation of the recharging method of the sweeper according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a recharging device of a sweeper provided in an embodiment of the present invention;
fig. 9 is a schematic structural view of a sweeper provided in the embodiment of the present invention;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The technical means described in the embodiments of the present invention may be arbitrarily combined without conflict.
In the related art, when the sweeper is recharged, the sweeper needs to return to a position where the sweeper starts to perform a sweeping task, and then the sweeper can be identified by the charging seat. At present, there are two methods for detecting a charging seat by a sweeper, one is to paste reflective sticker materials with different widths inside the charging seat, and measure the intensity of reflected light of the reflective sticker by a laser radar on the sweeper so as to identify the charging seat, but this method must require the sweeper to be equipped with the laser radar. The second is that the charging seat sends the infrared signal of different angles, the quick-witted orientation for the charging seat of sweeping the floor is confirmed to the quick-witted infrared signal that the charging seat sent of sweeping the floor after receiving, make the quick-witted direction of sweeping the floor can dock with the charging seat, nevertheless can not obtain the distance information between quick-witted and the charging seat of sweeping the floor through infrared signal, and, because infrared signal's operating distance is close, when the position that the quick-witted start-up of sweeping the floor is far away with the position distance of charging seat, will lead to the quick-witted in-process of sweeping the floor to consume a large amount of time at the searching charging seat, and still can appear the quick-witted unable charging.
The embodiment of the invention provides a recharging system of a sweeper, and is a schematic diagram of the recharging system of the sweeper shown in fig. 1. Fig. 1 clearly shows the positional relationship between the sweeper, the charging stand, the Ultra Wide Band (UWB) base station, and the UWB tag. The UWB base station is arranged on the sweeper, the UWB tag is arranged in the position area where the charging seat is located, the UWB tag located in the position area where the charging seat is located can send out a UWB signal, and the UWB base station on the sweeper can receive the UWB signal sent by the UWB tag.
An embodiment of the invention provides a sweeper recharging method, and fig. 2 is a flow schematic diagram of the sweeper recharging method in the embodiment of the invention, and the sweeper recharging method is realized based on the system shown in fig. 1. As shown in fig. 2, the method includes:
s201: receiving a UWB signal sent by a UWB tag; the UWB tag is arranged in the position area where the charging seat matched with the sweeper is located.
Here, the UWB tag is an active tag that can be fixed to a place where it is to be placed in various forms. The UWB tag can send out UWB pulse signals, and a UWB base station on the sweeper can receive the UWB pulse signals and transmit the UWB pulse signals. In practical application, can fix the inside at the charging seat with the UWB label to the UWB label is expected to be greater than the height of machine of sweeping the floor at the position of charging seat and the distance on ground, can set up the UWB label in the position that the charging seat is apart from the position that ground height was 15 centimetres department usually, can reduce the UWB signal that the UWB label sent like this and lead to because of the signal attenuation of barrier in the in-process of transmission, can strengthen the ability that the UWB label launches the UWB signal. In addition, the UWB tag can be provided separately from the charging stand. Because the charging seat is generally placed against the wall body, the UWB tag can be separated from the charging seat and fixed on the wall body at the position of the charging seat.
In one embodiment, said receiving the UWB signal from the charging cradle comprises:
and under the condition that the infrared signal is not detected, starting the UWB base station and receiving the UWB signal sent by the charging seat.
Here, when the sweeper cannot detect the infrared signal, it indicates that the distance between the sweeper and the charging seat has exceeded the maximum distance that the infrared signal can be transmitted, or the sweeper and the charging seat are in different spaces, and the infrared signal sent by the charging seat is blocked, so that the sweeper cannot detect the infrared signal sent by the charging seat, and cannot continue to determine the position of the charging seat according to the infrared signal. At this time, the UWB base station can be started to determine the position of the charging seat through the UWB signals, and when the sweeper is far away from the charging seat, the UWB signals can be received. When the UWB base station of the sweeper is started, the UWB signal sent by the charging seat can be received.
According to the embodiment of the invention, the UWB base station is started only under the condition that the infrared signal is not detected, so that the starting time of the UWB base station can be determined, and the energy consumption loss of the sweeper is reduced.
S202: determining at least two distance values between the sweeper and the charging seat according to the UWB signals; the at least two distance values are measured during movement of the sweeper based on the received UWB signal.
Here, when the sweeper is moving, the UWB signal sent by the UWB tag can be received, and then the distance value between the sweeper and the charging stand can be calculated by analyzing the UWB signal, wherein the UWB signal detected at a moment corresponds to the distance value between the sweeper and the charging stand, and the distance values between the plurality of sweepers and the charging stand can be acquired by receiving the plurality of UWB signals. In practical application, the distance value between the sweeper and the charging seat can be obtained by analyzing the time between the UWB signal and the charging seat and processing the time data.
In an embodiment, as shown in fig. 4, the method for measuring a distance value between the sweeper and the charging stand when determining at least two distance values between the sweeper and the charging stand according to the UWB signal includes:
s401: determining a first time interval between a first time and a second time; the first time is the time when the UWB tag sends out a UWB signal; the second time is the time when the UWB tag receives a response sent by the sweeper about the corresponding UWB signal.
Here, the time when the UWB tag transmits the UWB signal is acquired, and the time when the UWB tag receives a response message transmitted from the sweeper, wherein the response message transmitted from the sweeper is generated after receiving the UWB signal transmitted from the UWB tag. After the calculation processing is performed according to the two times, a time interval of the two times can be obtained, and the time interval can represent the time of the total process of the UWB signal transmission between the charging seat and the sweeper.
S402: determining a second time interval between the third time and the second time; and the third time is the time when the sweeper receives the corresponding UWB signal.
Here, the time when the sweeper receives the UWB signal sent by the UWB tag is obtained, and the time and the response time sent by the sweeper after receiving the UWB signal are calculated, so that the time interval between the sweeper receiving the UWB signal and sending a response according to the UWB signal can be obtained, and the time interval can be regarded as the time when the UWB signal stays at one side of the sweeper.
S403: and determining the distance value between the sweeper and the charging seat according to the first time interval and the second time interval.
Here, by determining the time of the total process of the UWB signal transmission between the charging stand and the sweeper, that is, the first time interval, and by determining the time of the UWB signal staying at the sweeper side, that is, the second time interval, the time of the UWB signal net transmission back and forth between the UWB base station and the UWB tag can be obtained, which is the time from the UWB tag transmitting the UWB signal to the UWB base station receiving the UWB signal, and from the UWB base station transmitting a response based on the received UWB signal to the UWB tag receiving the response, the one-side transmission time of the UWB signal can be obtained by the first time interval and the second time interval. According to the relation among time, speed and distance, the distance between the sweeper and the charging seat can be obtained after the unilateral transmission time of the UWB signal and the transmission speed of the UWB signal are determined. In practical applications, FIG. 5 shows the relationship between a first time interval and a second time interval, where TTOTIs a first time interval, TTATFor a second time interval, then a one-sided transmission time T of the resulting UWB signalTOFIs expressed as
In practical applications, the transmission speed of the UWB signal is the transmission speed of the electromagnetic wave, and the transmission speed of the electromagnetic wave can be regarded as a constant C, so that the arithmetic expression D of the UWB transmission distance D can be obtained from the one-side transmission time of the UWB signal and the transmission speed of the UWB signalTOFAnd the UWB transmission distance D is actually the distance value between the sweeper and the charging seat.
In the embodiment of the invention, two time values of the total process of transmitting the UWB signal between the sweeper and the charging seat and the stay time of the UWB signal at one side of the sweeper are acquired, the time interval acquired according to the two acquired time values can acquire the net transmission time of the UWB signal between the sweeper and the charging seat, the distance value between the sweeper and the charging seat is calculated according to the time value, the distance value between the sweeper and the charging seat can be acquired rapidly, and the distance value is acquired through related operation, so that the accuracy of the distance value can be improved.
In an embodiment, as shown in fig. 6, when determining at least two distance values between the sweeper and the charging stand according to the UWB signal, the method includes:
s601: the signal strength of the UWB signal is detected.
Here, when the sweeper receives the UWB signal transmitted from the UWB tag, the intensity of the UWB signal needs to be detected.
S602: and under the condition that the signal intensity is greater than a set threshold value, determining the distance value between the sweeper and the charging seat according to the corresponding UWB signal.
Here, the UWB signal may encounter various obstacles during transmission, and uncertain factors such as multipath effect, attenuation, scattering, and the like caused by the obstacles may affect the distance value between the sweeper and the charging stand obtained according to the UWB signal, thereby reducing the accuracy of determining the position of the charging stand. Therefore, when the UWB signal is received, the strength of the UWB signal is determined, so as to determine whether the distance value between the sweeper and the charging stand needs to be determined according to the UWB signal. And judging whether the UWB signal is greater than a set threshold value or not through the detected UWB signal intensity, if so, indicating that the UWB signal intensity is stronger, and determining the distance value between the sweeper and the charging seat according to the UWB signal with stronger signal. If the UWB signal is not larger than the set threshold, the intensity of the UWB signal is relatively weak, the distance value between the sweeper and the charging seat cannot be determined according to the UWB signal, and the distance value between the sweeper and the charging seat is determined only when the intensity of the UWB signal received by the sweeper is larger than the set threshold.
In the embodiment of the invention, the distance value between the sweeper and the charging seat corresponding to the UWB signal is acquired only when the intensity of the received UWB signal is greater than the set threshold value, so that the accuracy of the distance value between the sweeper and the charging seat can be improved, and the accuracy of determining the position of the charging seat is improved.
S203: and moving to a position area where the charging seat is located based on the at least two distance values so as to carry out recharging operation in the position area.
Here, the sweeper can guide the sweeper to move to the position area where the charging seat is located by analyzing the acquired at least two distance values according to the analysis result of the at least two distance values, and then the sweeper can complete the recharging operation together with the charging seat in the position area.
In the embodiment of the invention, at least two distances between the sweeper and the charging seat are determined according to the UWB signals, so that the sweeper can move to the position area where the charging seat is located to carry out recharging operation, the position information of the charging seat can be determined under the condition of long distance, the speed of the sweeper for searching the charging seat is increased, and the transmitting capability of the UWB tag can be improved.
In an embodiment, as shown in fig. 3, the moving to the location area of the charging dock based on the at least two distance values includes:
s301: and determining the position area of the charging seat based on each distance value of the at least two distance values and the position of the sweeper when the corresponding distance value is measured.
Here, according to the distance value between each sweeper and the charging seat, a corresponding position area which is in accordance with the distance value can be determined, the position area is a circular area which is formed by taking the position of the sweeper as the center of a circle and taking the distance value between the sweeper and the charging seat as the radius, and all points on the circular area can meet the distance relationship between the charging seat and the sweeper. Different circular areas can be established through the sweeper at different positions and the calculated distance value between the sweeper and the charging seat, the circular areas have points which are intersected with other circular areas, and the area formed by the intersected points can be regarded as the position area of the charging seat, so that the position area of the charging seat can be determined according to the different distance values and the positions of the sweeper corresponding to the distance values.
S302: and determining a route moving from the current position of the sweeper to the position area according to the map data set in the sweeper.
Here, the sweeper is provided with map data, wherein the map data includes a plan view of the environment in which the sweeper is located. After the position area of the charging seat is determined, the position area corresponding to the position area of the charging seat in the map data equipped in the sweeper can be determined, and the moving route from the position of the sweeper to the position area of the charging seat is acquired by combining the map data equipped in the sweeper.
S303: moving to the location area based on the route.
Here, after the movement route of the sweeper is determined, the sweeper can move according to the route acquired from the map data provided by the sweeper so as to reach the location area where the charging stand is located. The sweeper moves according to the determined moving route, and can avoid various obstacles in the environment where the sweeper is located, so that the sweeper can smoothly reach the position area where the charging seat is located.
In the embodiment of the invention, the position area of the charging seat can be determined according to each distance value of the at least two distance values and the position of the corresponding sweeper, and the moving route of the sweeper can be determined through the map data set by the sweeper, so that the sweeper can move to the position area of the charging seat, the sweeper can accurately move to the position area of the charging seat, and the time for the sweeper to search for the charging seat is shortened.
In the above embodiment, the sweeper is equipped with the map data, and in one embodiment, a method is provided for moving the sweeper to the location area of the charging stand when the sweeper is equipped with the map data and when the sweeper is not equipped with the map data. When the mobile terminal moves to the position area of the charging seat based on the at least two distance values, the method comprises the following steps:
and when a distance value is determined, determining the moving direction of the sweeper according to the difference value between the currently determined distance value and the last determined distance value.
Here, when the sweeper needs to move to the position area of the charging seat, the distance value between the position of the current sweeper and the position of the charging seat can be determined, and the distance value between the position of the previous sweeper and the position of the charging seat is processed, wherein a difference value is obtained by mainly subtracting the current distance value from the previous distance, the moving direction of the sweeper can be determined according to the difference value, and the sweeper is guided to move to the position area of the charging seat. Specifically, when the difference is a negative value, that is, the current distance value is smaller than the previous distance value, it can be known that the current sweeper is closer to the location area of the charging seat than the previous sweeper, so that it can be determined that the sweeper needs to continue to travel in the current direction. When the obtained difference value is a positive value, it indicates that the current distance value is greater than the previous distance value, that is, the current sweeper is located at a position farther away from the position area where the charging seat is located than the position where the previous sweeper is located, so that it can be determined that the sweeper needs to move in the opposite direction, that is, the direction in which the sweeper needs to move should be the same as the moving direction of the sweeper corresponding to the previous distance value, and thus the sweeper can approach the position area where the charging seat is located. For example, if the currently obtained distance value is 50 cm and the previous distance value is 30 cm, the difference between the current distance value and the previous distance value is a positive value, and the moving direction of the sweeper should be toward the current reverse direction. If the distance between the current sweeper and the charging seat is 50 cm and the previous distance is 60 cm, the difference between the current distance and the previous distance is a negative value, and the moving direction of the sweeper is to continue moving towards the current direction. In practical applications, when the sweeper is not equipped with map data, the movement of the sweeper is guided by the difference between the current distance value and the last determined distance value. In practical application, when the sweeper works in a new environment, the sweeper can execute a cleaning task for several times, and map data are established in the working process. Because the map data established by the method is not perfect, when the sweeper moves to the position area where the charging seat is located, the moving direction of the sweeper needs to be determined by judging the difference value between the distance values. When the sweeper establishes perfect map data, the moving route of the sweeper to the position area where the charging seat is located can be directly acquired through the map data, and the moving direction of the sweeper does not need to be determined according to the change of the distance value between the sweeper and the charging seat. For example, when the placement of the furniture in the working environment where the sweeper is located is changed, the original map data matched with the sweeper cannot be applied to the environment after the placement of the furniture is changed, that is, when the sweeper works, it may be found that an obstacle exists on the working route determined by using the original map data, so that the sweeper can confirm that the original map data cannot be matched with the current working environment, and when the sweeper performs recharging operation after the sweeper finishes working, the change of the distance value between the sweeper and the charging seat is judged, and the sweeper is moved to the position area where the charging seat is located. After the sweeper works for several times, the map information of the new environment can be determined, and then after the sweeper determines the map information of the new environment, the sweeper can directly move to the position area where the charging seat is located according to the map information.
In the embodiment of the invention, the moving direction of the sweeper is determined according to the difference value between the current distance value and the last determined distance value, so that the sweeper can move to the position area of the charging seat after being separated from the map information, and the application range of the sweeper recharging method is widened.
In the above embodiment, the sweeper determines the position of the charging seat after completing the cleaning task to implement recharging, in an embodiment, the sweeper can determine the position of the charging seat while performing the cleaning task, and the receiving the UWB signal sent by the charging seat includes:
and receiving the UWB signal sent by the charging seat while executing the current cleaning task.
Here, when the sweeper is started to perform a cleaning task, the UWB signal transmitted from the charging stand can be received according to a cleaning route prescribed by the sweeper while the cleaning task is being performed. In practical application, the sweeper may be started to perform a cleaning task in an area other than the area where the charging seat is located, the sweeper may be in a low-power state after the cleaning task is completed, the sweeper needs to acquire the location where the charging seat is located and also guarantees that the cleaning task is completed, and therefore, when the cleaning task is performed, the sweeper can receive a UWB signal sent by the charging seat. Because the condition of keeping away from the charging seat can appear when the machine of sweeping the floor cleans the task, and when the machine of sweeping the floor kept away from the charging seat, can also receive the UWB signal that the charging seat sent to can confirm the position region at charging seat place according to the UWB signal that the charging seat sent, consequently the machine of sweeping the floor can realize confirming the position region at charging seat place when cleaning the task regional again, get back to the position region at charging seat place after cleaning the task and accomplishing.
The moving to the location area where the charging seat is located based on the at least two distance values includes:
and after the cleaning task is finished, moving to the position area where the charging seat is located.
Here, the sweeper receives the UWB signal sent by the charging seat when performing a cleaning task, and after processing the UWB signal, the location area where the charging seat is located can be obtained. Because the sweeper still executes the cleaning task, the sweeper can move to the position area where the charging seat is located according to the UWB signals sent by the charging seat after the sweeper finishes the cleaning task, so that the recharging operation can be realized in the position area where the charging seat is located.
In the embodiment of the invention, the UWB signal sent by the charging seat is received when the sweeper executes the cleaning task, and the sweeper moves to the area where the charging seat is located after the cleaning task is completed, so that the sweeper can acquire the area where the charging seat is located while the cleaning task is performed, the cleaning task of the sweeper is not interrupted, the working efficiency of the sweeper is improved, and the efficiency of the sweeper for searching the charging seat is improved.
In an embodiment, as shown in fig. 7, the moving to the location area where the charging dock is located to perform the recharging operation in the location area includes:
s701: and moving to the position area of the charging seat.
Here, the sweeper can move to the position area where the charging seat is located according to the distance values between the at least two sweepers and the charging seat.
S702: and detecting the infrared signal sent by the charging seat in the position area.
Here, there is a range of use in positioning based on UWB signals, ranging of 50 cm or more can be achieved by positioning based on UWB signals, and the range of accuracy of the obtained range value is 10 to 20 cm. When the sweeper moves to the position area of the charging seat, namely the sweeper is closely spaced from the charging seat, the UWB signals cannot be used for positioning continuously. When the sweeper moves to the area where the charging seat is located according to the distance information obtained by the UWB signal, the sweeper is already located within the signal range of the infrared signal sent by the charging seat, and subsequent positioning can be carried out by utilizing the infrared signal of the charging seat. When the sweeper moves to the position area where the charging seat is located, the infrared signal sent by the charging seat can be detected.
S703: and according to the detection result of the infrared signal, the charging base is in butt joint with the charging base so as to carry out recharging operation.
Here, the infrared signal that the charging seat sent is received according to detecting to the machine of sweeping the floor, knows the moving direction of machine of sweeping the floor through infrared signal, makes the machine of sweeping the floor realize accurate butt joint with the charging seat, carries out the operation of recharging. In practical application, the charging seat can send out the infrared signal of different angles outward, and the sweeper can confirm the direction of sweeper for the charging seat according to infrared signal to adjust the moving direction of sweeper.
In the embodiment of the invention, the sweeper moving to the area where the charging seat is located can detect the infrared signal sent by the charging seat and realize the butt joint with the charging seat according to the infrared signal, so that the charging seat is positioned at a long distance, the butt joint of the sweeper and the charging seat is realized through the infrared signal at a short distance, and the success rate of the butt joint of the sweeper and the charging seat is improved.
In order to implement the method of the embodiment of the present invention, an embodiment of the present invention further provides a sweeper recharging device, as shown in fig. 8, where the sweeper recharging device is disposed on a sweeper; the sweeper is provided with a UWB base station; with be provided with the UWB label on the charging seat that the machine of sweeping the floor matches, the device includes:
a receiving unit 801 configured to receive a UWB signal transmitted by a UWB tag; the UWB tag is arranged in a position area where a charging seat matched with the sweeper is located;
a determining unit 802, configured to determine at least two distance values between the sweeper and the charging stand according to a UWB signal; the at least two distance values are measured based on the received UWB signals during the movement of the sweeper;
a moving unit 803, configured to move to a location area where the charging dock is located based on the at least two distance values, so as to perform a recharging operation in the location area.
In an embodiment, the moving unit 803 is configured to:
determining a position area of the charging seat based on each distance value of the at least two distance values and the position of the sweeper when the corresponding distance value is measured;
determining a route moving from the current position of the sweeper to the position area according to the map data set in the sweeper;
moving to the location area based on the route.
In an embodiment, when the mobile unit 803 moves to the location area of the charging dock based on the at least two distance values, it is configured to:
and when a distance value is determined, determining the moving direction of the sweeper according to the difference value between the currently determined distance value and the last determined distance value.
In an embodiment, the receiving unit 801 is configured to:
receiving UWB signals sent by the charging seat while executing the current cleaning task;
the moving unit 803 is configured to:
and after the cleaning task is finished, moving to the position area where the charging seat is located.
In an embodiment, when the determining unit 802 determines at least two distance values between the sweeper and the charging stand according to the UWB signal, it is configured to:
determining a first time interval between a first time and a second time; the first time is the time when the UWB tag sends out a UWB signal; the second time is the time when the UWB tag receives a response about the corresponding UWB signal sent by the sweeper;
determining a second time interval between the third time and the second time; the third time is the time when the sweeper receives the corresponding UWB signal;
and determining the distance value between the sweeper and the charging seat according to the first time interval and the second time interval.
In an embodiment, when the determining unit 802 determines at least two distance values between the sweeper and the charging stand according to the UWB signal, it is configured to:
detecting the signal strength of the UWB signal;
and under the condition that the signal intensity is greater than a set threshold value, determining the distance value between the sweeper and the charging seat according to the corresponding UWB signal.
In an embodiment, the moving unit 803 is configured to:
moving to the position area of the charging seat;
detecting an infrared signal sent by the charging seat in the position area;
and according to the detection result of the infrared signal, the charging base is in butt joint with the charging base so as to carry out recharging operation.
In an embodiment, the receiving unit 801 is configured to:
and under the condition that the infrared signal is not detected, starting the UWB base station and receiving the UWB signal sent by the charging seat.
In practical applications, the receiving unit 801 may be implemented by a communication interface in the sweeper recharging apparatus, and the determining unit 802 and the moving unit 803 may be implemented by a processor in the sweeper recharging apparatus. Of course, the processor needs to run the program stored in the memory to realize the functions of the above-described program modules.
It should be noted that, when the recharging device of the sweeper in the embodiment shown in fig. 8 or fig. 8 performs the recharging process, only the division of the program modules is illustrated, and in practical applications, the process may be distributed to different program modules according to needs, that is, the internal structure of the device may be divided into different program modules to complete all or part of the process described above. In addition, the sweeper recharging device provided by the embodiment and the sweeper recharging method provided by the embodiment belong to the same concept, and the specific implementation process is described in the method embodiment in detail and is not described again.
Based on the hardware implementation of the program module, in order to implement the method of the embodiment of the invention, the embodiment of the invention also provides the sweeper. Fig. 9 is a schematic diagram of a hardware composition structure of a sweeper according to an embodiment of the present invention, and as shown in fig. 9, the sweeper includes:
a communication interface 1 capable of information interaction with other devices such as network devices and the like;
and the processor 2 is connected with the communication interface 1 to realize information interaction with other equipment, and is used for executing the stray light measuring method provided by one or more technical schemes when running a computer program. And the computer program is stored on the memory 3.
In practice, of course, the various components of the sweeper are coupled together by the bus system 4. It will be appreciated that the bus system 4 is used to enable connection communication between these components. The bus system 4 comprises, in addition to a data bus, a power bus, a control bus and a status signal bus. For the sake of clarity, however, the various buses are labeled as bus system 4 in fig. 9.
The memory 3 in the present embodiment is used to store various types of data to support the operation of the sweeper. Examples of such data include: any computer program for operating on a sweeper.
It will be appreciated that the memory 3 may be either volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory 2 described in the embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The method disclosed by the above embodiment of the present invention can be applied to the processor 2, or implemented by the processor 2. The processor 2 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 2. The processor 2 described above may be a general purpose processor, a DSP, or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 2 may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present invention. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed by the embodiment of the invention can be directly implemented by a hardware decoding processor, or can be implemented by combining hardware and software modules in the decoding processor. The software modules may be located in a storage medium located in the memory 3, and the processor 2 reads the program in the memory 3 and in combination with its hardware performs the steps of the aforementioned method.
When the processor 2 executes the program, the corresponding processes in the methods according to the embodiments of the present invention are realized, and for brevity, are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, sweeper recharging system and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling an electronic device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (11)
1. A recharging method of a sweeper is characterized by being applied to the sweeper; the sweeper is provided with an ultra wide band UWB base station; the method comprises the following steps:
receiving a UWB signal sent by a UWB tag; the UWB tag is arranged in a position area where a charging seat matched with the sweeper is located;
determining at least two distance values between the sweeper and the charging seat according to the UWB signals; the at least two distance values are measured based on the received UWB signals during the movement of the sweeper;
and moving to a position area where the charging seat is located based on the at least two distance values so as to carry out recharging operation in the position area.
2. The method of claim 1, wherein moving to the location area of the charging dock based on the at least two distance values comprises:
determining a position area of the charging seat based on each distance value of the at least two distance values and the position of the sweeper when the corresponding distance value is measured;
determining a route moving from the current position of the sweeper to the position area according to the map data set in the sweeper;
moving to the location area based on the route.
3. The method according to claim 1, wherein when moving to a location area where the charging cradle is located based on the at least two distance values, the method comprises:
and when a distance value is determined, determining the moving direction of the sweeper according to the difference value between the currently determined distance value and the last determined distance value.
4. The method of claim 1, wherein said receiving a UWB signal from said cradle comprises:
receiving UWB signals sent by the charging seat while executing the current cleaning task;
the moving to the location area where the charging seat is located based on the at least two distance values includes:
and after the cleaning task is finished, moving to the position area where the charging seat is located.
5. The method of claim 1, wherein when determining at least two distance values between the sweeper and the charging dock based on the UWB signal, the method comprises:
determining a first time interval between a first time and a second time; the first time is the time when the UWB tag sends out a UWB signal; the second time is the time when the UWB tag receives a response about the corresponding UWB signal sent by the sweeper;
determining a second time interval between the third time and the second time; the third time is the time when the sweeper receives the corresponding UWB signal;
and determining the distance value between the sweeper and the charging seat according to the first time interval and the second time interval.
6. The method of claim 1, wherein when determining at least two distance values between the sweeper and the charging dock based on the UWB signal, the method comprises:
detecting the signal strength of the UWB signal;
and under the condition that the signal intensity is greater than a set threshold value, determining the distance value between the sweeper and the charging seat according to the corresponding UWB signal.
7. The method of claim 1, wherein the moving to a location area where the charging dock is located to perform a recharging operation in the location area comprises:
moving to the position area of the charging seat;
detecting an infrared signal sent by the charging seat in the position area;
and according to the detection result of the infrared signal, the charging base is in butt joint with the charging base so as to carry out recharging operation.
8. The method of claim 1, wherein said receiving the UWB signal from the cradle comprises:
and under the condition that the infrared signal is not detected, starting the UWB base station and receiving the UWB signal sent by the charging seat.
9. A recharging device of a sweeper is characterized by being arranged on the sweeper; the sweeper is provided with a UWB base station; with be provided with the UWB label on the charging seat that the machine of sweeping the floor matches, the device includes:
the receiving unit is used for receiving UWB signals sent by the UWB tag; the UWB tag is arranged in a position area where a charging seat matched with the sweeper is located;
the determining unit is used for determining at least two distance values between the sweeper and the charging seat according to the UWB signals; the at least two distance values are measured based on the received UWB signals during the movement of the sweeper;
and the mobile unit is used for moving to the position area where the charging seat is located based on the at least two distance values so as to carry out recharging operation in the position area.
10. A sweeper is characterized by comprising: a processor and a memory for storing a computer program capable of running on the processor,
wherein the processor is adapted to perform the steps of the method of any one of claims 1 to 8 when running the computer program.
11. The utility model provides a quick-witted recharge system of sweeping floor, including the machine of sweeping floor and with the charging seat that the machine of sweeping floor matches, its characterized in that:
the UWB tag is arranged in the area where the charging seat is located;
the sweeper is provided with a UWB base station; the sweeper is used for realizing the sweeper recharging method according to any one of claims 1 to 8.
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