CN111150329A - Charging seat of autonomous mobile charging equipment - Google Patents
Charging seat of autonomous mobile charging equipment Download PDFInfo
- Publication number
- CN111150329A CN111150329A CN201811325914.XA CN201811325914A CN111150329A CN 111150329 A CN111150329 A CN 111150329A CN 201811325914 A CN201811325914 A CN 201811325914A CN 111150329 A CN111150329 A CN 111150329A
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- Prior art keywords
- charging
- autonomous mobile
- plane
- mirror surface
- charging seat
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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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
Abstract
The invention discloses a charging seat of an autonomous mobile charging device, and belongs to the technical field of autonomous mobile charging of robots. The charging seat comprises a charging seat body and at least one group of identification structures; the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body; the mark structure comprises at least one plane mirror surface and at least one non-mirror surface, wherein the plane of the plane mirror surface is not vertical to the plane of the bottom plate. The charger base provided by the invention skillfully utilizes the optical characteristics to set the identification structure, and compared with the traditional identification elements with a convex-concave structure, the identification structure improves the accuracy of searching and positioning on one hand, and reduces the thickness of the side plate of the charging base body to a great extent on the other hand, so that the charging base is more attached to the wall body, and the space is greatly saved.
Description
Technical Field
The invention relates to a charging seat of an autonomous mobile charging device, and belongs to the technical field of autonomous mobile charging of robots.
Background
At present, the autonomous mobile smart device generally uses a rechargeable battery to provide power, however, since the battery capacity is limited, the autonomous mobile smart device needs to autonomously move to find a charging seat for charging after working for a certain time, and therefore, a charging seat convenient for the smart device to find needs to be researched and developed. There are three main types of robot charging seats on the market today, and its principle is: one of the recharging seats is provided with an infrared emitter which emits infrared light with specific frequency; the front part or the periphery of the robot is provided with an infrared receiver, and once the infrared receiver of the robot receives the infrared light, the charging seat is indicated to be in a specific direction near the robot; secondly, a special code is arranged on the charging seat, a laser radar is arranged on the intelligent equipment, and the charging seat is identified by laser; thirdly, a special pattern or a two-dimensional code is arranged on the charging seat, and the charging seat is identified through a camera arranged on the robot and then recharged.
However, the three charging seats have certain defects, namely, the charging seat of the infrared emitter has long time for finding the charging seat when the robot recharges remotely, and the robot is required to have the capability of distinguishing wall obstacles and island obstacles; in addition, the resolution of the infrared scheme is related to the number of used infrared receivers, so that more infrared receiving devices are needed to find the charging seat more quickly, and the cost is increased; the laser scanning code can be used for quickly positioning the charging pile, but the laser scanning code has small deviation when being aligned nearby; the special patterns or the two-dimensional codes are identified through the camera, so that the special patterns or the two-dimensional codes are sensitive to light, the requirements on the application environment are strict, and the adaptability and the stability are poor.
Disclosure of Invention
In order to solve the above technical problems, the present invention provides a charging seat for an autonomous mobile charging device, comprising a charging seat body and at least one group of identification structures;
the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body;
the mark structure comprises at least one plane mirror surface and at least one non-mirror surface, or the mark structure comprises at least one area coated with a light absorption material layer and at least one non-mirror surface;
the method for judging the charging seat is to judge that any object is the charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
In an embodiment of the present invention, when the mark structure includes at least one plane mirror surface and at least one non-mirror surface, a plane of the plane mirror surface is not perpendicular to a plane of the base plate;
the plane mirror surface adopts chemical silvering, or vacuum aluminized mirror surface glass, or mirror surface stainless steel; or other light absorption layer with specific reflection coefficient, and the non-mirror material is selected from common injection molding material.
In one embodiment of the present invention, the reflection coefficient of the planar mirror is different from the reflection coefficient of the non-mirror, and the reflection coefficient of the planar mirror is preferably larger than the reflection coefficient of the non-mirror.
In one embodiment of the invention, the plane of the plane mirror surface forms an angle of 1 ° to 89 °, or 91 ° to 179 °, preferably 70 ° to 85 °, or 95 ° to 120 °, with the plane of the base plate.
In one embodiment of the invention, the marking structure comprises at least one area coated with a layer of light-absorbing material and at least one non-specular surface, the area coated with a layer of light-absorbing material having a reflection coefficient different from the reflection coefficient of the non-specular surface.
In one embodiment of the present invention, the charging stand is attached to a wall orthogonal to the ground.
In an embodiment of the present invention, the charging seat is adapted to be disposed on a socket on the wall and electrically connected to the socket.
In an embodiment of the present invention, the charging base is provided with pins, and the charging base is positioned on the wall by the plugging and matching of the pins and the socket.
The charging seat of the autonomous mobile charging equipment provided by the invention can be used for an intelligent sweeping robot.
The charging seat of the autonomous mobile charging equipment provided by the invention can be used for household intelligent equipment.
The method for judging the charging seat comprises the steps that the autonomous mobile charging equipment is provided with the laser ranging sensor, the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object, and when the surface of any object contains surface features matched with any identification structure within an error allowable range, any object is judged to be the charging seat of the autonomous mobile charging equipment.
The invention has the beneficial effects that:
1. the invention sets an identification structure consisting of a plane mirror surface and a non-mirror surface on the body of the charging base, the plane of the plane mirror surface is in a non-vertical state with the plane of the base plate, based on the principle that the plane mirror surface and the non-mirror surface reflect light and the difference of the route, the laser ranging sensor collects the different light path distances of the plane mirror surface and the non-mirror surface, the distance of a section of reflected light needs to be increased to the light path distance of the plane mirror surface, or the light path distance to the plane mirror surface is very far and can not be measured, but the light path distance to the non-mirror surface is the measured real distance, based on the distance characteristic, the object is accurately determined to be the charging base, the autonomous moving charging of the intelligent robot is realized, and the use convenience of the intelligent robot is improved.
2. The charging base comprises a charging base body, wherein the charging base body is provided with an identification structure which comprises at least one area coated with a light absorption material pattern layer and at least one non-mirror surface, and the reflection coefficients of the area coated with the light absorption material pattern layer and the non-mirror surface are different. The density degree of light data collected by the laser ranging sensor is different, and based on the characteristic, the object is accurately determined to be the charging base.
3. The charger base provided by the invention skillfully utilizes the optical characteristics to set the identification structure, and compared with the traditional identification elements with convex-concave structures, on one hand, the accuracy of searching and positioning is improved, and on the other hand, the thickness of the side plate of the charging base body is reduced to a great extent, so that the charging base is more attached to a wall body, and the space is greatly saved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention
FIG. 2 is a schematic structural diagram of an embodiment of the present invention
FIG. 3 is a schematic structural diagram of an embodiment of the present invention
In the figure: 1. a base plate; 2. a side plate; 3. a plane mirror surface; 4. a non-specular surface; 5. a light absorbing material layer; 6. a charging interface; 7. and (7) a pin.
Detailed Description
Example 1
A charging seat of an autonomous mobile charging device comprises a charging seat body and at least one group of identification structures;
the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body;
the method for judging the charging seat is to judge that any object is the charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
The identification structure comprises a plane mirror surface and a non-mirror surface, and the plane of the plane mirror surface is not vertical to the plane of the base plate;
the plane mirror surface is made of chemical silvering, and the non-mirror surface material is made of common injection molding material. The reflection coefficient of the plane mirror surface is different from that of the non-mirror surface, and the reflection coefficient of the plane mirror surface is larger than that of the non-mirror surface. The included angle between the plane of the plane mirror surface and the plane of the bottom plate is 70 degrees.
The charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket. The charging seat is used for charging the intelligent sweeping robot.
The method for judging the charging seat comprises the steps that the autonomous mobile charging equipment is provided with the laser ranging sensor, the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object, and when the surface of any object contains surface features matched with any identification structure within an error allowable range, any object is judged to be the charging seat of the autonomous mobile charging equipment.
The plane of the plane mirror surface and the plane of the base plate are in a non-perpendicular state, the principle and the route of the plane mirror surface and the non-mirror surface for light path reflection are different based on the fact that the plane mirror surface and the non-mirror surface are different, the light path distance of the plane mirror surface and the non-mirror surface is collected by the laser ranging sensor, the light strikes the plane mirror surface, the included angle between the plane of the plane mirror surface and the plane of the base plate is 70 degrees, light can be reflected to the ground, the light is reflected to the laser ranging sensor from the ground, and therefore the distance of a section of reflected light needs to be increased when the distance of the. However, the distance of the light path to the non-mirror surface is the measured real distance, and the object is accurately determined to be the charging base based on the distance characteristic.
Example 2
A charging seat of an autonomous mobile charging device comprises a charging seat body and at least one group of identification structures;
the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body;
the method for judging the charging seat is to judge that any object is the charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
The identification structure comprises at least one area coated with a light absorption material layer and at least one non-mirror surface, wherein the reflection coefficients of the area coated with the light absorption material layer and the non-mirror surface are different. The charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket.
The method for judging the charging seat comprises the steps that the autonomous mobile charging equipment is provided with the laser ranging sensor, the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor, so that the distance characteristic or the density degree of reflected light of the corresponding object is obtained, and when the surface of any object contains surface characteristics which are matched with any identification structure within an error allowable range, any object is judged to be the charging seat of the autonomous mobile charging equipment. The area coated with the layer of light absorbing material has a reflection coefficient different from that of the non-specular surface. The density degree of the reflected light data collected by the laser ranging sensor is different, the light reflected by the area coated with the light absorption material pattern layer is sparse, the light reflected by the non-mirror surface is dense, and based on the characteristic, the object is accurately determined to be the charging base.
Example 3
A charging seat of an autonomous mobile charging device comprises a charging seat body and at least one group of identification structures;
the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body;
the method for judging the charging seat is to judge that any object is the charging seat of the autonomous mobile charging equipment when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range.
The identification structure comprises a plane mirror surface and a non-mirror surface, and the plane of the plane mirror surface is not vertical to the plane of the base plate;
the plane mirror surface is made of chemical silvering, and the non-mirror surface material is made of common injection molding material. The reflection coefficient of the plane mirror surface is different from that of the non-mirror surface, and the reflection coefficient of the plane mirror surface is larger than that of the non-mirror surface. The included angle between the plane of the plane mirror surface and the plane of the bottom plate is 120 degrees.
The charging seat is attached to a wall orthogonal to the ground. The charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket. The charging seat is provided with pins and is positioned on the wall through the insertion and matching of the pins and the socket. The charging seat is used for charging the intelligent sweeping robot.
The method for judging the charging seat comprises the steps that the autonomous mobile charging equipment is provided with the laser ranging sensor, the distance between the autonomous mobile charging equipment and a sampling point formed on a surrounding object is measured through the laser ranging sensor so as to obtain the distance characteristic of the corresponding object, and when the surface of any object contains surface features matched with any identification structure within an error allowable range, any object is judged to be the charging seat of the autonomous mobile charging equipment.
The plane of the plane mirror surface and the plane of the base plate are in a non-perpendicular state, the principle and the route of the plane mirror surface and the non-mirror surface for light path reflection are different based on the fact that the plane mirror surface and the non-mirror surface are different, light strikes the plane mirror surface, because the included angle between the plane of the plane mirror surface and the plane of the base plate is 120 degrees, light can be reflected to the ground, and then the light is reflected to the laser ranging sensor from the ground, and therefore the distance of a section of reflected light needs to be increased when the light path distance between the plane mirror surface and the plane detected by the laser ranging sensor. However, the distance of the light path to the non-mirror surface is the measured real distance, and the object is accurately determined to be the charging base based on the distance characteristic.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A charging seat of an autonomous mobile charging device is characterized by comprising a charging seat body and at least one group of identification structures;
the charging seat body comprises a bottom plate and a side plate, and a charging interface is arranged on the bottom plate or the side plate; the identification structure is positioned on a side plate of the charging seat body;
the mark structure comprises at least one plane mirror surface and at least one non-mirror surface, or the mark structure comprises at least one area coated with a light absorption material layer and at least one non-mirror surface;
the method for judging the charging seat is that when the surface of any object contains surface characteristics matched with any identification structure within an error allowable range, the any object is judged to be the charging seat of the autonomous mobile charging equipment.
2. The charging dock of the autonomous mobile charging device of claim 1, wherein the plane of the planar mirror is not perpendicular to the plane of the base plate.
3. The charging dock of an autonomous mobile charging device according to claim 1 or 2, characterized in that the reflection coefficient of the planar mirror is different from the reflection coefficient of the non-mirror, preferably the reflection coefficient of the planar mirror is larger than the reflection coefficient of the non-mirror.
4. The charging cradle of the autonomous mobile charging device of claim 3, characterized in that: the included angle between the plane of the plane mirror surface and the plane of the bottom plate is 1-89 degrees or 91-179 degrees, and 70-85 degrees or 95-120 degrees is preferred.
5. The charging dock of an autonomous mobile charging device of claim 1, wherein the area coated with a layer of light absorbing material has a reflection coefficient different from that of the non-specular surface.
6. The charging stand of an autonomous mobile charging device according to any of claims 1-5, characterized in that: the charging seat is attached to a wall orthogonal to the ground.
7. The charging cradle of the autonomous mobile charging device of claim 6, characterized in that: the charging seat is suitable for being arranged on the socket on the wall and is electrically connected with the socket.
8. The charging dock of the autonomous mobile charging device of claim 7, wherein the charging dock is provided with pins, and the charging dock is positioned on the wall by the pins mating with the socket.
9. Use of a charging stand of an autonomous mobile charging device according to any of claims 1-8 on an intelligent sweeping robot.
10. Use of a charging cradle of an autonomous mobile charging device according to any of claims 1-8 on a home smart device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811325914.XA CN111150329A (en) | 2018-11-08 | 2018-11-08 | Charging seat of autonomous mobile charging equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811325914.XA CN111150329A (en) | 2018-11-08 | 2018-11-08 | Charging seat of autonomous mobile charging equipment |
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| Publication Number | Publication Date |
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| CN111150329A true CN111150329A (en) | 2020-05-15 |
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| CN201811325914.XA Pending CN111150329A (en) | 2018-11-08 | 2018-11-08 | Charging seat of autonomous mobile charging equipment |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060100971A (en) * | 2005-03-16 | 2006-09-22 | 박희재 | Automatic traveling robot system having outer recharger and controlling method thereof |
| CN105581736A (en) * | 2014-10-23 | 2016-05-18 | 江苏美的清洁电器股份有限公司 | Cleaning robot and charging block thereof |
| CN105990876A (en) * | 2015-12-21 | 2016-10-05 | 小米科技有限责任公司 | Charging pile and identification method and device thereof and automatic cleaning equipment |
| CN106451635A (en) * | 2016-11-02 | 2017-02-22 | 深圳乐行天下科技有限公司 | Intelligent recharging method and apparatus |
| CN207115189U (en) * | 2017-06-01 | 2018-03-16 | 深圳乐动机器人有限公司 | Robot system |
-
2018
- 2018-11-08 CN CN201811325914.XA patent/CN111150329A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060100971A (en) * | 2005-03-16 | 2006-09-22 | 박희재 | Automatic traveling robot system having outer recharger and controlling method thereof |
| CN105581736A (en) * | 2014-10-23 | 2016-05-18 | 江苏美的清洁电器股份有限公司 | Cleaning robot and charging block thereof |
| CN105990876A (en) * | 2015-12-21 | 2016-10-05 | 小米科技有限责任公司 | Charging pile and identification method and device thereof and automatic cleaning equipment |
| CN106451635A (en) * | 2016-11-02 | 2017-02-22 | 深圳乐行天下科技有限公司 | Intelligent recharging method and apparatus |
| CN207115189U (en) * | 2017-06-01 | 2018-03-16 | 深圳乐动机器人有限公司 | Robot system |
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Application publication date: 20200515 |