CN112426105A - Charging seat, calibration method and device for position of charging seat and sweeping system - Google Patents
Charging seat, calibration method and device for position of charging seat and sweeping system Download PDFInfo
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- CN112426105A CN112426105A CN202011321457.4A CN202011321457A CN112426105A CN 112426105 A CN112426105 A CN 112426105A CN 202011321457 A CN202011321457 A CN 202011321457A CN 112426105 A CN112426105 A CN 112426105A
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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 relates to the technical field of cleaning control, in particular to a charging seat, a charging seat position calibration method, a charging seat position calibration device and a sweeping system. Wherein, a plurality of magnetic devices which are arranged according to a rule are arranged on the charging seat, and the calibration method comprises the following steps: when detecting that a detection point of a magnetic field exists in the moving process, the sweeper records coordinate information and magnetic field intensity information of the detection point and adjusts the advancing direction to continue detection; generating a fitting curve based on the coordinate information corresponding to each detection point; determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve; judging whether the fitting curve accords with a preset curve and whether the target magnetic field strength meets the preset magnetic field strength; and when the fitting curve accords with the preset curve and the target magnetic field strength meets the preset magnetic field strength, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat. By implementing the invention, the calibration accuracy of the position of the charging seat is ensured, and the collision between the sweeper and the charging seat is avoided.
Description
Technical Field
The invention relates to the technical field of cleaning control, in particular to a charging seat, a charging seat position calibration method, a charging seat position calibration device and a sweeping system.
Background
With the development of smart homes, the intelligent sweeper walks into thousands of households. Generally, the right side of the body of the sweeper is provided with the optical sensor, and in the process of sweeping the ground by the sweeper, the optical sensor can receive a specific signal transmitted by the charging seat so as to calibrate the position of the charging seat, so that the sweeper is prevented from colliding with the charging seat in the sweeping process. However, the optical sensor is very susceptible to the influence of ambient light, and because the optical sensor is arranged on the side surface of the sweeper, the sweeper easily hits the charging seat in the process of sweeping the mark, so that the charging seat is displaced, and the calibration of the charging seat is inaccurate.
Disclosure of Invention
In view of this, embodiments of the present invention provide a charging seat, a method and an apparatus for calibrating a position of the charging seat, and a floor sweeping system, so as to solve the problem of inaccurate calibration of the position of the charging seat.
According to a first aspect, an embodiment of the present invention provides a charging dock, on which a plurality of magnetic devices are arranged regularly.
According to the charging seat provided by the embodiment of the invention, the plurality of magnetic devices which are arranged according to a certain rule are arranged on the charging seat, so that the advancing direction of the magnetic sensor on the sweeper can be changed when the magnetic sensor senses a magnetic field, and the sweeper is prevented from being collided with the charging seat.
With reference to the first aspect, in a first implementation manner of the first aspect, the magnetic device is disposed at a front end of the charging dock tray.
The charging seat provided by the embodiment of the invention is usually placed close to the wall based on the charging seat, and the magnetic field device is arranged at the front end of the tray of the charging seat, so that the use cost of the magnetic field device is saved.
With reference to the first aspect, in a second implementation manner of the first aspect, a front end of the charging seat tray is circular or elliptical, and the plurality of magnetic devices are uniformly distributed at the front end of the charging seat tray.
According to the charging seat provided by the embodiment of the invention, the front end of the tray of the charging seat is circular or oval, the plurality of magnetic devices are uniformly distributed at the front end of the tray of the charging seat, and the sweeper can perform curve fitting according to the position information of the detection points to determine whether the detection points inducing the magnetic field are the charging seat or not, so that the position of the charging seat is accurately calibrated, and the collision with the charging seat is avoided.
With reference to the first aspect, in a third embodiment of the first aspect, the magnetic device is a coil or a solenoid.
With reference to the first aspect, in a fourth embodiment of the first aspect, the magnetic field strength of the magnetic device is variable.
According to the charging seat provided by the embodiment of the invention, the magnetic field intensity of the magnetic device arranged on the charging seat is variable, and the charging current can be changed by changing the magnetic field intensity of the magnetic device, so that the charging time of the sweeper can be further reduced.
With reference to the first aspect, in a fifth embodiment of the first aspect, an optical sensor is provided on the charging stand.
According to the charging seat provided by the embodiment of the invention, the optical sensor is further arranged on the charging seat, and when the sweeper needs to be charged, a specific signal can be generated, so that the sweeper can sense the specific signal and align the charging seat to carry out electric quantity recharging.
According to a second aspect, an embodiment of the present invention provides a method for calibrating a charging seat position, including the following steps: in the moving process of the sweeper, when detecting a detection point with a magnetic field, recording coordinate information and magnetic field intensity information of the detection point, and adjusting the advancing direction to continue the detection; generating a fitting curve based on the coordinate information corresponding to each detection point; determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve; judging whether the fitted curve conforms to a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not; and when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat.
The calibration method of the position of the charging seat provided by the embodiment of the invention has the advantages that the sweeper can detect the magnetic field in the moving process, when the detection points of the magnetic field are detected, the coordinate information and the magnetic field intensity information of the detection points are recorded, the advancing direction is adjusted to continue the detection, a fitting curve is generated based on the coordinate information corresponding to each detection point, the target magnetic field intensity is determined based on the magnetic field intensity information of all the detection points on the fitting curve, whether the fitting curve accords with the preset curve or not and whether the target magnetic field intensity meets the preset magnetic field intensity or not are judged, when the fitting curve accords with the preset curve and the target magnetic field intensity meets the preset magnetic field intensity, the coordinate information corresponding to the detection points on the fitting curve is judged to be the position of the charging seat, the accurate calibration of the position of the charging seat, the sweeper can continue to move forward to clean until the magnetic field is not detected, so that the sweeper is prevented from colliding with the charging seat in the operation process, the charging seat is prevented from displacing due to collision, and the calibration accuracy of the position of the charging seat is ensured.
With reference to the second aspect, in a first embodiment of the second aspect, when the fitted curve is a circle or an ellipse, the method further includes: calculating a first distance between each detection point on the fitting curve, and determining the maximum distance between the detection points; determining the circle center corresponding to the fitting curve based on the fitting curve, and calculating a second distance between the circle center and the detection point corresponding to the maximum distance; determining a maximum included angle between the detection points based on the second distance and the maximum distance.
With reference to the first embodiment of the second aspect, in a second embodiment of the second aspect, before the determining that the coordinate information corresponding to the detection point on the fitted curve is the position of a charging seat, the method further includes: judging whether the maximum distance is smaller than a first preset distance value or not; judging whether the second distance is equal to a second preset distance value or not; and judging whether the maximum angle is smaller than a preset angle or not.
According to the calibration method for the position of the charging seat provided by the embodiment of the invention, when the fitting curve is circular or elliptical, the first distance between each detection point on the fitting curve is calculated, the maximum distance between the detection points is determined, the circle center corresponding to the fitting curve is determined based on the fitting curve, the second distance between the circle center and the detection points on the fitting curve is calculated, and the maximum included angle between the detection points is determined based on the second distance and the maximum distance. And further determining whether the current fitting curve meets a magnetic field curve corresponding to the charging seat according to the maximum distance, the second distance and the maximum included angle between the detection points so as to further accurately calibrate the position of the charging seat.
With reference to the second aspect, in a third implementation manner of the second aspect, the determining that the coordinate information corresponding to the detection point on the fitted curve is the position of a charging seat includes: when the fitting curve is of a preset curve type, the target magnetic field strength meets the preset magnetic field strength, the maximum distance is smaller than the first preset distance value, the second distance is equal to the second preset distance value, and the maximum angle is smaller than the preset angle, the coordinate information corresponding to the detection point on the fitting curve is judged to be the position of the charging seat.
With reference to the second aspect and the second embodiment, in a fourth embodiment of the second aspect, the method further comprises: when the fitted curve does not accord with the type of the preset curve; or the target magnetic field strength does not meet the preset magnetic field strength; or the maximum distance is greater than or equal to the first preset distance value; or the second distance is not equal to a second preset distance value; or when the maximum angle is larger than or equal to a preset angle, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of a virtual wall, wherein the virtual wall is an area forbidden to be cleaned.
According to the calibration method for the position of the charging seat provided by the embodiment of the invention, when the fitting curve is of a preset curve type, the target magnetic field strength meets the preset magnetic field strength, the maximum distance is smaller than a first preset distance value, the second distance is equal to a second preset distance value, and the maximum angle is smaller than a preset angle, the fitting curve can be judged to correspond to the position of the charging seat; when the fitting curve does not accord with the type of the preset curve, or the target magnetic field strength does not meet the preset magnetic field strength, or the maximum distance is greater than or equal to a first preset distance value, or the second distance is not equal to a second preset distance value, or the maximum angle is greater than or equal to a preset angle, the fitting curve can be judged not to be corresponding to the charging seat, and the corresponding virtual wall formed by the soft magnetic strips can avoid the sweeper from entering the cleaning forbidden area. On the basis of realizing accurate calibration of the position of the charging seat, the method avoids the sweeper from entering the cleaning prohibition area, realizes the distinction between the charging seat and the cleaning prohibition area, and further ensures the accuracy of the calibration of the position of the charging seat.
With reference to the second aspect, in a fifth embodiment of the second aspect, the method further comprises: carrying out coordinate conversion on the fitting curve to obtain a parallel curve subjected to coordinate conversion; and the distance between each two points of the parallel curve and the fitting curve is more than or equal to a preset value.
According to the calibration method of the position of the charging seat, provided by the embodiment of the invention, the fitted curve is subjected to coordinate conversion to obtain the parallel curve corresponding to the fitted curve, and the distance between the parallel curve and the fitted curve is greater than or equal to the preset value, so that the sweeper is fully prevented from hitting the charging seat.
With reference to the second aspect, in a sixth embodiment of the second aspect, the method further comprises: judging whether the sweeper needs to be charged or not; when the sweeper needs to be charged, acquiring a coordinate point closest to the position of the charging seat; and moving to the charging seat according to the coordinate point to charge.
According to the calibration method of the position of the charging seat provided by the embodiment of the invention, the sweeper can acquire the electric quantity of the sweeper during the movement process and judge whether charging is needed, when the sweeper needs charging, the coordinate point closest to the position coordinate of the charging seat can be acquired and moved to the position of the charging seat according to the coordinate point, the sweeper is ensured to be aligned to the charging pole piece of the charging seat through the optical sensor for charging, and on the basis of accurately calibrating the position of the charging seat, the sweeper is ensured to reach the charging seat in time for charging operation.
According to a third aspect, an embodiment of the present invention provides a calibration apparatus for a charging dock position, including: the detection module is used for detecting a magnetic field in the movement process of the sweeper, recording coordinate information and magnetic field intensity information of a detection point when the detection point with the magnetic field is detected, and adjusting the advancing direction to continue detection; the generating module is used for generating a fitting curve based on the coordinate information corresponding to each detection point; the determining module is used for determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve; the judging module is used for judging whether the fitting curve accords with a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not; and the judging module is used for judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength.
According to the calibration device for the position of the charging seat provided by the embodiment of the invention, the sweeper can detect a magnetic field in the moving process, when detecting points with the magnetic field, coordinate information and magnetic field intensity information of the detecting points are recorded, the advancing direction is adjusted to continue detection, a fitting curve is generated based on the coordinate information corresponding to each detecting point, the target magnetic field intensity is determined based on the magnetic field intensity information of all the detecting points on the fitting curve, whether the fitting curve conforms to a preset curve or not and whether the target magnetic field intensity meets the preset magnetic field intensity or not are judged, and when the fitting curve conforms to the preset curve and the target magnetic field intensity meets the preset magnetic field intensity, the coordinate information corresponding to the detecting points on the fitting curve is judged to be. The accurate calibration of the position of the charging seat is realized through the device, the sweeper stops moving forward when detecting a magnetic field, the moving direction is adjusted to continue to detect, the sweeper continues to move forward to clean until the magnetic field is not detected, the sweeper is prevented from colliding with the charging seat in the operation process, the charging seat is prevented from displacing due to collision, and the calibration accuracy of the position of the charging seat is ensured.
According to a fourth aspect, an embodiment of the present invention provides a floor sweeping system, including: a sweeper and a charging seat; a plurality of magnetic devices which are arranged according to a rule are arranged on the charging seat; in the moving process of the sweeper, when detecting a detection point with a magnetic field, recording coordinate information and magnetic field intensity information of the detection point, and adjusting the advancing direction to continue the detection; generating a fitting curve based on the coordinate information corresponding to each detection point; determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve; judging whether the fitted curve conforms to a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not; and when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat.
The sweeping system provided by the embodiment of the invention comprises a sweeper and a charging seat, wherein the charging seat is provided with a plurality of magnetic devices which are regularly arranged, the sweeper can detect a magnetic field in the movement process, and whether a detection point corresponds to the position of the charging seat is determined according to the position information and the magnetic field intensity information of the detection point of the detected magnetic field, so that the accurate calibration of the position of the charging seat is realized, the sweeper is prevented from colliding with the charging seat in the operation process, the displacement of the charging seat due to collision is further avoided, and the accuracy of the calibration of the position of the charging seat is ensured.
According to a fifth aspect, an embodiment of the present invention provides a sweeper, including: a memory and a processor, the memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the calibration method of the charging dock position according to the second aspect or any embodiment of the second aspect.
According to a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions for causing a computer to execute the calibration method for the charging dock position according to the second aspect or any embodiment of the second aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a charging dock according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a charging dock according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for calibrating the location of a charging dock according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for calibrating the location of a charging dock according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a fitted curve and a parallel curve of a charging dock according to an embodiment of the present invention;
FIG. 6 is a block diagram of a calibration apparatus for the location of a charging cradle according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of the sweeper provided in the embodiment of the invention;
fig. 8 is a block diagram of a sweeping system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.
Generally, the right side of the body of the sweeper is provided with the optical sensor, and in the process of sweeping the ground by the sweeper, the optical sensor can receive a specific signal transmitted by the charging seat so as to calibrate the position of the charging seat, so that the sweeper is prevented from colliding with the charging seat in the sweeping process. However, the optical sensor is very susceptible to the influence of ambient light, and because the optical sensor is arranged on the side surface of the sweeper, the sweeper easily hits the charging seat in the process of sweeping the mark, so that the charging seat is displaced, and the calibration of the charging seat is inaccurate.
Based on this, set up magnetic device on the charging seat to make the machine of sweeping the floor can avoid the charging seat in the process of cleaning, and according to the fitting curve that the check point position formed and the magnetic field intensity of check point, carry out accurate calibration to the position of charging seat.
According to an embodiment of the present invention, there is provided an embodiment of a charging stand, as shown in fig. 1, the charging stand 1 is provided with a plurality of magnetic devices 2 arranged in a regular manner.
The rule may be a circle, an ellipse, or other shapes, and the application is not limited thereto as long as the plurality of magnetic devices 2 are arranged according to a certain rule. The magnetic device 2 is a device or apparatus that is energized to generate a magnetic field, and the magnetic field generated by the magnetic device 2 can generate an electric current. The magnetic field intensity of the magnetic device 2 is variable, the change of the charging current can be realized by changing the magnetic field intensity of the magnetic device 2, and the charging time of the sweeper can be further reduced. Specifically, the magnetic device may be a coil, a solenoid, or other devices, which is not specifically limited in this application.
The soft magnetic strips are arranged in the cleaning space so as to prevent the sweeper from entering a cleaning forbidden area, such as a kitchen. In order to make the magnetic field intensity of the charging seat different from the magnetic intensity generated by the soft magnetic strip, the energizing current of the magnetic device can be set according to the magnetic field intensity of the soft magnetic strip so as to distinguish the generation sources of the magnetic field, and the energizing current is not particularly limited, and can be determined by a person skilled in the art according to actual needs.
According to the charging seat provided by the embodiment of the invention, the plurality of magnetic devices which are arranged according to a certain rule are arranged on the charging seat, so that the advancing direction of the magnetic sensor on the sweeper can be changed when the magnetic sensor senses a magnetic field, and the sweeper is prevented from being collided with the charging seat.
In the present embodiment, a charging base is provided based on the fact that the charging base is usually placed close to the wall, and as shown in fig. 2, the magnetic device 2 is disposed at the front end of the tray 3 of the charging base. The magnetic field device is arranged at the front end of the tray of the charging seat, so that the use cost of the magnetic field device is saved.
Specifically, the front end of the charging tray 3 is circular or elliptical, and the plurality of magnetic devices 2 are uniformly distributed at the front end of the charging tray 3. The sweeper can perform curve fitting according to the position information of the detection points, and determine whether the detection points sensing the magnetic field are the charging seats or not, so that the positions of the charging seats are accurately calibrated, and the sweeper is prevented from colliding with the charging seats.
Optionally, an optical sensor 4 is further provided on the charging dock 1, for example, above the charging dock tray 3. The optical sensor 4 is used for detecting whether the sweeper aligns to the charging position, when the sweeper approaches the charging seat 1 and needs to be charged, a signal can be sent to the sweeper, the sweeper can determine the charging position according to the signal to perform charging operation, and the sweeper is ensured to align to the charging seat to be charged.
In accordance with an embodiment of the present invention, there is provided an embodiment of a calibration method for a location of a charging dock, where the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and where a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that illustrated herein.
In this embodiment, a calibration method of a charging seat position is provided, which can be used for the sweeper, and fig. 3 is a flowchart according to an embodiment of the present invention, and as shown in fig. 3, the flowchart includes the following steps:
and S11, recording coordinate information and magnetic field intensity information of the detection point when the detection point with the magnetic field exists in the movement process of the sweeper, and adjusting the advancing direction to continue the detection.
The sweeper is provided with a magnetic sensor which can sense a magnetic field in a sweeping space and acquire magnetic field intensity information corresponding to the magnetic field. In the cleaning process, when a magnetic field is detected, the sweeper stops moving forwards, and the coordinate information of a detection point where the magnetic field is detected and the magnetic field intensity corresponding to the detection point are recorded. When the sweeper detects the magnetic field, the sweeper stops moving forwards and adjusts the direction, and the sweeper continues to move forwards to carry out sweeping operation until the magnetic field is not detected.
S12, a fitting curve is generated based on the coordinate information corresponding to each detection point.
And fitting the obtained coordinate information corresponding to each detection point to obtain a fitting curve corresponding to each detection point. For example, the coordinate information of each detection point at which the magnetic field is detected is (x1, y1), (x2, y2), (x3, y3) … … (xn, yn), and a fitting curve y ═ f (x) can be generated from the coordinate information of each detection point.
It should be noted that, because the magnetic field sensed by the sweeper may be emitted by the soft magnetic stripe, it can be determined whether the magnetic field strength detected at the position of the detection point is from the charging seat or from the soft magnetic stripe according to the magnetic field strength at this time, when the coordinate information of the detection point is fitted, the fitted detection point is determined according to the magnetic field strength information, that is, the detection point corresponding to the magnetic field strength information with an obvious difference is removed, and the detection point meeting the fitting condition is fitted to obtain a fitting curve.
And S13, determining the target magnetic field strength based on the magnetic field strength information of all the detection points on the fitting curve.
And carrying out mean value calculation on the magnetic field intensity information of each detection point on the fitting curve to obtain the average magnetic field intensity of the detection points on the fitting curve, so as to avoid the influence on the accuracy of obtaining the magnetic field intensity caused by the difference of the magnetic field intensity generated by a magnetic device or the error of a magnetic sensor.
And S14, judging whether the fitting curve accords with the preset curve and whether the target magnetic field strength meets the preset magnetic field strength.
The preset curve is a curve generated according to the arrangement rule of the magnetic devices on the charging stand. The preset curve may be a circular curve, an elliptic curve, or other curves. The preset magnetic field intensity is the magnetic field intensity range corresponding to the charging seat. The sweeper compares the generated fitting curve with a preset curve, judges whether the fitting curve is consistent with the preset curve, and simultaneously judges whether the target magnetic field meets the preset magnetic field strength. The fitted curve may be a curve generated by the magnetic field corresponding to the soft magnetic stripe, and the position of the charging seat is accurately determined by combining the fitted curve and the judgment of the magnetic field intensity information. And when the fitting curve conforms to the preset curve and the target magnetic field strength meets the preset magnetic field strength, executing the step S15, otherwise, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the virtual wall, namely the position of the soft magnetic stripe.
And S15, judging the coordinate information corresponding to the detection point on the fitting curve as the position of the charging seat.
When the fitting curve conforms to the preset curve and the target magnetic field strength meets the preset magnetic field strength, the coordinate information of the detection points on the fitting curve corresponds to the position of the charging seat, and the area surrounded by the fitting curve can be judged to be the position of the charging seat.
The calibration method of the position of the charging seat provided by the embodiment of the invention has the advantages that the sweeper can detect the magnetic field in the moving process, when the detection points of the magnetic field are detected, the coordinate information and the magnetic field intensity information of the detection points are recorded, the advancing direction is adjusted to continue the detection, a fitting curve is generated based on the coordinate information corresponding to each detection point, the target magnetic field intensity is determined based on the magnetic field intensity information of all the detection points on the fitting curve, whether the fitting curve accords with the preset curve or not and whether the target magnetic field intensity meets the preset magnetic field intensity or not are judged, when the fitting curve accords with the preset curve and the target magnetic field intensity meets the preset magnetic field intensity, the coordinate information corresponding to the detection points on the fitting curve is judged to be the position of the charging seat, the accurate calibration of the position of the charging seat, the sweeper can continue to move forward to clean until the magnetic field is not detected, so that the sweeper is prevented from colliding with the charging seat in the operation process, the charging seat is prevented from displacing due to collision, and the calibration accuracy of the position of the charging seat is ensured.
In this embodiment, a calibration method of a charging seat position is provided, which can be used for the sweeper, and fig. 4 is a flowchart according to an embodiment of the present invention, and as shown in fig. 4, the flowchart includes the following steps:
and S21, recording coordinate information and magnetic field intensity information of the detection point when the sweeper detects the detection point with the magnetic field in the moving process, and adjusting the advancing direction to continue the detection. For a detailed description, refer to the related description of step S11 corresponding to the above embodiment, and the detailed description is omitted here.
S22, a fitting curve is generated based on the coordinate information corresponding to each detection point. For a detailed description, refer to the related description of step S12 corresponding to the above embodiment, and the detailed description is omitted here.
And S23, determining the target magnetic field strength based on the magnetic field strength information of all the detection points on the fitting curve. For a detailed description, refer to the related description of step S13 corresponding to the above embodiment, and the detailed description is omitted here.
And S24, judging whether the fitting curve accords with the preset curve and whether the target magnetic field strength meets the preset magnetic field strength. For a detailed description, refer to the related description of step S14 corresponding to the above embodiment, and the detailed description is omitted here.
And S25, judging the coordinate information corresponding to the detection point on the fitting curve as the position of the charging seat.
Specifically, when the fitted curve conforms to the preset curve and the target magnetic field strength satisfies the preset magnetic field strength, and the fitted curve is a circle or an ellipse, the step S25 may include the following steps:
and S251, calculating first distances among the detection points on the fitting curve, and determining the maximum distances among the detection points.
The first distance is the distance between any two detection points. The sweeper calculates the distance between any two detection points for generating the fitting curve, determines the maximum distance in the plurality of first distances, and determines two detection points corresponding to the maximum distance. The maximum distance between the two detection points is taken as the chord length.
And S252, determining the circle center corresponding to the fitting curve based on the fitting curve, and calculating a second distance between the circle center and the detection point corresponding to the maximum distance.
Corresponding to the circular curve, the second distance is a radius value; corresponding to the elliptic curve, the second distance is a straight-line distance between the circle center and the detection point. The circle center coordinate corresponding to the fitting curve can be calculated according to the expression of the fitting curve, and the second distance between the circle center and the detection point corresponding to the maximum distance can be calculated based on the calculation formula of the linear distance between the two points.
And S253, determining the maximum included angle between the detection points based on the second distance and the maximum distance.
The maximum included angle is the included angle between the circle center and the connecting line of the two detection points corresponding to the maximum distance. According to the relationship among the second distance, the maximum distance and the maximum included angle, the maximum included angle can be determined on the basis of the known second distance and the known maximum distance.
Taking the maximum distance as L, the second distance as S and the maximum included angle as theta, the relationship between the three is:
L＝2Ssin(θ/2)
according to this formula, the maximum included angle can be determined when the maximum distance and the second distance are determined.
And S254, judging whether the maximum distance is smaller than a first preset distance value, judging whether the second distance is equal to a second preset distance value, and judging whether the maximum angle is smaller than a preset angle.
The first preset distance value is a chord length value corresponding to a preset curve. The second preset distance is a distance value between the circle center corresponding to the preset curve and the detection point. The preset angle is an included angle value between the detection points corresponding to the preset curve. And judging the maximum distance and the first preset distance value, the second distance and the second preset distance value, and the maximum angle and the preset angle obtained by the calculation, determining whether the maximum distance is smaller than the first preset distance value, judging whether the second distance is equal to the second preset distance value, and judging whether the maximum angle is smaller than the preset angle. When the maximum distance is smaller than the first preset distance value, the second distance is equal to the second preset distance value, and the maximum angle is smaller than the preset angle, step S255 is performed.
And S255, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat.
When the fitting curve is of a preset curve type, the target magnetic field strength meets the preset magnetic field strength, the maximum distance is smaller than a first preset distance value, the second distance is equal to a second preset distance value, and the maximum angle is smaller than a preset angle, the coordinate information of the detection points on the fitting curve can be determined to correspond to the position of the charging seat, and the area surrounded by the fitting curve can be determined to be the position of the charging seat.
And S256, judging the coordinate information corresponding to the detection point on the fitting curve as the position of the virtual wall.
The virtual wall is a cleaning-forbidden area, and the virtual wall is a 'wall' formed by flexible magnetic strips and arranged for preventing the sweeper from entering the cleaning-forbidden area. When the fitting curve does not accord with the type of the preset curve, or the target magnetic field strength does not meet the preset magnetic field strength, or the maximum distance is greater than or equal to a first preset distance value, or the second distance is not equal to a second preset distance value, or the maximum angle is greater than or equal to a preset angle, the coordinate information corresponding to the detection point on the fitting curve can be judged not to be the position of the charging seat but a virtual wall set by a user, namely the position of the soft magnetic stripe.
According to the calibration method for the position of the charging seat provided by the embodiment of the invention, when the fitting curve is circular or elliptical, the first distance between each detection point on the fitting curve is calculated, the maximum distance between the detection points is determined, the circle center corresponding to the fitting curve is determined based on the fitting curve, the second distance between the circle center and the detection points on the fitting curve is calculated, and the maximum included angle between the detection points is determined based on the second distance and the maximum distance. And further determining whether the current fitting curve meets a magnetic field curve corresponding to the charging seat according to the maximum distance, the second distance and the maximum included angle between the detection points so as to further accurately calibrate the position of the charging seat.
Optionally, the calibration method of the charging seat position may further include:
and S26, performing coordinate transformation on the fitted curve to obtain a parallel curve after coordinate transformation, wherein the distance between the closest two points on the parallel curve and the fitted curve is greater than or equal to a preset value.
The preset value is the minimum distance between the nearest two points of the parallel curve and the fitted curve. And converting the coordinates in the fitting curve to form a new curve, enabling the new curve to surround the fitting curve, and enabling the distance between the new curve and the nearest two points of the fitting curve to be larger than or equal to a preset value. As shown in fig. 5, if the fitting curve is Ln, a new curve is formed through coordinate transformation, that is, a parallel curve Sn corresponding to the fitting curve Ln is obtained through coordinate transformation, and a distance between the parallel curve Sn and a nearest two points of the fitting curve Ln is greater than or equal to a preset value N. The preset value is not limited in the present application, and can be determined by those skilled in the art according to actual needs.
According to the calibration method of the position of the charging seat, provided by the embodiment of the invention, the fitted curve is subjected to coordinate conversion to obtain the parallel curve corresponding to the fitted curve, and the distance between the parallel curve and the fitted curve is greater than or equal to the preset value, so that the sweeper is fully prevented from hitting the charging seat.
Optionally, the calibration method of the charging seat position may further include:
and S27, judging whether the sweeper needs to be charged.
The sweeper can detect the electric quantity of the sweeper in real time in the sweeping process and judge whether the sweeper needs to return to the charging seat for charging. If the sweeper needs to be charged, the step S28 is executed, otherwise, the sweeping operation is continued.
S28, a coordinate point closest to the position of the cradle is acquired.
When the sweeper needs to be charged, the sweeper can sequentially determine the coordinate points closest to the charging seat according to the position information of the charging seat.
And S29, moving to a charging seat according to the coordinate point for charging.
After the sweeper determines the coordinate point closest to the position of the charging seat, the sweeper moves according to the coordinate point until the position of the charging seat is reached. At this time, the optical sensor can be aligned with the charging position of the charging seat for charging.
According to the calibration method of the position of the charging seat provided by the embodiment of the invention, the sweeper can acquire the electric quantity of the sweeper during the movement process and judge whether charging is needed, when the sweeper needs charging, the coordinate point closest to the position coordinate of the charging seat can be acquired and moved to the position of the charging seat according to the coordinate point, the sweeper is ensured to be aligned to the charging pole piece of the charging seat through the optical sensor for charging, and on the basis of accurately calibrating the position of the charging seat, the sweeper is ensured to reach the charging seat in time for charging operation.
In this embodiment, a calibration apparatus for a charging seat position is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, and the description already made is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
The present embodiment provides a calibration apparatus for a charging seat position, as shown in fig. 6, including:
the detection module 31 is configured to detect a magnetic field during the movement of the sweeper, record coordinate information and magnetic field strength information of a detection point when the detection point of the magnetic field is detected, and adjust the advancing direction to continue the detection. For a detailed description, refer to the related description of step S11 corresponding to the above embodiment, and the detailed description is omitted here.
And the generating module 32 is configured to generate a fitting curve based on the coordinate information corresponding to each detection point. For a detailed description, refer to the related description of step S12 corresponding to the above embodiment, and the detailed description is omitted here.
And the determining module 33 is configured to determine the target magnetic field strength based on the magnetic field strength information of all the detection points on the fitted curve. For a detailed description, refer to the related description of step S13 corresponding to the above embodiment, and the detailed description is omitted here.
And the judging module 34 is used for judging whether the fitting curve conforms to the preset curve and whether the target magnetic field strength meets the preset magnetic field strength. For a detailed description, refer to the related description of step S14 corresponding to the above embodiment, and the detailed description is omitted here.
And the judging module 35 is configured to judge that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat when the fitting curve conforms to the preset curve and the target magnetic field strength satisfies the preset magnetic field strength. For a detailed description, refer to the related description of step S15 corresponding to the above embodiment, and the detailed description is omitted here.
The calibration means of the cradle position in this embodiment is in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and a memory executing one or more software or fixed programs, and/or other devices capable of providing the above functions.
Further functional descriptions of the modules are the same as those of the corresponding embodiments, and are not repeated herein.
The embodiment of the invention also provides a sweeper, which is provided with the calibration device of the charging seat position shown in the figure 6.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a sweeper according to an alternative embodiment of the present invention, and as shown in fig. 7, the sweeper may include: at least one processor 41, such as a CPU (Central Processing Unit), at least one communication interface 43, memory 44, and at least one communication bus 42. Wherein a communication bus 42 is used to enable the connection communication between these components. The communication interface 43 may include a Display (Display) and a Keyboard (Keyboard), and the optional communication interface 43 may also include a standard wired interface and a standard wireless interface. The Memory 44 may be a high-speed RAM Memory (volatile Random Access Memory) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 44 may alternatively be at least one memory device located remotely from the aforementioned processor 41. Wherein the processor 41 may be in connection with the apparatus described in fig. 6, an application program is stored in the memory 44, and the processor 41 calls the program code stored in the memory 44 for performing any of the above-mentioned method steps.
The communication bus 42 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 42 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
The memory 44 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory may also include a non-volatile memory (english: non-volatile memory), such as a flash memory (english: flash memory), a hard disk (english: hard disk drive, abbreviated: HDD) or a solid-state drive (english: SSD); the memory 44 may also comprise a combination of the above-mentioned kinds of memories.
The processor 41 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of CPU and NP.
The processor 41 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
Optionally, the memory 44 is also used to store program instructions. The processor 41 may call program instructions to implement the calibration method of the cradle position as shown in the embodiments of fig. 3 and 4 of the present application.
The present embodiment also provides a sweeping system, as shown in fig. 8, the sweeping system includes: a sweeper 51 and a charging stand 52. The charging seat 52 is provided with a plurality of magnetic devices which are regularly arranged, and when detecting a detection point with a magnetic field in the movement process, the sweeper 51 records coordinate information and magnetic field intensity information of the detection point and adjusts the advancing direction to continue the detection; generating a fitting curve based on the coordinate information corresponding to each detection point; determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve; judging whether the fitted curve conforms to a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not; and when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat.
According to the calibration system for the position of the charging seat provided by the embodiment of the invention, the sweeper can detect a magnetic field in the moving process, when detecting points with the magnetic field, coordinate information and magnetic field intensity information of the detecting points are recorded, the advancing direction is adjusted to continue detection, a fitting curve is generated based on the coordinate information corresponding to each detecting point, the target magnetic field intensity is determined based on the magnetic field intensity information of all the detecting points on the fitting curve, whether the fitting curve conforms to a preset curve or not and whether the target magnetic field intensity meets the preset magnetic field intensity or not are judged, and when the fitting curve conforms to the preset curve and the target magnetic field intensity meets the preset magnetic field intensity, the coordinate information corresponding to the detecting points on the fitting curve is judged to be. The accurate calibration of the position of the charging seat is realized through the device, the sweeper stops moving forward when detecting a magnetic field, the moving direction is adjusted to continue to detect, the sweeper continues to move forward to clean until the magnetic field is not detected, the sweeper is prevented from colliding with the charging seat in the operation process, the charging seat is prevented from displacing due to collision, and the calibration accuracy of the position of the charging seat is ensured.
The embodiment of the invention also provides a non-transitory computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the processing method of the calibration method of the charging seat position in any method embodiment. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (17)
1. A charging seat is characterized in that a plurality of magnetic devices which are arranged according to a rule are arranged on the charging seat.
2. The charging dock of claim 1, wherein the magnetic device is disposed at a front end of the charging dock tray.
3. The charging dock of claim 1, wherein the front end of the charging dock tray is circular or elliptical, and the plurality of magnetic devices are uniformly distributed at the front end of the charging dock tray.
4. The charging dock of claim 1, wherein the magnetic device is a coil or solenoid.
5. The charging dock of claim 1, wherein the magnetic field strength of the magnetic device is variable.
6. The charging dock of claim 1, wherein an optical sensor is disposed on the charging dock.
7. A calibration method for the position of a charging seat is characterized by comprising the following steps:
in the moving process of the sweeper, when detecting a detection point with a magnetic field, recording coordinate information and magnetic field intensity information of the detection point, and adjusting the advancing direction to continue the detection;
generating a fitting curve based on the coordinate information corresponding to each detection point;
determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve;
judging whether the fitted curve conforms to a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not;
and when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat.
8. The method of claim 7, wherein when the fitted curve is circular or elliptical, the method further comprises:
calculating a first distance between each detection point on the fitting curve, and determining the maximum distance between the detection points;
determining the circle center corresponding to the fitting curve based on the fitting curve, and calculating a second distance between the circle center and the detection point corresponding to the maximum distance;
determining a maximum included angle between the detection points based on the second distance and the maximum distance.
9. The method according to claim 8, before said determining the coordinate information corresponding to the detection point on the fitted curve is the position of a charging seat, further comprising:
judging whether the maximum distance is smaller than a first preset distance value or not;
judging whether the second distance is equal to a second preset distance value or not;
and judging whether the maximum angle is smaller than a preset angle or not.
10. The method according to claim 9, wherein the determining the coordinate information corresponding to the detection point on the fitted curve is a position of a charging seat comprises:
when the fitting curve is of a preset curve type, the target magnetic field strength meets the preset magnetic field strength, the maximum distance is smaller than the first preset distance value, the second distance is equal to the second preset distance value, and the maximum angle is smaller than the preset angle, the coordinate information corresponding to the detection point on the fitting curve is judged to be the position of the charging seat.
11. The method of claim 9, further comprising:
when the fitted curve does not accord with the type of the preset curve;
or the target magnetic field strength does not meet the preset magnetic field strength;
or the maximum distance is greater than or equal to the first preset distance value;
or the second distance is not equal to a second preset distance value;
or when the maximum angle is larger than or equal to a preset angle, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of a virtual wall, wherein the virtual wall is an area forbidden to be cleaned.
12. The method according to any one of claims 7-11, further comprising:
carrying out coordinate conversion on the fitting curve to obtain a parallel curve subjected to coordinate conversion;
and the distance between each two points of the parallel curve and the fitting curve is more than or equal to a preset value.
13. The method according to any one of claims 7-11, further comprising:
judging whether the sweeper needs to be charged or not;
when the sweeper needs to be charged, acquiring a coordinate point closest to the position of the charging seat;
and moving to the charging seat according to the coordinate point to charge.
14. A calibration device for the position of a charging seat is characterized by comprising:
the detection module is used for detecting a magnetic field in the movement process of the sweeper, recording coordinate information and magnetic field intensity information of a detection point when the detection point with the magnetic field is detected, and adjusting the advancing direction to continue detection;
the generating module is used for generating a fitting curve based on the coordinate information corresponding to each detection point;
the determining module is used for determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve;
the judging module is used for judging whether the fitting curve accords with a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not;
and the judging module is used for judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength.
15. A floor sweeping system, comprising:
a sweeper and a charging seat;
a plurality of magnetic devices which are arranged according to a rule are arranged on the charging seat;
in the moving process of the sweeper, when detecting a detection point with a magnetic field, recording coordinate information and magnetic field intensity information of the detection point, and adjusting the advancing direction to continue the detection; generating a fitting curve based on the coordinate information corresponding to each detection point; determining the magnetic field intensity of the target based on the magnetic field intensity information of all the detection points on the fitting curve; judging whether the fitted curve conforms to a preset curve or not and whether the target magnetic field strength meets the preset magnetic field strength or not; and when the fitting curve accords with a preset curve and the target magnetic field strength meets the preset magnetic field strength, judging that the coordinate information corresponding to the detection point on the fitting curve is the position of the charging seat.
16. A sweeper is characterized by comprising: a memory and a processor, wherein the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to execute the calibration method of the charging stand position according to any one of claims 7 to 13.
17. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a computer to execute the calibration method of the charging-stand position according to any one of claims 7 to 13.
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