CN112612285A - Automatic recharging control method and device, intelligent mobile device and charging pile - Google Patents
Automatic recharging control method and device, intelligent mobile device and charging pile Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Abstract
The application relates to an automatic recharge control method, an automatic recharge control device, computer equipment and a storage medium. The method comprises the following steps: acquiring a charging instruction, receiving an infrared signal by rotating for one circle, and recording an infrared signal code of the received infrared signal and a rotating angle range capable of receiving the infrared signal; determining the current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area; moving along the initial direction at an angle until the received infrared signal codes determine to enter a pile aligning area in advance, and adjusting the alignment of the pile; when the accurate pile driving signal prompt area is determined to enter based on the infrared signal codes, the movement is stopped, and charging is started. By adopting the method, the automatic recharging efficiency of the sweeper can be improved in the automatic recharging process, and whether accurate pile feeding is finished or not can be judged.
Description
Technical Field
The application relates to the technical field of intelligent home, in particular to an automatic recharging control method and device, an intelligent mobile device and a charging pile.
Background
With the development of intelligent home technology, various movable intelligent home devices, such as a sweeper, a dust collector, an intelligent housekeeper robot and the like, appear, and convenience is brought to the life of people. The intelligent mobile devices are usually powered by batteries, and need to automatically return to corresponding charging piles for charging when the battery power is insufficient or related tasks are completed. Based on the consideration of efficiency and accuracy of automatic recharging, the current scheme commonly used in the industry is a guiding recharging scheme based on an infrared light field, the cost performance is high, and the recharging efficiency is well guaranteed at the same time of low cost. However, when the automatic recharging is performed in the mode, most of infrared light fields can ensure that the intelligent mobile device can be recharged smoothly, but most of infrared light fields depend on hard collision between the intelligent mobile device and the charging pile or whether charging current or charging voltage exists for judging whether the pile loading is completed or not, and the pile loading efficiency is low.
Disclosure of Invention
In view of the above, it is necessary to provide an automatic recharging control method and apparatus, an intelligent mobile device, and a charging pile with high pile-loading efficiency.
An automatic recharge control method, the method comprising:
acquiring a charging instruction, receiving an infrared signal by rotating for one circle, and recording an infrared signal code of the received infrared signal and a rotating angle range capable of receiving the infrared signal;
determining the current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area, wherein the directions of the infrared light field areas relative to the charging pile are different;
moving along the initial direction at an angle until the received infrared signal codes determine to enter a pile aligning area in advance, and adjusting the alignment of the pile;
when the accurate pile driving signal prompt area is determined to enter based on the infrared signal codes, the movement is stopped, and charging is started.
In one embodiment, the method comprises the following steps:
the rotation angle range is the difference between the rotation angle when the infrared signal is received for the first time and the rotation angle when the infrared signal disappears.
In one embodiment, determining the current infrared light field area according to the infrared signal code includes:
when the recorded infrared signal codes comprise a fourth infrared signal code determined based on the first infrared signal and the third infrared signal, determining that the current infrared light field area is a fourth infrared light field area;
when the recorded infrared signal codes comprise a fifth infrared signal code determined based on the second infrared signal and the third infrared signal, determining that the current infrared light field area is a fifth infrared light field area;
when the recorded infrared signal code only has a first infrared signal code, determining that the current infrared light field is a first infrared light field;
when the recorded infrared signal code only has a second infrared signal code, determining the current infrared light field area as a second infrared light field area;
and when the recorded infrared signal code only has a third infrared signal code, determining that the current infrared light field area is the third infrared light field area.
In one embodiment, the method comprises the following steps:
a third center line of the infrared emission signal of the infrared emission tube corresponding to the third infrared signal is positioned between the first center line and the second center line, the first center line is the center line of the infrared emission signal of the infrared emission tube corresponding to the first infrared signal, and the second center line is the center line of the infrared emission signal of the infrared emission tube corresponding to the second infrared signal;
an angle of the first centerline to the third centerline is greater than a first angle threshold; an angle of the second centerline to the third centerline is greater than a second angle threshold; the first centerline and the second centerline are in different directions, and the first angle threshold and the second angle threshold are greater than 0.
In one embodiment, determining an initial direction angle according to the rotation angle and the current infrared light field region includes:
calculating the median of the rotation angle when the infrared signal is received for the first time and the rotation angle when the infrared signal disappears;
determining a relative deviation value according to the current infrared light field area;
determining an initial direction angle based on the median of the rotation angles and the relative deviation value.
In one embodiment, the determining of entry into the pre-alignment stake zone based on infrared signal encoding of the received infrared signal comprises:
and when the received infrared signal codes comprise the fourth infrared signal code and the fifth infrared signal code, determining to enter the pile area in advance.
In one embodiment, the determining of entering the precise pile driving signal prompt region based on the infrared signal code of the received infrared signal includes:
and when the received infrared signal codes comprise the first infrared signal code and the second infrared signal code, determining to enter an accurate piling signal prompt area.
In one embodiment, the angular movement along the initial direction until the determination of entry into the pre-alignment stake zone based on the received infrared signal encoding comprises:
when a fourth infrared signal code is received first or a fifth infrared signal code is received first, the rotary motion is carried out until the fourth infrared signal code and the fifth infrared signal code are received simultaneously;
if the fourth infrared signal code and the fifth infrared signal code are received simultaneously, the equipment moves forwards linearly along the central line of the equipment.
In one embodiment, the method further comprises the following steps:
when the infrared light field area is determined to be changed based on the recorded infrared signal codes, the advancing speed is reduced.
An automatic refill device, the device comprising:
the movement module is used for acquiring a recharging instruction, rotating for one circle according to the acquired recharging instruction, and moving along the initial direction angle after determining the initial direction angle;
the infrared signal receiving module is used for receiving an infrared signal;
the recording module is used for recording the infrared signal codes of the received infrared signals and the rotating angle range capable of receiving the infrared signals according to the acquired recharging instruction;
the direction determining module is used for determining the current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area, wherein the directions of the infrared light field areas relative to the charging pile are different;
and the processing module is used for adjusting the alignment charging pile when the received infrared signal codes are determined to enter a pile area in advance, stopping moving when the received infrared signal codes are determined to enter an accurate pile feeding signal prompt area, and starting charging.
A smart mobile device comprising a receiver, a memory and a processor, the receiver comprising two infrared receiving heads for receiving infrared signals, the memory storing a computer program comprising: the processor, when executing the computer program, performs the steps of the method described above.
The utility model provides a fill electric pile, includes first infrared transmitting tube, second infrared transmitting tube, third infrared transmitting tube, shelters from the partial infrared signal of first infrared transmitting tube and the partial infrared signal's of second infrared transmitting tube non-through infrared shading spare, first infrared transmitting tube warp the infrared signal after non-through infrared shading spare shelters from, with the infrared signal of third infrared transmitting tube transmission has the overlap region, and second infrared transmitting tube warp the infrared signal after non-through infrared shading spare shelters from, with the infrared signal of third infrared transmitting tube transmission has the overlap region.
In one embodiment, the method comprises the following steps:
the angle between the first central line of the first infrared emission tube and the third central line of the third infrared emission tube is larger than a first angle threshold, the angle between the second central line of the second infrared emission tube and the third central line is larger than a second angle threshold, the directions of the first central line and the second central line are different, and the first angle threshold and the second angle threshold are larger than 0.
In one embodiment, the method comprises the following steps: the non-infrared-transmitting shade includes: the infrared signal of the first infrared transmitting tube is transmitted through an opening formed between one end of the first side wall and one end of the second side wall, the infrared signal of the second infrared transmitting tube is transmitted through an opening formed between the other end of the first side wall and the other end of the second side wall, and the infrared signal of the third infrared transmitting tube is transmitted through an opening on the connecting layer;
the first side wall, the second side wall and the connecting layer are integrally formed.
In one embodiment, the non-infrared-transmissive light shield further comprises: the first non-transparent infrared shading part and the second non-transparent infrared shading part are arranged in front of the first infrared transmitting tube, the second non-transparent infrared shading part is arranged in front of the second infrared transmitting tube, the infrared signal of the first infrared transmitting tube is sent out through the opening, far away from one side of the third infrared transmitting tube, of the first non-transparent infrared shading part, and the infrared signal of the second infrared transmitting tube is sent out through the opening, far away from one side of the third infrared transmitting tube, of the second non-transparent infrared shading part.
According to the automatic recharging control method and device, the intelligent mobile device and the charging pile, the intelligent mobile device receives the infrared signals by self-rotating for one circle through the charging command, and records the infrared signal codes of the received infrared signals and the rotating angle range capable of receiving the infrared signals; determining a current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area; moving along the initial direction at an angle until the received infrared signal codes determine to enter a pile aligning area in advance, and adjusting the alignment of the pile; when the accurate pile driving signal prompt area is determined to enter based on the infrared signal codes, the movement is stopped, and charging is started. The intelligent mobile device determines the infrared light field according to the infrared signal code, determines the initial motion direction according to the rotation angle and the infrared light field, and then starts to move, and when the infrared light field determined according to the infrared signal code changes, corresponding adjustment is carried out until accurate pile loading and charging are completed, so that the automatic recharging efficiency of the intelligent mobile device can be improved and whether accurate pile alignment is carried out or not can be judged through the method.
Drawings
FIG. 1 is a diagram of an exemplary implementation of an automatic recharge control method;
FIG. 2 is a perspective view of an embodiment of a charging pile;
FIG. 3 is a schematic diagram of the relative positions of infrared emitting tubes in one embodiment;
FIG. 4-1 is a schematic view of a light field non-infrared transmitting shade of an infrared transmitting tube in one embodiment;
FIG. 4 is a schematic view of a light field non-infrared-transmitting shade of an infrared transmitting tube in another embodiment;
FIG. 5 is a schematic flow chart diagram illustrating an automatic recharge control method according to one embodiment;
FIG. 6 is a schematic diagram illustrating the calculation of the distance of the precise pile-up signal prompt region in the automatic backfill control method according to one embodiment;
FIG. 7 is a schematic diagram of the division of the IR signal emission codes for different IR emission tubes;
FIG. 8 is a schematic flow chart diagram illustrating an automatic recharge control method in accordance with one embodiment;
FIG. 9 is a block diagram showing the construction of an automatic refill control apparatus according to an embodiment;
FIG. 10 is a diagram of the internal architecture of a smart mobile device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The automatic recharging control method provided by the application can be applied to the application environment shown in fig. 1, and comprises the intelligent mobile device 102 and the charging pile 104. The intelligent mobile device 102 in any recharging area makes corresponding adjustment based on the recharging area, finally automatically returns to the charging pile 104 under the guidance of the recharging area, and simultaneously judges whether to finish accurate pile feeding in the process, and starts charging after finishing accurate pile alignment. The intelligent mobile device may be a sweeper, a dust collector, an intelligent sweeping robot, or other device that can move and needs to be charged by a charging pile.
Referring to fig. 2, the charging pile 104 includes a charging base 10, an infrared emitting component 30, and two symmetrically disposed inserting grooves 20 disposed on the base 20. Infrared emission subassembly 30 is including three infrared emission pipes different infrared signal of transmission respectively to shelter from 5 specific infrared light field areas of formation through non-infrared shading spare that passes through, and regard as the district of recharging in each infrared light field area, guide intelligent Mobile device 102 to return and fill electric pile and charge. The inserting groove is used as a reference for aligning the sweeper to the charging pile, and when the intelligent mobile device 102 is charged after the pile is accurately aligned, the position of the intelligent mobile device 102 is matched with the positions of the two inserting grooves 20.
As shown in fig. 3 and 4, the infrared emission assembly 30 includes 3 infrared emission tubes, which are respectively a first infrared emission tube 302, a second infrared emission tube 304, a third infrared emission tube 306, and a non-infrared-transparent light-shielding member. The infrared signal after first infrared transmitting tube 302 shelters from through the infrared shading piece of non-passing, there is the overlap region with the infrared signal of third infrared transmitting tube 306 transmission, the infrared signal after second infrared transmitting tube 304 shelters from through the infrared shading piece of non-passing, there is the overlap region with the infrared signal of third infrared transmitting tube 306 transmission to shelter from the partial infrared signal of first infrared transmitting tube 302 and third infrared transmitting tube 306 transmission through the infrared shading piece of non-passing, can divide the infrared signal of three infrared transmitting tube transmission into 5 specific infrared light field regions.
In some embodiments, an angle between a first centerline of the first infrared-emitting tube and a third centerline of the third infrared-emitting tube is greater than a first angle threshold, an angle between a second centerline of the second infrared-emitting tube and the third centerline is greater than a second angle threshold, the third centerline is located between the first centerline and the second centerline, and the first centerline and the second centerline are in different directions, and the first angle threshold and the second angle threshold are greater than 0.
Two infrared receiving heads are arranged on the smart mobile device 102 to receive infrared signals respectively. Referring to fig. 1, when smart mobile device 102 is in the recharge 1 area, the smart mobile device can only receive the infrared signal of first infrared transmitting tube 302, so that the received and recorded infrared signal code only has the corresponding first infrared signal code, and thus it is determined that the current infrared light field is the first infrared light field, which corresponds to the recharge 1 area in fig. 1.
When the smart mobile device 102 is in the recharge 2 area, the smart mobile device can only receive the infrared signal of the second infrared transmitting tube 304, so that the received and recorded infrared signal code only has the corresponding second infrared signal code, and thus it is determined that the current infrared light field area is the second infrared light field area, which corresponds to the recharge 2 area in fig. 1.
When smart mobile device 102 is in the recharge 4 zone, smart mobile device can receive the infrared signals of first infrared transmitting tube 302 and third infrared transmitting tube 306 at the same time, so that the received and recorded infrared signal code is a fourth infrared signal code based on the infrared signals of first infrared transmitting tube 302 and third infrared transmitting tube 306, and thus it is determined that the current infrared light field is the fourth infrared light field, which corresponds to the recharge 4 zone in fig. 1.
When the smart mobile device 102 is in the recharge 5 zone, the smart mobile device can receive the infrared signals of the second infrared transmitting tube 304 and the third infrared transmitting tube 306 at the same time, so that the received and recorded infrared signal codes are fifth infrared signal codes based on the infrared signals of the second infrared transmitting tube 304 and the third infrared transmitting tube 306, and thus the current infrared light field area is determined to be a fifth infrared light field area, which corresponds to the recharge 5 zone in fig. 1.
When the smart mobile device 102 is in the recharge 3 area, the smart mobile device can simultaneously receive the infrared signals of the second infrared transmitting tube 304 and the third infrared transmitting tube 306, or the infrared signals of the first infrared transmitting tube 302 and the third infrared transmitting tube 306, but because the distance from the infrared transmitting component is relatively long, the coded level signal output after receiving the infrared signal is relatively weak, so that it is determined that the current infrared light field is the 3 rd infrared light field, which corresponds to the recharge 3 area in fig. 1.
The non-transparent infrared shading piece is a shading piece with a specific structure and a shading effect and is used for shading partial infrared signals of the infrared transmitting tube. As shown in fig. 4-1, the non-infrared-transmitting shade in one embodiment includes: a first side wall 402 and a second side wall 404 which are oppositely arranged, and a connecting layer 406 which is connected with the top end of the first side wall 402 and the top end of the second side wall 404 and is provided with an opening 408 corresponding to a third infrared emission tube, wherein the infrared signal of the first infrared emission tube 302 is emitted through the opening formed between one end of the first side wall 402 and one end of the second side wall 404, the infrared signal of the second infrared emission tube 304 is emitted through the opening formed between the other end of the first side wall 402 and the other end of the second side wall 404, and the infrared signal of the third infrared emission tube 306 is emitted through the opening 408 on the connecting layer 406. Wherein, the first side wall, the second side wall and the connecting layer can be designed in an integrated mode. The structure of the non-transparent infrared shading part integrated into one piece is simple and convenient in actual installation and convenient to detach, and does not need shading effects at different positions.
In other embodiments, as shown in fig. 4-1, the non-infrared-transmitting light shield may also be formed by a combination of a first non-infrared-transmitting light shield 422 and a second non-infrared-transmitting light shield 424. The first non-transparent infrared shading part 422 is arranged in front of the first infrared transmitting tube 302, the second non-transparent infrared shading part 424 is arranged in front of the second infrared transmitting tube 304, the infrared signal of the first infrared transmitting tube 302 is emitted through the opening of the first non-transparent infrared shading part 422 far away from one side of the third infrared transmitting tube 306, and the infrared signal of the second infrared transmitting tube 304 is emitted through the opening of the second non-transparent infrared shading part 424 far away from one side of the third infrared transmitting tube 306. Wherein, the infrared piece that hides that the combination formed passes through in the in-service use, if one of them is passed through infrared piece and is gone wrong, then can dismantle the infrared piece that hides that passes through that corresponds alone, and need not whole dismantlement, reduction work load.
In one embodiment, as shown in fig. 5, an automatic recharge control method is provided, which is described by taking the method as an example applied to the smart mobile device 102 in fig. 1, and includes the following steps:
step 502, obtaining a recharging instruction, receiving an infrared signal by rotating for one circle, and recording an infrared signal code of the received infrared signal and a rotation angle range capable of receiving the infrared signal.
The charging method comprises the steps that a recharging instruction is required to be obtained before the sweeper automatically returns to the charging pile to be charged, the recharging instruction can be a series of steps of judging whether the built-in limiting condition is met or not when the built-in limiting condition of the sweeper is met, and starting to return to the charging pile subsequently through the built-in recharging instruction if the built-in limiting condition is met. Accordingly, the built-in limiting condition may be that a certain range of cleaning area is set. For example, after cleaning of a cleaning area of one floor is completed, a condition that the sweeper automatically returns to the charging pile is achieved.
In one embodiment, the recharging instruction may also be a series of steps of generating a low power signal when the power of the sweeper is lower than a preset power threshold, and outputting the recharging instruction after the controller of the sweeper receives the low power signal, for example, when the power of the sweeper is lower than 20 percent of the total power, the controller inside the sweeper receives the low power signal, and then outputting the recharging instruction, and the sweeper starts to subsequently return to the charging pile based on the recharging instruction.
Because the orientation of the infrared receiving head used for receiving the infrared signal by the sweeper is unclear when the sweeper acquires the recharging instruction, the infrared signal can be received by the sweeper in the process of self-rotation in situ for one circle, wherein the sweeper can rotate clockwise to receive the infrared signal and can also rotate anticlockwise to receive the infrared signal, wherein the infrared signal can be sent by an infrared transmitting tube arranged in the charging pile, in order to distinguish the infrared signals sent by different transmitting tubes, a specific infrared signal code can be sent by controlling, for example, the infrared signal can be coded before the infrared signal is sent, the infrared signal coding standard can be PWM (pulse width modulation) of NEC Protocol, or PPM (pulse position modulation) of Philips RC-5Protocol, based on different infrared signal coding modes, after an infrared signal receiving head of the sweeper receives the infrared signal, the infrared signal code is decoded.
In the rotating process, a rotating angle is generated when the sweeper receives the infrared signal code for the first time, and a rotating angle is also generated when the received infrared signal code disappears, wherein the rotating angle range is the difference value of the rotating angle when the sweeper receives the infrared signal for the first time and the rotating angle when the infrared signal disappears.
Step 504, determining the current infrared light field according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field, wherein the directions of the infrared light fields relative to the charging pile are different.
The infrared light field area indicates an area, covered by an infrared signal, of the sweeper, different infrared signal codes correspond to the corresponding infrared light field area, therefore, the current infrared light field area can be determined through the infrared codes, the rotation angle is an angle generated when the sweeper receives the infrared signal for the first time in the rotation process and an angle generated when the infrared signal disappears, the initial direction angle is an initial movement direction determined after the sweeper acquires a recharging instruction, and the initial direction angle of the sweeper can be determined according to the rotation angle and the current infrared light field area. Wherein, the machine of sweeping the floor charges through filling electric pile, and corresponding to the different position that fills electric pile, the infrared light field is also different.
And step 506, moving along the initial direction at an angle until the pile area is determined to enter the pile area in advance based on the received infrared signal codes, and adjusting the alignment of the pile area.
After the sweeper determines the initial direction angle, the sweeper can move along the initial direction angle, infrared signal codes are received in real time, the infrared light field area where the sweeper is located is determined according to the received infrared signal codes, for example, when the sweeper is determined to enter a pile aligning area in advance based on the received infrared signal codes, adjustment of aligning to a charging pile is made, the state of the sweeper body can be finely adjusted in an adjusting mode, the charging pile is attempted to be aligned, the movement swing of the sweeper body is reduced according to feedback, and the sweeper continuously advances.
In one embodiment, when the received infrared signal codes include a fourth infrared signal code and a fifth infrared signal code, it is determined to enter the early duel region. The sweeper moves along the determined initial direction angle and receives the infrared signal codes in real time, when the infrared signal codes received by the sweeper comprise the fourth infrared signal code and the fifth infrared signal code, the sweeper enters the pile area in advance, and therefore the sweeper is correspondingly adjusted after entering the pile area in advance, for example, the sweeper can try to align with a charging pile, the movement swing of the sweeper body is reduced according to feedback, and the like.
And step 508, stopping moving and starting charging when the accurate pile feeding signal prompt area is determined to enter based on the infrared signal codes.
The accurate pile feeding signal prompt area indicates that the sweeper is accurately pile-feeding, the pile feeding action can be finished, and when the sweeper is determined to enter the accurate pile feeding signal prompt area according to the infrared signal codes, the sweeper can stop moving and start to charge.
Wherein, accurate pile signal prompt area of going up is confirmed jointly by the distance at infrared transmitting tube wick and subassembly edge, the distance of infrared transmitting tube wick and cell wall and the width of both sides infrared signal shielding spare, according to the demand of reality, can the above-mentioned three parameters of regulation of selectivity come to match self to the requirement in accurate pile signal prompt area of going up.
In one embodiment, as shown in fig. 6, a schematic diagram of calculating a distance between a precise pilework signal prompt area, where L is a distance between a boundary of the precise pilework signal prompt area and an infrared emission component, H is a distance between a wick of an infrared emission tube and an edge of the component, d is a distance between the wick of the infrared emission tube and a wall of the trench, w is a width of infrared signal shielding members on two sides, θ is a maximum half angle at which the middle infrared emission tube can emit an infrared signal, and a strict triangular relationship exists between them:
thus, it is possible to provide
The values of H, w and θ may be transformed to change the precise pileup signal cue zone boundaries according to actual demand.
In one embodiment, when the received infrared signal codes comprise the first infrared signal code and the second infrared signal code, the accurate pileup signal prompt zone is determined to be entered.
After the sweeper determines to enter the pile aligning area in advance, the state of the sweeper is adjusted to try to align the charging pile, the sweeper moves linearly forward until the received infrared signal codes comprise the first infrared signal code and the second infrared signal code, the sweeper enters the accurate pile feeding signal prompt area, and whether the pile is accurately fed can be judged by the method.
In the automatic recharging control method, a recharging instruction is obtained, an infrared signal is received by rotating for one circle, and the infrared signal code of the received infrared signal and the rotating angle range capable of receiving the infrared signal are recorded; determining the current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area; moving along the initial direction at an angle until the received infrared signal codes determine to enter a pile aligning area in advance, and adjusting the alignment of the pile; when the accurate pile driving signal prompt area is determined to enter based on the infrared signal codes, the movement is stopped, and charging is started. The method sets the specific infrared light field area, so that the automatic recharging efficiency of the sweeper is improved in the automatic recharging process, and whether accurate pile feeding is finished or not can be judged.
In one embodiment, determining the current infrared light field area according to the infrared signal code includes:
when the recorded infrared signal codes comprise a fourth infrared signal code determined based on the first infrared signal and the third infrared signal, determining that the current infrared light field area is a fourth infrared light field area;
when the recorded infrared signal codes comprise a fifth infrared signal code determined based on the second infrared signal and the third infrared signal, determining that the current infrared light field area is a fifth infrared light field area;
when the recorded infrared signal code only has a first infrared signal code, determining that the current infrared light field is a first infrared light field;
when the recorded infrared signal code only has a second infrared signal code, determining the current infrared light field area as a second infrared light field area;
and when the recorded infrared signal code only has a third infrared signal code, determining that the current infrared light field area is the third infrared light field area.
The third center line of the infrared emission signal of the infrared emission tube corresponding to the third infrared signal is positioned between the first center line and the second center line, the first center line is the center line of the infrared emission signal of the infrared emission tube corresponding to the first infrared signal, and the second center line is the center line of the infrared emission signal of the infrared emission tube corresponding to the second infrared signal.
The angle between the first central line and the third central line is larger than a first angle threshold value; the angle of the second centerline to the third centerline is greater than a second angle threshold; the first centerline is oriented in a different direction than the second centerline, and the first angle threshold and the second angle threshold are greater than 0.
In one embodiment, as shown in fig. 7, the infrared signal emission codes of different infrared emission tubes are schematically divided, where the infrared signals are emitted from three infrared emission tubes disposed in the charging pile, and are respectively a first infrared emission tube, a second infrared emission tube and a third infrared emission tube, the infrared signal code emitted from the first infrared emission tube may be set as an infrared emission code 1, the infrared signal code emitted from the second infrared emission tube may be set as an infrared emission code 2, the infrared signal code emitted from the third infrared emission tube may be set as an infrared emission code 3, an infrared emission code 4 is composed of the infrared emission code 1 and the infrared emission code 3, an infrared emission code 5 is composed of the infrared emission code 2 and the infrared emission code 3, and accordingly, different infrared emission codes correspond to different infrared light field regions. By dividing different infrared light field regions, the boundary line of each infrared light field region is determined, so that the sweeper can make corresponding action based on the infrared light field region, and finally the sweeper is efficiently guided to automatically recharge.
In one embodiment, the method further comprises: determining an initial direction angle according to the rotation angle and the current infrared light field region:
calculating the median of the rotation angle when the infrared signal is received for the first time and the rotation angle when the infrared signal disappears;
determining a relative deviation value according to the current infrared light field area;
determining an initial direction angle based on the median of the rotation angles and the relative deviation value.
The rotation angle is an angle generated when the sweeper receives the infrared signal for the first time and an angle generated when the sweeper disappears the infrared signal, and the median of the two angles is calculated. The relative deviation value is determined according to the infrared light field region where the sweeping robot is located, and the purpose of setting the relative deviation value is that the direction faced by the median is generally the two-point straight line direction of the sweeping machine and the charging pile, so that the sweeping machine cannot directly advance along the median direction, and the relative deviation value needs to deviate from a certain angle to provide a buffer distance for the sweeping machine to the pile.
In one embodiment, when the sweeper is in the first infrared light field, the relative deviation value needs to be subtracted from the median value theta, when the sweeper is in the second infrared light field, the relative deviation value needs to be added to the median value theta, the fourth infrared light field and the fifth infrared light field are analogized in the same way, and the third infrared light field directly advances along the median value theta; the magnitude of the relative deviation value is determined according to the infrared light field area, the angle of the received infrared signal and the angle of the infrared signal disappearance. Thereby can let the machine of sweeping the floor as far as possible along filling electric pile direction linear motion, can provide sufficient collision distance for the machine of sweeping the floor simultaneously again, improve and return and fill efficiency, improve user experience simultaneously and feel.
In one embodiment, the angular movement along the initial direction until the determination of entry into the pre-alignment stake zone based on the received infrared signal encoding comprises:
when a fourth infrared signal code is received first or a fifth infrared signal code is received first, the rotary motion is carried out until the fourth infrared signal code and the fifth infrared signal code are received simultaneously;
if the fourth infrared signal code and the fifth infrared signal code are received simultaneously, the equipment moves forwards linearly along the central line of the equipment.
When the sweeper returns to the charging pile for charging, the fourth infrared signal code may be received first, the fifth infrared signal code may be received later, the fifth infrared signal code may be received first, the fourth infrared signal code may be received later, and the fourth infrared signal code and the fifth infrared signal code may also be received simultaneously; and when the fifth infrared signal code is received first, the second infrared signal code makes a rotary motion towards the direction of the fourth infrared light field area until the fourth infrared signal code and the fifth infrared signal code are received simultaneously. Based on the method, the sweeper can be enabled to enter the pile aligning area in advance.
In one embodiment, the method further comprises:
and when the infrared light field area is determined to be unchanged based on the recorded infrared signal codes, the advancing speed is reduced.
The speed of the sweeper is changed along with the change of the infrared light field area in the process of moving along the initial direction angle, for example, when the sweeper is initially determined to be in the first infrared light field area, the sweeper moves according to the determined initial direction angle and does accelerated motion, when the sweeper is determined not to be in the first infrared light field area according to the infrared signal code received in real time, the speed is slowed down, corresponding adjustment is made, and therefore the sweeper can move forward to the charging pile quickly when being far away from the charging pile through the method, and when the sweeper is close to the charging pile, the speed is slowed down, and pile alignment and pile feeding are completed at a low speed. The movement speed of the sweeper can be determined by the actual application scene.
In one embodiment, as shown in fig. 8, a flow chart of an automatic recharge control method in one embodiment is shown:
when the sweeper is low in electric quantity or finishes a cleaning task within a preset range, a recharging instruction is acquired, the sweeper rotates for a circle, the rotating angle of the sweeper can rotate clockwise or anticlockwise, and in the rotating process, the received infrared signal code, the rotating angle when the infrared signal is received for the first time and the rotating angle when the infrared signal disappears are recorded respectively.
The infrared light field where the sweeping robot is located can be determined according to the received infrared signal codes, the median theta of the two angles is calculated according to the recorded rotation angle when the infrared signal is received for the first time and the recorded rotation angle when the infrared signal disappears, and the relative deviation value is determined according to the infrared light field where the sweeping robot is located at present, wherein the purpose of setting the relative deviation value is that the direction facing the median theta of the two angles is generally the two-point linear direction of the sweeping machine and the charging pile, so that the median theta of the two angles cannot directly advance along the median theta direction of the two angles, the median theta needs to deviate from a certain angle, and the buffering distance is provided for the sweeping machine to the pile. The method comprises the steps of determining an initial direction angle according to a median theta and a relative deviation value of two angles, determining the initial direction angle according to an infrared light field region where a sweeper is located currently by a specific calculation method, wherein the initial direction angle can be determined by adding the relative deviation value to the median theta of the two angles, or determining the initial direction angle by subtracting the relative deviation value from the median theta of the two angles, or directly taking the median theta of the two angles as the initial direction angle, and determining the specific algorithm according to the infrared light field region where the sweeper is located currently.
For example, when the sweeper is in the first infrared light field, the relative deviation value needs to be subtracted from the median θ of the two angles, when the sweeper is in the second infrared light field, the relative deviation value needs to be added to the median θ of the two angles, the fourth infrared light field and the fifth infrared light field are analogized in the same way, and the third infrared light field directly advances along the median θ of the two angles; the size of the relative deviation value can be determined according to the actual infrared light field area, the angle of the first received infrared signal and the size of the angle of the disappearance of the infrared signal.
After the initial direction angle is determined, the sweeping robot moves forward to the charging pile along the initial direction angle, acquires and receives an infrared signal in real time, records an infrared signal code, judges the change of an infrared light field area on the basis of the infrared signal code, and adjusts the corresponding speed of the sweeping machine after the infrared light field area is found to change, for example, the forward speed is slowed down. In one embodiment, if the sweeper enters a fifth infrared light field region from a fourth infrared light field region, the sweeper first receives an infrared signal code corresponding to the fourth infrared light field region, and the sweeper rotates clockwise to enter the fifth infrared light field region until the infrared signal codes corresponding to the fourth infrared light field region and the fifth infrared light field region are received at the same time; if the sweeper enters the fourth infrared light field from the fifth infrared light field, namely the sweeper receives the infrared signal code corresponding to the fifth infrared light field first, the sweeper rotates anticlockwise until the infrared signal codes corresponding to the fourth infrared light field and the fifth infrared light field are received at the same time; when the sweeper enters the fourth infrared light field region and the fifth infrared light field region simultaneously, the sweeper receives the infrared signal codes corresponding to the fourth infrared light field region and the fifth infrared light field region simultaneously, and the sweeper moves along a straight line.
When the sweeper receives the infrared signal codes corresponding to the fourth infrared light field and the fifth infrared light field simultaneously, the sweeper enters the pile area in advance, the sweeper tries to align the charging pile through the fine adjustment state, for example, the movement swing of the sweeper body is reduced according to feedback, the sweeper continuously advances until the sweeper finally enters the accurate pile signal prompt area, the sweeper stops moving and starts charging, and the back charging is completed.
It should be understood that, although the steps in the flowcharts of fig. 5 and 8 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 5 and 8 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages in other steps.
In one embodiment, as shown in fig. 9, there is provided an automatic recharge control apparatus comprising: autogyration processing module, initial direction angle determine module, alignment charge stake adjustment module and the module of charging, wherein:
the moving module 902 is configured to obtain a recharge instruction, rotate by one revolution according to the obtained recharge instruction, and move along the initial direction angle after determining the initial direction angle.
An infrared signal receiving module 904, configured to receive an infrared signal.
And the recording module 906 is configured to record the infrared signal code of the received infrared signal and the rotation angle range within which the infrared signal can be received according to the acquired recharging instruction.
A direction determining module 908, configured to determine a current infrared light field according to the infrared signal code, and determine an initial direction angle according to the rotation angle and the current infrared light field, where an orientation of each infrared light field with respect to the charging pile is different.
And the processing module 910 is configured to, when it is determined that the area enters the area of pile aligning in advance based on the received infrared signal code, adjust the alignment of the charging pile, and when it is determined that the area enters the precise pile feeding signal prompt area based on the received infrared signal code, stop moving and start charging.
In one embodiment, the apparatus further comprises:
the infrared light field area determining module is used for determining that the current infrared light field area is a fourth infrared light field area when the recorded infrared signal codes comprise a fourth infrared signal code determined based on the first infrared signal and the third infrared signal;
when the recorded infrared signal codes comprise a fifth infrared signal code determined based on the second infrared signal and the third infrared signal, determining that the current infrared light field area is a fifth infrared light field area;
when the recorded infrared signal code only has a first infrared signal code, determining that the current infrared light field is a first infrared light field;
when the recorded infrared signal code only has a second infrared signal code, determining the current infrared light field area as a second infrared light field area;
and when the recorded infrared signal code only has a third infrared signal code, determining that the current infrared light field area is the third infrared light field area.
In one embodiment, the apparatus further comprises:
the speed control module is used for accelerating forward when the infrared light field area is determined to be unchanged based on the recorded infrared signal codes, and the infrared light field area is still in the initially determined infrared light field area when the infrared light field area is not changed; when the infrared light field area is determined to be changed based on the recorded infrared signal codes, the advancing speed is reduced.
For specific limitations of the automatic recharge control device, reference may be made to the above limitations of the automatic recharge control method, which are not described herein again. The modules in the automatic recharge control device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a smart mobile device is provided, the internal structure of which may be as shown in fig. 10. The intelligent mobile device comprises a processor, a memory, a communication interface, an infrared receiving head 1 and an infrared receiving head 2 which are connected through a system bus. Wherein the processor of the smart mobile device is configured to provide computing and control capabilities. The infrared receiving head of the intelligent mobile device is used for receiving infrared signals, and the memory of the intelligent mobile device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement an automatic recharge control method.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The non-volatile Memory may include a Read-only Memory (ROM), a magnetic tape, a floppy disk, a flash Memory, an optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM), or external cache Memory. By way of illustration and not limitation, the RAM may be in various forms, such as Static Ra relative offset (SRAM) or dynamic random Access Memory (Dy relative offset (mic Ra) RAM Memory, DRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. An automatic recharge control method, comprising:
acquiring a charging instruction, receiving an infrared signal by rotating for one circle, and recording an infrared signal code of the received infrared signal and a rotating angle range capable of receiving the infrared signal;
determining the current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area, wherein the directions of the infrared light field areas relative to the charging pile are different; moving along the initial direction at an angle until the received infrared signal codes determine to enter a pile aligning area in advance, and adjusting the alignment of the pile;
when the accurate pile driving signal prompt area is determined to enter based on the infrared signal codes, the movement is stopped, and charging is started.
2. The method of claim 1, comprising:
the rotation angle range is the difference between the rotation angle when the infrared signal is received for the first time and the rotation angle when the infrared signal disappears.
3. The method of claim 1, wherein determining the current infrared light field according to the infrared signal code comprises:
when the recorded infrared signal codes comprise a fourth infrared signal code determined based on the first infrared signal and the third infrared signal, determining that the current infrared light field area is a fourth infrared light field area;
when the recorded infrared signal codes comprise a fifth infrared signal code determined based on the second infrared signal and the third infrared signal, determining that the current infrared light field area is a fifth infrared light field area;
when the recorded infrared signal code only has a first infrared signal code, determining that the current infrared light field is a first infrared light field;
when the recorded infrared signal code only has a second infrared signal code, determining the current infrared light field area as a second infrared light field area;
and when the recorded infrared signal code only has a third infrared signal code, determining that the current infrared light field area is the third infrared light field area.
4. The method of claim 3, comprising:
a third center line of the infrared emission signal of the infrared emission tube corresponding to the third infrared signal is positioned between the first center line and the second center line, the first center line is the center line of the infrared emission signal of the infrared emission tube corresponding to the first infrared signal, and the second center line is the center line of the infrared emission signal of the infrared emission tube corresponding to the second infrared signal;
an angle of the first centerline to the third centerline is greater than a first angle threshold; an angle of the second centerline to the third centerline is greater than a second angle threshold; the first centerline and the second centerline are in different directions, and the first angle threshold and the second angle threshold are greater than 0.
5. The method according to claim 1 or 2, wherein determining an initial direction angle according to the rotation angle and the currently located infrared light field region comprises:
calculating the median of the rotation angle when the infrared signal is received for the first time and the rotation angle when the infrared signal disappears;
determining a relative deviation value according to the current infrared light field area;
determining an initial direction angle based on the median of the rotation angles and the relative deviation value.
6. The method of claim 3, wherein the determining entry into the pre-staging area based on infrared signal encoding of the received infrared signal comprises:
and when the received infrared signal codes comprise the fourth infrared signal code and the fifth infrared signal code, determining to enter the pile area in advance.
7. The method of claim 3, wherein determining entry into an accurate pileup signal prompt zone based on infrared signal encoding of the received infrared signal comprises:
and when the received infrared signal codes comprise the first infrared signal code and the second infrared signal code, determining to enter an accurate piling signal prompt area.
8. The method of claim 3, wherein angularly moving in the initial direction until determining entry into a pre-staging area based on the received infrared signal encoding comprises:
when a fourth infrared signal code is received first or a fifth infrared signal code is received first, the rotary motion is carried out until the fourth infrared signal code and the fifth infrared signal code are received simultaneously;
if the fourth infrared signal code and the fifth infrared signal code are received simultaneously, the equipment moves forwards linearly along the central line of the equipment.
9. The method of claim 1, further comprising:
when the infrared light field area is determined to be changed based on the recorded infrared signal codes, the advancing speed is reduced.
10. An automatic refill device, comprising:
the movement module is used for acquiring a recharging instruction, rotating for one circle according to the acquired recharging instruction, and moving along the initial direction angle after determining the initial direction angle;
the infrared signal receiving module is used for receiving an infrared signal;
the recording module is used for recording the infrared signal codes of the received infrared signals and the rotating angle range capable of receiving the infrared signals according to the acquired recharging instruction;
the direction determining module is used for determining the current infrared light field area according to the infrared signal codes, and determining an initial direction angle according to the rotation angle and the current infrared light field area, wherein the directions of the infrared light field areas relative to the charging pile are different;
and the processing module is used for adjusting the alignment charging pile when the received infrared signal codes are determined to enter a pile area in advance, stopping moving when the received infrared signal codes are determined to enter an accurate pile feeding signal prompt area, and starting charging.
11. A smart mobile device comprising a receiver, a memory and a processor, the receiver comprising two infrared receiving heads for receiving infrared signals, the memory storing a computer program, comprising: the processor, when executing the computer program, realizes the steps of the method of any of claims 1 to 9.
12. The utility model provides a fill electric pile, its characterized in that includes first infrared transmitting tube, second infrared transmitting tube, third infrared transmitting tube, shelters from the partial infrared signal of first infrared transmitting tube and the partial infrared signal's of second infrared transmitting tube non-pass through infrared shading spare, first infrared transmitting tube warp infrared signal after the infrared shading spare of non-pass through shelters from, with the infrared signal of third infrared transmitting tube transmission has the overlap region, and second infrared transmitting tube warp infrared signal after the infrared shading spare of non-pass through shelters from, with the infrared signal of third infrared transmitting tube transmission has the overlap region.
13. A charging pile according to claim 12, characterised in that it comprises:
the angle between the first central line of the first infrared emission tube and the third central line of the third infrared emission tube is larger than a first angle threshold, the angle between the second central line of the second infrared emission tube and the third central line is larger than a second angle threshold, the directions of the first central line and the second central line are different, and the first angle threshold and the second angle threshold are larger than 0.
14. A charging pile according to claim 12, characterised in that it comprises: the non-infrared-transmitting shade includes: the infrared signal of the first infrared transmitting tube is transmitted through an opening formed between one end of the first side wall and one end of the second side wall, the infrared signal of the second infrared transmitting tube is transmitted through an opening formed between the other end of the first side wall and the other end of the second side wall, and the infrared signal of the third infrared transmitting tube is transmitted through an opening on the connecting layer;
the first side wall, the second side wall and the connecting layer are integrally formed.
15. The charging pole of claim 12, the non-infrared-transmissive shade further comprising: the first non-transparent infrared shading part and the second non-transparent infrared shading part are arranged in front of the first infrared transmitting tube, the second non-transparent infrared shading part is arranged in front of the second infrared transmitting tube, the infrared signal of the first infrared transmitting tube is sent out through the opening, far away from one side of the third infrared transmitting tube, of the first non-transparent infrared shading part, and the infrared signal of the second infrared transmitting tube is sent out through the opening, far away from one side of the third infrared transmitting tube, of the second non-transparent infrared shading part.
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