CN113839471A - Autonomous robot, wireless charging device, wireless charging docking method, and storage medium - Google Patents
Autonomous robot, wireless charging device, wireless charging docking method, and storage medium Download PDFInfo
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Abstract
An embodiment of the present specification provides an autonomous robot, a wireless charging device, a wireless charging docking method, and a storage medium, where the method includes: receiving a docking guidance signal output by the docking guidance wire; the input of the docking guide wire is provided by a wireless charging device; controlling the pose of the autonomous robot according to the docking guidance signal so that a designated line of the autonomous robot coincides with the central guidance section of the docking guidance line; receiving a wireless charging signal output by the wireless charging equipment; and controlling the pose of the autonomous robot according to the wireless charging signal so that a wireless charging receiving end of the autonomous robot is positioned in a charging center area of the wireless charging equipment. The embodiment of the specification can reduce the wireless charging docking cost of the autonomous robot.
Description
Technical Field
The present disclosure relates to the field of robotics, and in particular, to an autonomous robot, a wireless charging device, a wireless charging docking method, and a storage medium.
Background
Autonomous robots that charge in a wireless charging manner have emerged in the current market. When the autonomous robot needs to return to the wireless charging device for charging, the autonomous robot can realize wireless charging docking with the docking guide line as an auxiliary condition.
However, in implementing the present application, the inventors of the present application found that: the input to the docking guide wire currently needs to be provided by a separate device and this separate device also needs to be installed for use. Therefore, the wireless charging docking cost of the autonomous robot is high.
Disclosure of Invention
An object of an embodiment of the present disclosure is to provide an autonomous robot, a wireless charging device, a wireless charging docking method, and a storage medium, so as to reduce a wireless charging docking cost of the autonomous robot.
In order to achieve the above object, in one aspect, an embodiment of the present specification provides a wireless charging docking method, including:
receiving a docking guidance signal output by the docking guidance wire; the input of the docking guide wire is provided by a wireless charging device;
controlling the pose of the autonomous robot according to the docking guidance signal so that a designated line of the autonomous robot coincides with the central guidance section of the docking guidance line;
receiving a wireless charging signal output by the wireless charging equipment;
and controlling the pose of the autonomous robot according to the wireless charging signal so that a wireless charging receiving end of the autonomous robot is positioned in a charging center area of the wireless charging equipment.
In another aspect, embodiments of the present specification provide an autonomous robot, including a memory, a processor, and a computer program stored on the memory, where the computer program is executed by the processor to perform the wireless charging docking method described above.
In the wireless charging and docking method according to an embodiment of the present specification, the specifying line includes:
the axis of the autonomous robot.
In a wireless charging docking method according to an embodiment of the present specification, the controlling a pose of an autonomous robot according to the docking guidance signal includes:
controlling the autonomous robot to rotate to a first side according to the docking guide signal so that a first designated point of the autonomous robot on the designated line falls on the central guide section;
controlling the autonomous robot to linearly advance so that a second designated point of the autonomous robot on the designated line falls on the central guide segment; the second designated point comprises an installation position point of the wireless charging receiving end;
controlling the autonomous robot to rotate to a second side such that the first designated point again lands on the central guide segment; the second side is opposite the first side.
In the wireless charging docking method according to an embodiment of the present specification, when the autonomous robot is provided with two boundary sensors that are symmetrical with respect to the designated line, the first side includes:
and one side of the two boundary sensors, which is closer to the central guide section.
In the wireless charging docking method according to an embodiment of the present specification, the first designated point includes:
and in the two boundary sensors, the installation position point corresponding to the farther one from the central guide section.
In the wireless charging docking method according to an embodiment of the present specification, the first designated point includes:
a center point of symmetry of the two boundary sensors.
In the wireless charging docking method according to an embodiment of the present specification, a mounting position point of the wireless charging receiving terminal is located at a center point of a distance between rear wheels of the autonomous robot.
In the wireless charging docking method according to an embodiment of the present specification, the closer to the center guide segment is identified by:
comparing the absolute values of the signal intensity of the docking guide signals currently received by the two boundary sensors;
and taking the boundary sensor corresponding to the absolute value of the larger signal intensity as the closer one to the central guide section.
In the wireless charging docking method according to an embodiment of the present specification, the farther one from the central guide segment is identified by:
comparing the absolute values of the signal intensity of the docking guide signals currently received by the two boundary sensors;
and taking the boundary sensor corresponding to the smaller absolute value of the signal intensity as the farther one from the central guide section.
In the wireless charging docking method according to an embodiment of the present specification, a first designated point of the autonomous robot on the designated line falls on the central guide segment, and is identified by:
and when one of the two boundary sensors, which is farther from the central guide segment, is located at a docking guide signal direction change critical point, confirming that a first designated point of the autonomous robot, which is located on the designated line, falls on the central guide segment.
In the wireless charging docking method according to an embodiment of the present specification, a first designated point of the autonomous robot on the designated line falls on the central guide segment, and is identified by:
when the absolute values of the signal strengths of the docking guide signals currently received by the two boundary sensors are equal, confirming that a first designated point of the autonomous robot on the designated line falls on the central guide segment.
In the wireless charging docking method according to an embodiment of the present specification, a second designated point of the autonomous robot on the designated line falls on the central guide segment, and is identified by:
when the autonomous robot linearly advances by a first distance, confirming that a second designated point of the autonomous robot on the designated line falls on the central guide section; the first distance is determined according to the formula D-L-D/tan theta; d is a first distance, L is a distance between a symmetric center point of the two boundary sensors and a center point of a distance between rear wheels of the main robot, D is a distance between the symmetric center point of the two boundary sensors and the boundary sensors, and theta is a rotation angle of the main robot.
In the wireless charging docking method according to an embodiment of the present specification, a second designated point of the autonomous robot on the designated line falls on the central guide segment, and is identified by:
when the autonomous robot linearly advances by a second distance, confirming that a second designated point of the autonomous robot on the designated line falls on the central guide section; the second distance is the distance between the symmetrical center points of the two boundary sensors and the center point of the distance between the rear wheels of the main robot.
In the wireless charging docking method according to an embodiment of the present specification, when the autonomous robot is provided with two boundary sensors that are symmetrical with respect to the designated line, the first designated point falls on the central guidance segment again, and is identified by:
confirming that the first designated point falls on the central guide segment again when the absolute values of the signal strengths of the docking guide signals currently received by the two boundary sensors are equal.
In a wireless charging docking method according to an embodiment of the present specification, the controlling a pose of the autonomous robot according to the wireless charging signal so that a wireless charging receiving end of the autonomous robot is located in a charging center area of the wireless charging device includes:
controlling the autonomous robot to walk linearly and judging whether the signal intensity value of the wireless charging signal reaches a signal intensity threshold value in real time;
and when the signal intensity reaches the signal intensity threshold value, confirming that a wireless charging receiving end of the autonomous robot is located in a charging center area of the wireless charging equipment.
The wireless charging docking method of some embodiments of the present specification further includes:
when the electric quantity of the autonomous robot is lower than an electric quantity threshold value and the autonomous robot returns to a charging bottom plate corresponding to the wireless charging device, sending a first instruction to the wireless charging device to enable the wireless charging device to provide input to the docking guide line, and enabling the docking guide line to output a docking guide signal.
The wireless charging docking method of some embodiments of the present specification further includes:
when the specified line of the autonomous robot is overlapped with the central guide section of the docking guide line, sending a second instruction to the wireless charging device, so that the wireless charging device provides input to the docking guide line, and switches to provide input to a wireless charging transmitting terminal of the wireless charging device, so that the wireless charging transmitting terminal outputs a wireless charging signal.
In the wireless charging docking method according to an embodiment of the present specification, the docking guide line includes a single-sided docking guide line or a double-sided docking guide line.
In another aspect, the present specification provides a computer storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the wireless charging docking method described above.
In the wireless charging and docking method according to an embodiment of the present specification, the specifying line includes:
the axis of the autonomous robot.
In a wireless charging docking method according to an embodiment of the present specification, the providing an input to a docking guide line includes:
providing an input to the docking guideline upon receiving a first instruction sent by the autonomous robot.
In the wireless charging docking method according to an embodiment of the present specification, the stopping of the input to the docking guide line and the output of the wireless charging signal includes:
when a second instruction sent by the autonomous robot is received, the input provided to the docking guide line is switched to provide the input to the wireless charging transmitting terminal of the autonomous robot, so that the wireless charging transmitting terminal outputs a wireless charging signal.
On the other hand, the embodiment of the present specification further provides another wireless charging docking method, including:
providing an input to a docking guide wire to cause the docking guide wire to output a docking guide signal, thereby causing the autonomous robot to control a designated line of the autonomous robot to coincide with a central guide section of the docking guide wire according to the docking guide signal;
and stopping providing input to the docking guide line, and outputting a wireless charging signal, so that the autonomous robot controls a wireless charging receiving end to be positioned in a charging center area of the wireless charging equipment according to the docking guide signal.
In another aspect, the present specification provides a wireless charging device, including a memory, a processor, and a computer program stored on the memory, where the computer program is executed by the processor to perform the wireless charging docking method described above.
In another aspect, the present specification provides another computer storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the wireless charging docking method described above.
As can be seen from the technical solutions provided in the embodiments of the present specification, since the input of the docking guide line is provided by the wireless charging device, that is, the wireless charging device not only can provide the wireless charging signal, but also has a function of providing the input to the docking guide line, it is not necessary to configure a separate input providing device for the docking guide line and perform corresponding installation and construction, and thus the embodiments of the present specification reduce the cost of wireless charging docking of the autonomous robot.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present specification, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort. In the drawings:
FIG. 1 is a schematic illustration of an autonomous robot in some embodiments of the present description;
fig. 2 is a schematic view of the installation of a docking guide wire with respect to a wireless charging device in some embodiments of the present description;
fig. 3 is a schematic view of the installation of a docking guide wire with respect to a wireless charging device in further embodiments of the present disclosure;
FIG. 4a is a schematic diagram illustrating rotation of an autonomous robot to a first side according to a docking guidance signal in an embodiment of the present disclosure;
FIG. 4b is a schematic view of the autonomous robot moving forward after rotating to the first side in an embodiment of the present disclosure;
FIG. 4c is a schematic diagram illustrating rotation of the autonomous robot to a second side according to the docking guidance signal in an embodiment of the present disclosure;
FIG. 4d is a schematic diagram illustrating the autonomous robot walking in a straight line after rotating to the second side according to an embodiment of the present disclosure;
FIG. 5a is a schematic diagram illustrating rotation of an autonomous robot to a first side according to a docking guidance signal in another embodiment of the present disclosure;
FIG. 5b is a schematic view of the autonomous robot moving forward after rotating to the first side in another embodiment of the present disclosure;
FIG. 5c is a schematic diagram of the autonomous robot rotating to the second side according to the docking guidance signal in another embodiment of the present disclosure;
FIG. 5d is a schematic view of the autonomous robot walking in a straight line after rotating to the second side according to another embodiment of the present disclosure;
FIG. 6 is a block diagram of a partial architecture of an autonomous robot in some embodiments of the present description;
fig. 7 is a partial block diagram of a wireless charging device in some embodiments of the present disclosure;
fig. 8 is a flow chart of a wireless charging docking method in some embodiments of the present description;
fig. 9 is a flowchart of a wireless charging docking method in further embodiments of the present disclosure.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present specification, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only a part of the embodiments of the present specification, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments in the present specification without any inventive step should fall within the scope of protection of the present specification.
Referring to fig. 1, an autonomous robot 100 referred to herein may autonomously move within a work area 200 to automatically perform a task. In some embodiments of the present description, the autonomous robot 100 may be, for example, a floor cleaning robot, a lawn care robot, or the like. For example, in an exemplary embodiment, the floor cleaning robot may be a sweeper, a mopper, a snowplow, or the like; the lawn care robot may be, for example, an intelligent lawn mower, an automatic watering machine, an automatic lawn care machine, or the like.
For the autonomous robot adopting the wireless charging mode, when the electric quantity of the autonomous robot is lower than the electric quantity threshold value, the autonomous robot needs to return to the wireless charging equipment for charging. Due to the fact that the positioning accuracy of the autonomous robot is limited (or the reception of the positioning signal is limited), the autonomous robot can return to the charging bottom plate of the wireless charging device under the navigation of the satellite positioning module configured by the autonomous robot, but the autonomous robot is generally difficult to return to the charging center area of the wireless charging device directly and accurately. In order to improve the charging efficiency of the autonomous robot, an auxiliary means such as a docking guide line may be used to cause the wireless charging receiving end of the autonomous robot to fall into the charging center area of the wireless charging device. However, currently the input to the docking guide wire is provided by a separate device. Therefore, the wireless charging docking cost of the autonomous robot is high.
In view of the above, the present specification provides an improved autonomous robot for reducing wireless charging docking costs of the autonomous robot. In some embodiments of the present description, an autonomous robot may include a memory, a processor, and a computer program stored on the memory, the computer program when executed by the processor may receive a docking guidance signal output by a docking guidance wire; the input of the docking guide wire is provided by a wireless charging device; controlling the pose of the autonomous robot according to the docking guidance signal so that a designated line of the autonomous robot coincides with the central guidance section of the docking guidance line; receiving a wireless charging signal output by the wireless charging equipment; and controlling the pose of the autonomous robot according to the wireless charging signal so that a wireless charging receiving end of the autonomous robot is positioned in a charging center area of the wireless charging equipment.
Therefore, in the embodiment of the present specification, since the input of the docking guide line is provided by the wireless charging device, that is, the wireless charging device can not only provide the wireless charging signal, but also has a function of providing the input to the docking guide line, so that it is not necessary to configure a separate input providing device for the docking guide line and perform corresponding installation and construction, the embodiment of the present specification reduces the wireless charging docking cost of the autonomous robot.
In some embodiments of the present disclosure, the docking guides may be arranged in any suitable configuration. Wherein, the central guiding section of the docking guiding wire may refer to: a portion of the docking guide wire that passes through a charging center area of the wireless charging device. The charging center area of the wireless charging device may refer to: in the coverage range of the wireless charging signal of the wireless charging device, the signal strength of the wireless charging signal reaches an area of the strength threshold (generally, the center of the wireless charging transmitting terminal of the wireless charging device).
For example, in an embodiment of the present description, referring to fig. 2, the docking guide wire may be configured in a double-sided guiding configuration. As can be seen from fig. 2, two sides of a charging bottom plate (a rectangular frame indicated by a solid line in fig. 2) of the wireless charging device are uniformly provided with closed approximately rectangular docking guide lines, and a central guide section of the docking guide lines passes through a charging central region (a small circular region filled with small black dots in fig. 2) of the wireless charging device. The large circle indicated by the dotted line in fig. 2 is the wireless charging signal coverage of the wireless charging device. The inventor of the present application has found that: the double-side guiding structure layout of the butt joint guiding wire is not easy to generate signal interference and has better guiding effect.
For another example, in another embodiment of the present specification, referring to fig. 3, the docking guide line may be configured to be guided on one side. As can be seen from fig. 3, a closed approximately rectangular docking guide line is laid on one side of a charging base plate (a rectangular frame indicated by a solid line in fig. 3) of the wireless charging device, and a central guide section of the docking guide line passes through a charging central region (a small circular region filled with small black dots in fig. 3) of the wireless charging device. The large circle indicated by the dotted line in fig. 3 is the wireless charging signal coverage of the wireless charging device. The single-sided guide structure layout shown in fig. 3 is more compact and cost-effective than the double-sided guide structure layout shown in fig. 2.
As shown in connection with fig. 6, in some embodiments of the present description, an autonomous robot may be configured with a processor, a wireless communication module, a wireless charging receiver, and two (or more) boundary sensors. When the autonomous robot detects that the electric quantity of the autonomous robot is lower than the electric quantity threshold value and enables the autonomous robot to return to the charging bottom plate corresponding to the wireless charging device, an instruction for starting the docking guiding signal can be sent to the wireless charging device through the wireless communication module, so that the wireless charging device can provide input for the docking guiding line, and the docking guiding signal can be output by the docking guiding line. Therefore, the autonomous robot can receive the docking guide signal output by the docking guide wire through the boundary sensor, so that the self pose can be controlled according to the docking guide signal subsequently. The pose referred to in this specification may include the position and heading (or referred to as heading) of the autonomous robot.
In some embodiments of the present description, the designated line of the autonomous robot may refer to: a line passing through the wireless charging receiving end of the autonomous robot, and the line may be parallel to a heading of the autonomous robot. For example, in an exemplary embodiment of the present specification, when the wireless charging receiving terminal is disposed on a central axis of the autonomous robot, the designated line may be the central axis of the autonomous robot. Therefore, the method is beneficial to simplifying calculation and reducing the overhead.
For the convenience of understanding, in the following embodiments of the present specification, the designated lines of the autonomous robot are described by taking a central axis as an example. However, those skilled in the art will appreciate that the present description is not so limited; in other embodiments of the present disclosure, the wireless charging receiving terminal of the autonomous robot may be mounted at a non-central axis position on the autonomous robot. Accordingly, the designated line is no longer the central axis of the autonomous robot.
In some embodiments of the present disclosure, taking the designated line as the central axis as an example, the controlling the pose of the autonomous robot according to the docking guidance signal may include:
(1) and controlling the autonomous robot to rotate to the first side according to the docking guide signal so that a first designated point of the autonomous robot on the central axis falls on the central guide section.
In embodiments of the present description, the first side may be the side of the central guide segment relative to the autonomous robot. For example, in an exemplary embodiment of the present specification, referring to fig. 4a, when the autonomous robot is provided with two boundary sensors (two black large dots in fig. 4 a) symmetrical with respect to a central axis, the first side may include one of the two boundary sensors on which a closer one of the central guide segments is located (i.e., the one closer to the central guide segment). It should be noted that when the autonomous robot returns to the charging dock of the wireless charging device, the autonomous robot is generally already in proximity to the charging center area of the wireless charging device; at this point, the boundary sensor is generally closer to the central lead segment. Thus, the boundary sensor receives the docking guidance signal, which is typically output by the center guidance segment. Thus, the closer of the leading segment from the center can be identified by: comparing the absolute values of the signal intensity of the docking guide signals currently received by the two boundary sensors; and taking the boundary sensor corresponding to the absolute value of the larger signal intensity as the closer one to the central guide section.
Continuing to refer to fig. 4a, in an exemplary embodiment of the present specification, the first designated point may be: and in the two boundary sensors, the installation position point corresponding to the farther one from the central guide section. Similar to the above-described identification of the closer to the central leading segment, the farther from the central leading segment can be identified by: comparing the absolute values of the signal intensity of the docking guide signals currently received by the two boundary sensors; and taking the boundary sensor corresponding to the smaller absolute value of the signal intensity as the farther one from the central guide section.
Correspondingly, the first designated point of the autonomous robot on the central axis falls on the central guide segment, and can be identified in the following manner: and when one of the two boundary sensors, which is farther from the central guide section, is located at a critical point of direction change of the docking guide signal, determining that a first designated point of the autonomous robot, which is located on the central axis, falls on the central guide section. In fig. 4a, the central guide section is a straight wire, with opposite magnetic field directions on either side. Therefore, when the boundary sensor farther from the central guide segment is located on the central guide segment, the docking guide signal received by the boundary sensor is just at the direction change critical point. Therefore, when a farther one from the center guide segment is located at a docking guide signal direction change critical point, it can be confirmed that the farther one from the center guide segment is located on the center guide segment, and at this time, the corresponding rotation angle θ can be recorded. In fig. 4a, the posture of the autonomous robot before rotation is indicated by a dotted line, the posture of the autonomous robot after rotation is indicated by a solid line, and the arrow indicates the direction of rotation.
Referring to fig. 5a, in another exemplary embodiment of the present disclosure, the first designated point may also be a center point of symmetry of the two boundary sensors. In fig. 5a, the central guide section is a straight wire, with opposite magnetic field directions on either side. Therefore, when the symmetric center points of the two boundary sensors are located on the central guide segment, the docking guide signals received by the two boundary sensors are in the state of equal magnitude and opposite direction. Therefore, when the absolute values of the signal strengths of the docking guide signals currently received by the two boundary sensors are equal, it can be confirmed that the symmetric center points of the two boundary sensors fall on the central guide segment, and the corresponding rotation angle θ can be recorded at this time. In fig. 5a, the posture of the autonomous robot before rotation is indicated by a dotted line, the posture of the autonomous robot after rotation is indicated by a solid line, and the arrow indicates the rotation direction.
It should be noted that the rotation mentioned in the embodiments of the present specification generally refers to in-situ rotation with the installation position point of the wireless charging receiving end as a center. Generally, when the autonomous robot performs in-situ rotation, the autonomous robot rotates around the center point of the distance between the rear wheels of the autonomous robot, so that the installation position point of the wireless charging receiving terminal is located on the center point of the distance between the rear wheels of the autonomous robot, which is a better choice, and thus, the rotation control can be conveniently realized. Of course, in other embodiments of this specification, if some autonomous robots do not perform in-situ rotation with the center point of the distance between the rear wheels of the autonomous robot as the center of the circle, the installation position point of the wireless charging receiving end may be adaptively adjusted, which is not limited in this specification.
(2) Controlling the autonomous robot to linearly advance so that a second pointing point of the autonomous robot on the central axis falls on the central guide section; wherein the second designated point comprises an installation position point of the wireless charging receiving end.
In an embodiment of the present specification, an installation location point of the wireless charging receiving terminal on the autonomous robot may be located at any position on the central axis. In this way, after the autonomous robot is rotated by the angle θ, the autonomous robot may be controlled to linearly advance so that the installation location point of the wireless charging receiving terminal falls on the central guide section.
Referring to fig. 4b, in an exemplary embodiment of the present disclosure, the installation location point of the wireless charging receiving end is located at a central point of a distance between rear wheels of the autonomous robot, and the first designated point is: in the two boundary sensors, when the autonomous robot linearly advances by a set first distance in the case of the installation location point corresponding to the person farther from the center guide segment, it may be confirmed that the installation location point of the wireless charging receiving terminal falls on the center guide segment. Wherein the first distance may be determined according to the formula D-L-D/tan θ; d is a first distance, L is a distance between a symmetric center point of the two boundary sensors and a center point of a distance between rear wheels of the main robot, D is a distance between the symmetric center point of the two boundary sensors and the boundary sensors, and theta is a rotation angle of the main robot. In fig. 4b, the autonomous robot is in a posture before linear advancement indicated by a dotted line, the autonomous robot is in a posture after linear advancement indicated by a solid line, and the arrow indicates the displacement direction.
Referring to fig. 5b, in another exemplary embodiment of the present disclosure, in a case that the installation location point of the wireless charging receiver is located at a center point of a distance between rear wheels of the autonomous robot, and the first designated point is a symmetric center point of two boundary sensors, when the autonomous robot linearly moves forward by a second distance, it may be confirmed that the installation location point of the wireless charging receiver is located on a central guide segment. Wherein the second distance is a distance between a center point of symmetry of the two boundary sensors and a center point of a distance from a rear wheel of the main robot (i.e., a length of D in fig. 5 b). In fig. 5b, the autonomous robot is in a posture before linear advancement indicated by a dotted line, the autonomous robot is in a posture after linear advancement indicated by a solid line, and the arrow indicates the displacement direction.
(3) Controlling the autonomous robot to rotate to the second side so that the first appointed point falls on the central guide section again; wherein the second side is opposite the first side.
In the embodiment of the present specification, after the autonomous robot advances straight, the installation location point of the wireless charging reception end falls on the central guidance segment. On the basis of the reverse rotation relative to the first side, when the rotation is performed to enable the absolute values of the signal strengths of the docking guide signals currently received by the two boundary sensors to be equal, the symmetric center points of the two boundary sensors can be confirmed to be located on the central guide section. Since the installation location point of the wireless charging receiving end and the symmetric center points of the two boundary sensors are two points on the central axis of the autonomous robot, it is shown that the central axis of the autonomous robot coincides with the central guiding section (for example, as shown in fig. 4c and fig. 5 c). It will be appreciated by those skilled in the art that the coincidence herein is susceptible to some error, and for the same reason, the first designated point and the second designated point described above fall on the central guide section, as well as being susceptible to some error. In fig. 4c and 5c, the posture of the autonomous robot before rotation is indicated by a dotted line, the posture of the autonomous robot after rotation is indicated by a solid line, and an arrow indicates the rotation direction.
In some embodiments of the present disclosure, when the central axis of the autonomous robot coincides with the central guiding segment of the docking guide line, the autonomous robot may send an instruction to turn on a wireless charging signal to the wireless charging device, so that the wireless charging device provides an input to the docking guide line, and switches to provide an input to a wireless charging transmitting terminal of the wireless charging device itself, so that the wireless charging transmitting terminal outputs the wireless charging signal, so that the autonomous robot may subsequently control its posture according to the wireless charging signal, so that its wireless charging receiving terminal is located in a charging center area of the wireless charging device.
When the central axis of the autonomous robot coincides with the central guide section of the docking guide line, the autonomous robot advances or retreats linearly and can pass through a charging central area of the wireless charging equipment; the signal strength value of the wireless charging signal at the charging center area can be used as a further signal strength threshold value. In a case that a central axis of the autonomous robot coincides with the central guiding section of the docking guiding line, when the autonomous robot detects that a signal intensity value of the wireless charging signal reaches the signal intensity threshold value in a process of straight walking, it may be determined that a wireless charging receiving end of the autonomous robot is located in a charging central area of the wireless charging device (for example, as shown in fig. 4d and fig. 5 d). Therefore, the wireless charging butt joint of the autonomous robot is realized.
Referring to fig. 7, in some embodiments of the present description, a wireless charging device may include a processor, a wireless communication module, an alternating current generating module, a controllable switch, and a wireless charging transmitting terminal. When receiving an instruction sent by the autonomous robot for starting the docking guidance signal through the wireless communication module, the processor can control the alternating current generation module to convert the power input into a proper alternating current, and the alternating current is only input into the docking guidance wire through the controllable switch, so that the docking guidance wire can emit the docking guidance signal. On this basis, when receiving the instruction that is used for opening wireless charging signal that sends from the main robot again through wireless communication module, through controllable switch, the treater can stop to the butt joint guide wire input alternating current to with the alternating current input to wireless transmitting terminal that charges, thereby make wireless charging transmitting terminal can launch wireless charging signal.
In still other embodiments of the present description, the wireless charging device may further include a memory, a processor, and a computer program stored on the memory, the computer program when executed by the processor performing the steps of:
providing an input to a docking guide wire to cause the docking guide wire to output a docking guide signal, thereby causing the autonomous robot to control a designated line of the autonomous robot to coincide with a central guide section of the docking guide wire according to the docking guide signal;
and stopping providing input to the docking guide line, and outputting a wireless charging signal, so that the autonomous robot controls a wireless charging receiving end to be positioned in a charging center area of the wireless charging equipment according to the docking guide signal.
In one embodiment of the present description, when the power input is dc, the alternating current generating module may be an inverter (i.e., a dc/ac converter); when the power input is alternating current, the alternating current generating module can be a transformer or an LC circuit and the like.
In an embodiment of the present disclosure, the wireless charging transmitting terminal may be a wireless charging transmitting coil; correspondingly, the wireless charging receiving terminal can be a wireless charging receiving terminal coil.
In an embodiment of the present disclosure, the processor may include, but is not limited to, a single chip, a Micro Control Unit (MCU), and the like.
In an embodiment of the present disclosure, the boundary sensor may be a magnetic signal sensor, for example.
In an embodiment of the present disclosure, the wireless communication module may include, but is not limited to, a bluetooth module, a near field communication module, a WiFi module, a ZigBee module, a LoRa module, an infrared communication module, and the like.
In one embodiment of the present disclosure, the switch may be a controllable switch device (e.g., a transistor, a field effect transistor, a thyristor, etc.) or a controllable switch circuit.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.
Corresponding to the autonomous robot described above, some embodiments of the present specification further provide a wireless charging docking method that may be applied to the autonomous robot side, and as shown in fig. 8, the wireless charging docking method may include the following steps:
s81, receiving a docking guide signal output by the docking guide wire; the input of the docking guide wire is provided by the wireless charging device.
And S82, controlling the pose of the autonomous robot according to the docking guide signal so that the assigned line of the autonomous robot coincides with the central guide section of the docking guide line.
And S83, receiving the wireless charging signal output by the wireless charging equipment.
And S84, controlling the pose of the autonomous robot according to the wireless charging signal, so that a wireless charging receiving end of the autonomous robot is located in a charging center area of the wireless charging equipment.
Corresponding to the above-mentioned wireless charging device, some embodiments of the present specification further provide a wireless charging docking method that can be applied to the wireless charging device side, and as shown in fig. 9, the wireless charging docking method may include the following steps:
s91, providing input to a docking guide line to enable the docking guide line to output a docking guide signal, so that the autonomous robot controls the designated line of the autonomous robot to coincide with the central guide section of the docking guide line according to the docking guide signal;
and S92, stopping providing input to the docking guide line, and outputting a wireless charging signal, so that the autonomous robot controls a wireless charging receiving end to be located in a charging center area of the wireless charging device according to the docking guide signal.
While the process flows described above include operations that occur in a particular order, it should be appreciated that the processes may include more or less operations that are performed sequentially or in parallel (e.g., using parallel processors or a multi-threaded environment).
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, cassettes, disk storage or other storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the method embodiment, since it is substantially similar to the apparatus embodiment, the description is simple, and the relevant points can be referred to the partial description of the apparatus embodiment.
The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.
Claims (26)
1. A wireless charging docking method, comprising:
receiving a docking guidance signal output by the docking guidance wire; the input of the docking guide wire is provided by a wireless charging device;
controlling the pose of the autonomous robot according to the docking guidance signal so that a designated line of the autonomous robot coincides with the central guidance section of the docking guidance line;
receiving a wireless charging signal output by the wireless charging equipment;
and controlling the pose of the autonomous robot according to the wireless charging signal so that a wireless charging receiving end of the autonomous robot is positioned in a charging center area of the wireless charging equipment.
2. The wireless charging docking method of claim 1, wherein the specified line comprises:
the axis of the autonomous robot.
3. The wireless charging docking method of claim 2, wherein said controlling the pose of the autonomous robot according to the docking guidance signal comprises:
controlling the autonomous robot to rotate to a first side according to the docking guide signal so that a first designated point of the autonomous robot on the designated line falls on the central guide section;
controlling the autonomous robot to linearly advance so that a second designated point of the autonomous robot on the designated line falls on the central guide segment; the second designated point comprises an installation position point of the wireless charging receiving end;
controlling the autonomous robot to rotate to a second side such that the first designated point again lands on the central guide segment; the second side is opposite the first side.
4. The wireless charging docking method according to claim 3, wherein when the autonomous robot is provided with two boundary sensors symmetrical with respect to the designated line, the first side includes:
and one side of the two boundary sensors, which is closer to the central guide section.
5. The wireless charging docking method of claim 4, wherein the first designated point comprises:
and in the two boundary sensors, the installation position point corresponding to the farther one from the central guide section.
6. The wireless charging docking method of claim 4, wherein the first designated point comprises:
a center point of symmetry of the two boundary sensors.
7. The wireless charging docking method according to claim 3, wherein a mounting position point of the wireless charging receiving terminal is located at a rear wheel pitch center point of the autonomous robot.
8. The wireless charging docking method of claim 4, wherein the closer to the central guide segment is identified by:
comparing the absolute values of the signal intensity of the docking guide signals currently received by the two boundary sensors;
and taking the boundary sensor corresponding to the absolute value of the larger signal intensity as the closer one to the central guide section.
9. The wireless charging docking method of claim 5, wherein the farther from the central guide segment is identified by:
comparing the absolute values of the signal intensity of the docking guide signals currently received by the two boundary sensors;
and taking the boundary sensor corresponding to the smaller absolute value of the signal intensity as the farther one from the central guide section.
10. The wireless charging docking method of claim 5, wherein a first designated point of the autonomous robot on the designated line falls on the central guide segment, identified by:
and when one of the two boundary sensors, which is farther from the central guide segment, is located at a docking guide signal direction change critical point, confirming that a first designated point of the autonomous robot, which is located on the designated line, falls on the central guide segment.
11. The wireless charging docking method of claim 6, wherein a first designated point of the autonomous robot on the designated line falls on the central guide segment, identified by:
when the absolute values of the signal strengths of the docking guide signals currently received by the two boundary sensors are equal, confirming that a first designated point of the autonomous robot on the designated line falls on the central guide segment.
12. The wireless charging docking method according to claim 5, wherein a second designated point of the autonomous robot on the designated line falls on the central guide segment, identified by:
when the autonomous robot linearly advances by a first distance, confirming that a second designated point of the autonomous robot on the designated line falls on the central guide section; the first distance is determined according to the formula D-L-D/tan theta; d is a first distance, L is a distance between a symmetric center point of the two boundary sensors and a center point of a distance between rear wheels of the main robot, D is a distance between the symmetric center point of the two boundary sensors and the boundary sensors, and theta is a rotation angle of the main robot.
13. The wireless charging docking method according to claim 6, wherein a second designated point of the autonomous robot on the designated line falls on the central guide segment, identified by:
when the autonomous robot linearly advances by a second distance, confirming that a second designated point of the autonomous robot on the designated line falls on the central guide section; the second distance is the distance between the symmetrical center points of the two boundary sensors and the center point of the distance between the rear wheels of the main robot.
14. The wireless charging docking method according to claim 3, wherein when the autonomous robot is provided with two boundary sensors symmetrical with respect to the designated line, the first designated point falls on the central guide section again, being identified by:
confirming that the first designated point falls on the central guide segment again when the absolute values of the signal strengths of the docking guide signals currently received by the two boundary sensors are equal.
15. The wireless charging docking method according to claim 1 or 2, wherein the controlling the pose of the autonomous robot according to the wireless charging signal so that a wireless charging receiver of the autonomous robot is located in a charging center area of the wireless charging device comprises:
controlling the autonomous robot to walk linearly and judging whether the signal intensity value of the wireless charging signal reaches a signal intensity threshold value in real time;
and when the signal intensity reaches the signal intensity threshold value, confirming that a wireless charging receiving end of the autonomous robot is located in a charging center area of the wireless charging equipment.
16. The wireless charging docking method of claim 1 or 2, further comprising:
when the electric quantity of the autonomous robot is lower than an electric quantity threshold value and the autonomous robot returns to a charging bottom plate corresponding to the wireless charging device, sending a first instruction to the wireless charging device to enable the wireless charging device to provide input to the docking guide line, and enabling the docking guide line to output a docking guide signal.
17. The wireless charging docking method of claim 1 or 2, further comprising:
when the specified line of the autonomous robot is overlapped with the central guide section of the docking guide line, sending a second instruction to the wireless charging device, so that the wireless charging device provides input to the docking guide line, and switches to provide input to a wireless charging transmitting terminal of the wireless charging device, so that the wireless charging transmitting terminal outputs a wireless charging signal.
18. The wireless charging docking method of claim 1 or 2, wherein the docking guide line comprises a single-sided docking guide line or a double-sided docking guide line.
19. An autonomous robot comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program, when executed by the processor, performs the wireless charging docking method of any of claims 1-18.
20. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the wireless charging docking method of any of claims 1-18.
21. A wireless charging docking method, comprising:
providing an input to a docking guide wire to cause the docking guide wire to output a docking guide signal, thereby causing the autonomous robot to control a designated line of the autonomous robot to coincide with a central guide section of the docking guide wire according to the docking guide signal;
and stopping providing input to the docking guide line, and outputting a wireless charging signal, so that the autonomous robot controls a wireless charging receiving end to be positioned in a charging center area of the wireless charging equipment according to the docking guide signal.
22. The wireless charging docking method of claim 21, wherein the specified line comprises:
the axis of the autonomous robot.
23. The wireless charging docking method of claim 21 or 22, wherein said providing an input to a docking guide wire comprises:
providing an input to the docking guideline upon receiving a first instruction sent by the autonomous robot.
24. The wireless charging docking method of claim 21 or 22, wherein said ceasing to provide input to the docking guide wire and outputting a wireless charging signal comprises:
when a second instruction sent by the autonomous robot is received, the input provided to the docking guide line is switched to provide the input to the wireless charging transmitting terminal of the autonomous robot, so that the wireless charging transmitting terminal outputs a wireless charging signal.
25. A wireless charging apparatus comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program, when executed by the processor, performs the wireless charging docking method of any one of claims 21-24.
26. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the wireless charging docking method of any of claims 21-24.
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