CN113839471B - 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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- 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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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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
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Abstract
The embodiment of the specification provides an autonomous robot, a wireless charging device, a wireless charging docking method and a storage medium, wherein the method comprises the following steps: receiving a docking guidance signal output by a docking guide wire; the input of the docking guidewire is provided by a wireless charging device; controlling the pose of the autonomous robot according to the docking guide signal so that a designated line of the autonomous robot coincides with a central guide section of the docking guide line; receiving a wireless charging signal output by the wireless charging device; 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. According to the embodiment of the specification, the wireless charging docking cost of the autonomous robot can be reduced.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to an autonomous robot, a wireless charging device, a wireless charging docking method, and a storage medium.
Background
Autonomous robots that are charged using wireless charging have appeared 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 by taking the docking guide wire as an auxiliary condition.
However, in carrying out the application, the inventors of the present application found that: the input of the docking guide wire is currently provided by a separate device, which is also required to be installed in use. Therefore, the wireless charging docking cost of the autonomous robot is high.
Disclosure of Invention
An object of the embodiments 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 wireless charging docking cost of the autonomous robot.
To achieve the above object, in one aspect, an embodiment of the present disclosure provides a wireless charging docking method, including:
receiving a docking guidance signal output by a docking guide wire; the input of the docking guidewire is provided by a wireless charging device;
controlling the pose of the autonomous robot according to the docking guide signal so that a designated line of the autonomous robot coincides with a central guide section of the docking guide line;
Receiving a wireless charging signal output by the wireless charging device;
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 disclosure provide an autonomous robot including a memory, a processor, and a computer program stored on the memory, which when executed by the processor, performs the wireless charging docking method described above.
In the wireless charging docking method according to an embodiment of the present disclosure, the specified line includes:
the central axis of the autonomous robot.
In an embodiment of the wireless charging docking method of the present disclosure, the controlling the pose of the 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 located on the designated line falls on the center guide section; 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 so that the first designated point falls again on the center guide section; the second side is opposite the first side.
In the wireless charging docking method according to an embodiment of the present disclosure, when the autonomous robot is provided with two boundary sensors symmetrical with respect to the designated line, the first side includes:
of the two boundary sensors, the one closer to the center guide section is located.
In the wireless charging docking method according to an embodiment of the present disclosure, the first designated point includes:
and the two boundary sensors are positioned at mounting position points corresponding to the farther one from the central guide section.
In the wireless charging docking method according to an embodiment of the present disclosure, the first designated point includes:
the center point of symmetry of the two boundary sensors.
In the wireless charging docking method according to an embodiment of the present disclosure, the installation position point of the wireless charging receiving end is located at the center point of the rear wheel distance of the autonomous robot.
In the wireless charging docking method according to an embodiment of the present disclosure, the closer one from the center guide section is identified by:
Comparing absolute values of signal strengths of the docking guidance signals currently received by the two boundary sensors;
the boundary sensor corresponding to the absolute value of the larger signal intensity is taken as the closer one from the center guiding section.
In a wireless charging docking method according to an embodiment of the present disclosure, the farther one from the center guide section is identified by:
comparing absolute values of signal strengths of the docking guidance signals currently received by the two boundary sensors;
the boundary sensor corresponding to the absolute value of the smaller signal intensity is taken as the farther one from the center guiding section.
In the wireless charging docking method according to an embodiment of the present disclosure, the first designated point of the autonomous robot located on the designated line falls on the center guide section, and is identified by:
and when the farther one of the two boundary sensors from the central guide section is positioned at the critical point of the change of the direction of the butting guide signal, confirming that the first appointed point of the autonomous robot positioned on the appointed line falls on the central guide section.
In the wireless charging docking method according to an embodiment of the present disclosure, the first designated point of the autonomous robot located on the designated line falls on the center guide section, and is identified by:
When the absolute values of the signal strengths of the docking guidance signals currently received by the two boundary sensors are equal, confirming that a first appointed point of the autonomous robot on the appointed line falls on the central guidance section.
In the wireless charging docking method according to an embodiment of the present disclosure, the second designated point of the autonomous robot located on the designated line falls on the center guide section, and is identified by:
when the autonomous robot linearly advances a first distance, confirming that a second designated point of the autonomous robot located on the designated line falls on the center guide section; the first distance is determined according to the formula d=l-D/tan θ; d is the first distance, L is the distance between the symmetrical center points of the two boundary sensors and the rear wheel interval center point of the autonomous robot, D is the distance between the symmetrical center points of the two boundary sensors and the boundary sensors, and θ is the rotation angle of the autonomous robot.
In the wireless charging docking method according to an embodiment of the present disclosure, the second designated point of the autonomous robot located on the designated line falls on the center guide section, and is identified by:
when the autonomous robot linearly advances a second distance, confirming that a second designated point of the autonomous robot located on the designated line falls on the center guide section; the second distance is the distance between the symmetrical center points of the two boundary sensors and the rear wheel interval center point of the autonomous robot.
In the wireless charging docking method according to an embodiment of the present disclosure, when the autonomous robot is provided with two boundary sensors symmetrical with respect to the designated line, the first designated point falls again on the center guide section, and is identified by:
and when the absolute values of the signal strengths of the butt joint guiding signals currently received by the two boundary sensors are equal, confirming that the first designated point falls on the central guiding section again.
In the wireless charging docking method according to an embodiment of the present disclosure, the controlling the pose of the autonomous robot according to the wireless charging signal, so that the wireless charging receiving end of the autonomous robot is located in the 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, confirming that the wireless charging receiving end of the autonomous robot is positioned in a charging center area of the wireless charging equipment.
The wireless charging docking method of some embodiments of the present specification further includes:
and when the electric quantity of the autonomous robot is lower than an electric quantity threshold value and the autonomous robot is enabled to return to a charging bottom plate corresponding to the wireless charging equipment, a first instruction is sent to the wireless charging equipment, so that the wireless charging equipment provides input for the docking guide line, and the docking guide line outputs a docking guide signal.
The wireless charging docking method of some embodiments of the present specification further includes:
when the designated line of the autonomous robot is overlapped with the central guiding section of the docking guiding line, a second instruction is sent to the wireless charging equipment, so that the wireless charging equipment is switched from providing input to the docking guiding line to providing input to the wireless charging transmitting end of the wireless charging equipment, and the wireless charging transmitting end outputs a wireless charging signal.
In the wireless charging docking method according to an embodiment of the present disclosure, the docking guide line includes a single-sided docking guide line or a double-sided docking guide line.
In another aspect, embodiments of the present disclosure provide a computer storage medium having a computer program stored thereon, which when executed by a processor, implements the wireless charging docking method described above.
In the wireless charging docking method according to an embodiment of the present disclosure, the specified line includes:
the central axis of the autonomous robot.
In a wireless charging docking method according to an embodiment of the present disclosure, the providing input to a docking guidewire includes:
upon receiving a first command sent by the autonomous robot, an input is provided to the docking guidewire.
In the wireless charging docking method according to an embodiment of the present disclosure, the stopping providing the input to the docking guidance wire and outputting the wireless charging signal includes:
when a second instruction sent by the autonomous robot is received, the input is provided for the docking guide line, and the wireless charging transmitting end is switched to provide the input for the wireless charging transmitting end, so that the wireless charging transmitting end outputs a wireless charging signal.
In another aspect, embodiments of the present disclosure further provide another wireless charging docking method, including:
providing input to a docking guidance wire to cause the docking guidance wire to output a docking guidance signal, thereby causing an autonomous robot to control a designated line of the autonomous robot itself to coincide with a central guidance section of the docking guidance wire in accordance with the docking guidance 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, embodiments of the present disclosure provide a wireless charging device including a memory, a processor, and a computer program stored on the memory, the computer program when executed by the processor performing the wireless charging docking method described above.
In another aspect, embodiments of the present disclosure provide another computer storage medium having a computer program stored thereon, which 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 guidance wire is provided by the wireless charging device, that is, the wireless charging device may not only provide the wireless charging signal, but also have the function of providing the input to the docking guidance wire, there is no need to configure a separate input providing device for the docking guidance wire and perform the corresponding installation construction, so that the embodiments of the present specification reduce the wireless charging docking cost of the autonomous robot.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some of the embodiments described in the present description, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. 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 relative to a wireless charging device in some embodiments of the present disclosure;
FIG. 3 is a schematic view of the installation of a docking guide wire relative to a wireless charging device in accordance with other embodiments of the present disclosure;
FIG. 4a is a schematic view illustrating an autonomous robot rotating to a first side according to a docking guidance signal according to an embodiment of the present disclosure;
FIG. 4b is a schematic view of the autonomous robot in a straight-line forward direction after rotating to the first side according to an embodiment of the present disclosure;
FIG. 4c is a schematic view illustrating the autonomous robot rotating to the second side according to the docking guidance signal according to an embodiment of the present disclosure;
FIG. 4d is a schematic diagram illustrating a straight-line walking of the autonomous robot after rotating to the second side according to an embodiment of the present disclosure;
FIG. 5a is a schematic view illustrating an autonomous robot rotating to a first side according to a docking guidance signal according to another embodiment of the present disclosure;
FIG. 5b is a schematic view of the autonomous robot following rotation to a first side in accordance with another embodiment of the disclosure;
FIG. 5c is a schematic view illustrating the autonomous robot rotating to the second side according to the docking guidance signal according to another embodiment of the present disclosure;
FIG. 5d is a schematic view of a straight walk of an autonomous robot after rotating to a second side according to another embodiment of the present disclosure;
FIG. 6 is a partial block diagram 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 description;
FIG. 8 is a flow chart of a wireless charging docking method in some embodiments of the present disclosure;
fig. 9 is a flowchart of a wireless charging docking method according to other embodiments of the present disclosure.
Detailed Description
In order to make the technical solutions in the present specification better understood by those skilled in the art, 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 some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.
Referring to fig. 1, an autonomous robot 100 referred to in the present specification may autonomously move within a work area 200 to automatically perform a work task. In some embodiments of the present description, the autonomous robot 100 may be, for example, a floor cleaning robot or a lawn care robot, or the like. For example, in an exemplary embodiment, the floor cleaning robot may be an automatic sweeper, an automatic mopping machine, an automatic snowplow, or the like; the lawn care robot can be an intelligent mower, an automatic watering machine, an automatic lawn care machine and the like.
For an autonomous robot adopting a wireless charging mode, when the electric quantity of the autonomous robot is lower than an electric quantity threshold value, the autonomous robot needs to return to the wireless charging equipment to be charged. Because the positioning accuracy of the autonomous robot is limited (or the positioning signal is limited to be received, etc.), 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 it is generally difficult to directly and accurately return to the charging center area of the wireless charging device. In order to improve the charging efficiency of the autonomous robot, the wireless charging receiving end of the autonomous robot can fall into the charging center region of the wireless charging device by using auxiliary means such as a docking guide line. However, the input to the docking guide is currently provided by a separate device. Therefore, the wireless charging docking cost of the autonomous robot is high.
In view of this, the present description provides an improved autonomous robot in order to reduce the 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 that, when executed by the processor, may receive a docking guidance signal output by a docking guidance wire; the input of the docking guidewire is provided by a wireless charging device; controlling the pose of the autonomous robot according to the docking guide signal so that a designated line of the autonomous robot coincides with a central guide section of the docking guide line; receiving a wireless charging signal output by the wireless charging device; 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 wire is provided by the wireless charging device, that is, the wireless charging device can not only provide the wireless charging signal, but also has the function of providing the input to the docking guide wire, it is not necessary to configure a separate input providing device for the docking guide wire and perform corresponding installation construction, and thus 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 guide wire may be in any suitable structural arrangement. Wherein the central guiding section of the docking guide wire may refer to: and docking the portion of the guide wire passing through the charging center region of the wireless charging device. The charging center area of the wireless charging device may refer to: within the coverage area of the wireless charging signal of the wireless charging device, the signal strength of the wireless charging signal reaches the strength threshold (generally, the center of the wireless charging transmitting end of the wireless charging device).
For example, in one embodiment of the present disclosure, with reference to FIG. 2, the docking guide wire may be configured for double-sided guidance. As can be seen from fig. 2, the two sides of the charging bottom plate (rectangular frame indicated by solid line in fig. 2) of the wireless charging device are uniformly provided with closed approximately rectangular docking guide lines, and the central guide section of the docking guide line passes through the charging central region (small round region filled with small black dots in fig. 2) of the wireless charging device. The large circle indicated by the broken line in fig. 2 is the wireless charging signal coverage of the wireless charging device. The inventors of the present application studied and found that: the double-side guiding structure layout of the butt joint guide line is not easy to generate signal interference, and the guiding effect is better.
For another example, in another embodiment of the present disclosure, as shown with reference to fig. 3, the docking guide wire may also be configured for single sided guidance. As can be seen from fig. 3, one side of the charging base plate (rectangular frame indicated by solid line in fig. 3) of the wireless charging device is laid with a closed, substantially rectangular docking guide wire, the central guide section of which passes through the charging central region (small circular region filled with small black dots in fig. 3) of the wireless charging device. The large circle indicated by the broken line in fig. 3 is the wireless charging signal coverage of the wireless charging device. The single-sided guiding structure layout shown in fig. 3 is more compact and cost effective than the double-sided guiding 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 returns the autonomous robot to the charging bottom plate corresponding to the wireless charging device, an instruction for starting the docking guide 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 guide wire, and the docking guide wire can output the docking guide signal. Therefore, the autonomous robot can receive the docking guide signal output by the docking guide wire through the boundary sensor, so that the position of the autonomous robot can be controlled according to the docking guide signal. The poses referred to in this specification may include the position and heading (or heading) of the autonomous robot.
In some embodiments of the present description, the designated line of the autonomous robot may refer to: a straight line passing through the wireless charging receiving end of the autonomous robot, and the straight line may be parallel to the heading of the autonomous robot. For example, in an exemplary embodiment of the present specification, when the wireless charging receiving end is disposed on the central axis of the autonomous robot, the designated line may be the central axis of the autonomous robot. In this way, the calculation can be simplified and the overhead can be reduced.
For ease of understanding, in the following embodiments of the present specification, the designated lines of the autonomous robot are described by taking the central axis as an example. However, those skilled in the art will appreciate that the present description is not limited thereto; according to needs, in other embodiments of the present disclosure, the wireless charging receiving end of the autonomous robot may also be installed 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 specific line as an example of the central axis, the controlling the pose of the autonomous robot according to the docking guidance signal may include the steps of:
(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 an embodiment of the present description, the first side may be a side of the central guiding section 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 nearer one of the center guide sections is located (i.e., the boundary sensor closer to the center guide section). It should be noted that when the autonomous robot returns to the charging floor of the wireless charging device, the autonomous robot is typically already in close proximity to the charging center area of the wireless charging device; at this point, the boundary sensor is generally closer to the center guide section. Thus, the boundary sensor receives a docking guidance signal, typically output by the center guidance segment. Thus, the closer of the center guide section may be identified by: comparing absolute values of signal strengths of the docking guidance signals currently received by the two boundary sensors; the boundary sensor corresponding to the absolute value of the larger signal intensity is taken as the closer one from the center guiding section.
With continued reference to fig. 4a, in an exemplary embodiment of the present disclosure, the first specific point may be: and the two boundary sensors are positioned at mounting position points corresponding to the farther one from the central guide section. Similar to the manner of identification of the closer to the center guide section described above, the farther from the center guide section may be identified by: comparing absolute values of signal strengths of the docking guidance signals currently received by the two boundary sensors; the boundary sensor corresponding to the absolute value of the smaller signal intensity is taken as the farther one from the center guiding section.
Accordingly, a first designated point of the autonomous robot on the central axis falls on the central guide section, which may be identified by: and when the farther one of the two boundary sensors from the central guide section is positioned at the critical point of the change of the direction of the butting guide signal, confirming that the first appointed point of the autonomous robot positioned on the central axis falls on the central guide section. In fig. 4a, the central guiding section acts as a straight wire, the magnetic fields on both sides being opposite in direction. Thus, when a boundary sensor farther from the center guide section is located on the center guide section, the docking guide signal received by the boundary sensor is just at the direction change critical point. Therefore, when the farther from the center guide section is located at the butt guide signal direction change critical point, it can be confirmed that the farther from the center guide section falls on the center guide section, at which time the corresponding rotation angle θ can be recorded. In fig. 4a, the autonomous robot indicated by a broken line is a position before rotation, the autonomous robot indicated by a solid line is a position after rotation, and an arrow indicates a rotation direction.
Referring to fig. 5a, in another exemplary embodiment of the present disclosure, the first designated point may also be a symmetric center point of the two boundary sensors. In fig. 5a, the central guiding section acts as a straight wire, the magnetic fields on both sides being opposite in direction. Therefore, when the symmetrical center points of the two boundary sensors are positioned on the center guide section, the butt joint guide signals received by the two boundary sensors are in the state of equal size and opposite directions. Therefore, when the absolute values of the signal strengths of the docking guidance signals currently received by the two boundary sensors are equal, it can be confirmed that the symmetrical center points of the two boundary sensors fall on the center guidance section, and at this time, the corresponding rotation angle θ can be recorded. In fig. 5a, the autonomous robot indicated by a broken line is a position before rotation, the autonomous robot indicated by a solid line is a position after rotation, and an arrow indicates a rotation direction.
It should be noted that, the rotation mentioned in the embodiment of the present specification generally refers to in-situ rotation with the installation position point of the wireless charging receiving end as the center. Generally, when the autonomous robot performs in-situ rotation, the rear wheel spacing center point of the autonomous robot is used as a circle center for rotation, so that the installation position point of the wireless charging receiving end is positioned on the rear wheel spacing center point of the autonomous robot, and the in-situ rotation control is a better choice, so that the rotation control can be conveniently realized. Of course, in other embodiments of the present disclosure, if some autonomous robots do not perform in-situ rotation with the center point of the rear wheel space 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 the present disclosure.
(2) Controlling the autonomous robot to linearly advance so that a second designated point of the autonomous robot on the central axis falls on the central guide section; the second designated point comprises an installation position point of the wireless charging receiving end.
In the embodiment of the present disclosure, the installation location point of the wireless charging receiving end 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 can be controlled to linearly advance so that the installation position point of the wireless charging receiving end falls on the center guide section.
Referring to fig. 4b, in an exemplary embodiment of the present disclosure, the installation location point at the wireless charging receiving end is located at the center point of the rear wheel space of the autonomous robot, and the first specified point is: and under the condition that the installation position point corresponding to the far person from the central guide section in the two boundary sensors, when the autonomous robot linearly advances by a set first distance, the installation position point of the wireless charging receiving end can be confirmed to fall on the central guide section. Wherein the first distance may be determined according to the formula d=l-D/tan θ; d is the first distance, L is the distance between the symmetrical center points of the two boundary sensors and the rear wheel interval center point of the autonomous robot, D is the distance between the symmetrical center points of the two boundary sensors and the boundary sensors, and θ is the rotation angle of the autonomous robot. In fig. 4b, the autonomous robot indicated by a broken line is a pose before straight line advancement, the autonomous robot indicated by a solid line is a pose after straight line advancement, and an arrow indicates a displacement direction.
Referring to fig. 5b, in another exemplary embodiment of the present specification, in the case where the installation location point of the wireless charging receiver is located at the rear wheel space center point of the autonomous robot and the first designated point is the symmetric center point of the two boundary sensors, it may be confirmed that the installation location point of the wireless charging receiver falls on the center guide section when the autonomous robot is linearly advanced by the second distance. Wherein the second distance is the distance between the center point of symmetry of the two boundary sensors and the center point of the rear wheel space of the autonomous robot (i.e., the length of D in fig. 5 b). In fig. 5b, the autonomous robot indicated by a broken line is a pose before straight line advancement, the autonomous robot indicated by a solid line is a pose after straight line advancement, and an arrow indicates a displacement direction.
(3) Controlling the autonomous robot to rotate to the second side so that the first designated point falls on the central guide section again; wherein the second side is opposite to the first side.
In the embodiment of the present specification, after the autonomous robot advances straight, the installation position point of the wireless charging receiving end falls on the center guide section. On this basis, the rotation is reversed with respect to the first side, and when the rotation is such that the absolute values of the signal strengths of the butt guide signals currently received by the two boundary sensors are equal, it can be confirmed that the center point of symmetry of the two boundary sensors falls on the center guide section. The installation position point of the wireless charging receiving end and the symmetrical center point of the two boundary sensors are two points on the central axis of the autonomous robot, which indicates that the central axis of the autonomous robot is coincident with the central guiding section (for example, as shown in fig. 4c and 5 c). It will be appreciated by those skilled in the art that the coincidence herein allows for some error, and as such, the first and second specified points described above fall on the central guide section, as well as some error. In fig. 4c and 5c, the autonomous robot indicated by a broken line is a pose before rotation, the autonomous robot indicated by a solid line is a pose after rotation, and an arrow indicates a rotation direction.
In some embodiments of the present disclosure, when the central axis of the autonomous robot coincides with the central guiding section of the docking guide wire, the autonomous robot may send an instruction to turn on the wireless charging signal to the wireless charging device, so that the wireless charging device switches from providing input to the docking guide wire to providing input to the wireless charging transmitting end of the wireless charging device itself, so that the wireless charging transmitting end outputs the wireless charging signal, so that the autonomous robot may control its pose according to the wireless charging signal, so that its wireless charging receiving end is located in the charging central 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 can certainly pass through the charging central region of the wireless charging equipment by straight line advancing or straight line retreating; the signal strength value of the wireless charging signal at the charging center region can hereby be taken as another signal strength threshold value. When the central axis of the autonomous robot coincides with the central guiding section of the docking guide wire and the signal intensity value of the wireless charging signal is detected to reach the signal intensity threshold value in the process of straight walking of the autonomous robot, it may be confirmed that the wireless charging receiving end of the autonomous robot is located in the charging central area of the wireless charging device (for example, as shown in fig. 4d and fig. 5 d). Therefore, wireless charging docking 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 generation module, a controllable switch, and a wireless charging transmitter. When receiving the instruction for starting the docking guidance signal sent by the autonomous robot through the wireless communication module, the processor can control the alternating current generation module to convert the power input into proper alternating current, and enable the alternating current to be input to the docking guidance wire only through the controllable switch, so that the docking guidance wire can emit the docking guidance signal. On the basis, when the wireless communication module receives the instruction for starting the wireless charging signal sent by the autonomous robot, the processor can stop inputting alternating current to the docking guide wire through the controllable switch and input the alternating current to the wireless charging transmitting end, so that the wireless charging transmitting end can transmit the wireless charging signal.
In 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, which when executed by the processor performs the steps of:
Providing input to a docking guidance wire to cause the docking guidance wire to output a docking guidance signal, thereby causing an autonomous robot to control a designated line of the autonomous robot itself to coincide with a central guidance section of the docking guidance wire in accordance with the docking guidance 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 an embodiment of the present disclosure, when the power input is dc, the alternating current generating module may be an inverter (i.e., a dc/ac converter); when the power supply input is alternating current, the alternating current generating module can be a transformer or an LC circuit.
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 microcomputer, a Micro Control Unit (MCU), and the like.
In an embodiment of the present disclosure, the boundary sensor may be, for example, a magnetic signal sensor.
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 available switch may be a controllable switching device (e.g., transistor, field effect transistor, thyristor, etc.) or a controllable switching circuit.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.
Corresponding to the autonomous robot described above, some embodiments of the present disclosure further provide a wireless charging docking method that may be applied to an autonomous robot side, and referring to fig. 8, the wireless charging docking method may include the following steps:
s81, receiving a docking guide signal output by a docking guide wire; the input of the docking guidewire is provided by a wireless charging device.
S82, controlling the pose of the autonomous robot according to the docking guide signal so as to enable the designated line of the autonomous robot to coincide with the central guide section of the docking guide line.
S83, receiving a wireless charging signal output by the wireless charging device.
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 wireless charging device, some embodiments of the present disclosure further provide a wireless charging docking method that may be applied to a wireless charging device side, and referring to fig. 9, the wireless charging docking method may include the following steps:
s91, providing input to a butt guide line so that the butt guide line outputs a butt guide signal, and the autonomous robot controls a specified line of the autonomous robot to coincide with a central guide section of the butt guide line according to the butt 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 positioned in a charging center area of the wireless charging equipment according to the docking guide signal.
While the process flows described above include a plurality of operations occurring in a particular order, it should be apparent that the processes may include more or fewer operations, which may be performed sequentially or in parallel (e.g., using a parallel processor 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
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 storage media for a computer 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, cartridges, disk storage or other storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.
It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The 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.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the method embodiments, since they are substantially similar to the apparatus embodiments, the description is relatively simple, with reference to the description of the apparatus embodiments in part.
The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.
Claims (26)
1. A wireless charging docking method, comprising:
receiving a docking guidance signal output by a docking guide wire; the input of the docking guidewire is provided by a wireless charging device;
controlling the pose of the autonomous robot according to the docking guide signal so that a designated line of the autonomous robot coincides with a central guide section of the docking guide line; the central guide section is a guide line part which passes through a charging central region of the wireless charging equipment in the butt joint guide line, the central guide section is a straight guide line, and the magnetic fields at the two sides of the central guide section are opposite in direction;
Receiving a wireless charging signal output by the wireless charging device;
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 designated line comprises:
the central axis of the autonomous robot.
3. The wireless charging docking method of claim 2, wherein the 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 located on the designated line falls on the center guide section; 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 so that the first designated point falls again on the center guide section; the second side is opposite the first side.
4. A wireless charging docking method according to claim 3, wherein when the autonomous robot is provided with two boundary sensors symmetrical with respect to the specified line, the first side includes:
of the two boundary sensors, the one closer to the center guide section is located.
5. The wireless charging docking method of claim 4, wherein the first designated point comprises:
and the two boundary sensors are positioned at mounting position points 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:
the center point of symmetry of the two boundary sensors.
7. The wireless charging docking method of claim 3, wherein the mounting location point of the wireless charging receiving end is located at a rear wheel spacing center point of the autonomous robot.
8. The wireless charging docking method of claim 4, wherein the closer to the center guide section is identified by:
comparing absolute values of signal strengths of the docking guidance signals currently received by the two boundary sensors;
The boundary sensor corresponding to the absolute value of the larger signal intensity is taken as the closer one from the center guiding section.
9. The wireless charging docking method of claim 5, wherein the farther from the center guide section is identified by:
comparing absolute values of signal strengths of the docking guidance signals currently received by the two boundary sensors;
the boundary sensor corresponding to the absolute value of the smaller signal intensity is taken as the farther one from the center guiding section.
10. The wireless charging docking method of claim 5, wherein a first designated point of the autonomous robot located on the designated line falls on the central guide segment, identified by:
and when the farther one of the two boundary sensors from the central guide section is positioned at the critical point of the change of the direction of the butting guide signal, confirming that the first appointed point of the autonomous robot positioned on the appointed line falls on the central guide section.
11. The wireless charging docking method of claim 6, wherein a first designated point of the autonomous robot located on the designated line falls on the central guide segment, identified by:
When the absolute values of the signal strengths of the docking guidance signals currently received by the two boundary sensors are equal, confirming that a first appointed point of the autonomous robot on the appointed line falls on the central guidance section.
12. The wireless charging docking method of claim 5, wherein a second designated point of the autonomous robot located on the designated line falls on the central guide segment, identified by:
when the autonomous robot linearly advances a first distance, confirming that a second designated point of the autonomous robot located on the designated line falls on the center guide section; the first distance is determined according to the formula d=l-D/tan θ; d is the first distance, L is the distance between the symmetrical center points of the two boundary sensors and the rear wheel interval center point of the autonomous robot, D is the distance between the symmetrical center points of the two boundary sensors and the boundary sensors, and θ is the rotation angle of the autonomous robot.
13. The wireless charging docking method of claim 6, wherein a second designated point of the autonomous robot located on the designated line falls on the central guide segment, identified by:
When the autonomous robot linearly advances a second distance, confirming that a second designated point of the autonomous robot located on the designated line falls on the center guide section; the second distance is the distance between the symmetrical center points of the two boundary sensors and the rear wheel interval center point of the autonomous robot.
14. A wireless charging docking method according to claim 3, characterized in that when the autonomous robot is provided with two boundary sensors symmetrical with respect to the designated line, the first designated point falls again on the central guide section, identified by:
and when the absolute values of the signal strengths of the butt joint guiding signals currently received by the two boundary sensors are equal, confirming that the first designated point falls on the central guiding section again.
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 the wireless charging receiving end of the autonomous robot is located in the 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, confirming that the wireless charging receiving end of the autonomous robot is positioned in a charging center area of the wireless charging equipment.
16. The wireless charging docking method of claim 1 or 2, further comprising:
and when the electric quantity of the autonomous robot is lower than an electric quantity threshold value and the autonomous robot is enabled to return to a charging bottom plate corresponding to the wireless charging equipment, a first instruction is sent to the wireless charging equipment, so that the wireless charging equipment provides input for the docking guide line, and the docking guide line outputs a docking guide signal.
17. The wireless charging docking method of claim 1 or 2, further comprising:
when the designated line of the autonomous robot is overlapped with the central guiding section of the docking guiding line, a second instruction is sent to the wireless charging equipment, so that the wireless charging equipment is switched from providing input to the docking guiding line to providing input to the wireless charging transmitting end of the wireless charging equipment, and the wireless charging transmitting end outputs a wireless charging signal.
18. The wireless charging docking method according to claim 1 or 2, wherein the docking guide wire comprises a single-sided docking guide wire or a double-sided docking guide wire.
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 stored thereon a computer program, which 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 input to a docking guidance wire to cause the docking guidance wire to output a docking guidance signal, thereby causing an autonomous robot to control a designated line of the autonomous robot itself to coincide with a central guidance section of the docking guidance wire in accordance with the docking guidance signal; the central guide section is a guide line part which passes through a charging central region of the wireless charging equipment in the butt joint guide line, the central guide section is a straight guide line, and the magnetic fields at the two sides of the central guide section are opposite in direction;
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 of the autonomous robot 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 designated line comprises:
the central axis of the autonomous robot.
23. The wireless charging docking method of claim 21 or 22, wherein said providing input to the docking guidewire comprises:
upon receiving a first command sent by the autonomous robot, an input is provided to the docking guidewire.
24. The wireless charging docking method of claim 21 or 22, wherein the ceasing to provide input to the docking guidewire and outputting a wireless charging signal comprises:
when a second instruction sent by the autonomous robot is received, the input is provided for the docking guide line, and the wireless charging transmitting end is switched to provide the input for the wireless charging transmitting end, so that the wireless charging transmitting end outputs a wireless charging signal.
25. A wireless charging device 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 stored thereon a computer program, which when executed by a processor implements the wireless charging docking method of any of claims 21-24.
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