CN113904463B

CN113904463B - Wireless charging method and device and robot

Info

Publication number: CN113904463B
Application number: CN202010573031.1A
Authority: CN
Inventors: 何明明
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2020-06-22
Filing date: 2020-06-22
Publication date: 2023-11-07
Anticipated expiration: 2040-06-22
Also published as: CN113904463A

Abstract

The embodiment of the specification provides a wireless charging method, a wireless charging device and a robot. The method comprises the following steps: obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged; obtaining a third magnetic induction intensity detected by a third detecting means; according to the third magnetic induction intensity detected by the third detection component, the charging position is determined, so that automatic docking of wireless charging is realized, the wireless charging is more intelligent and more convenient, the cost is reduced, and the safety is improved.

Description

Wireless charging method and device and robot

Technical Field

The embodiment of the specification relates to the field of robots, in particular to a wireless charging method, a wireless charging device and a robot.

Background

Along with the development of science and technology, intelligent automatic walking equipment is well known, and because the automatic walking equipment can automatically preset programs to execute preset related tasks without manual operation and intervention, the intelligent automatic walking equipment has very wide application in industrial application and household products. Industrial applications such as robots for performing various functions, household products such as mowers, dust collectors, sweeping robots and the like, and the intelligent automatic walking equipment greatly saves time of people and brings great convenience to industrial production and household life.

However, since the robot itself has a limited capacity of its onboard power supply, it cannot supply power for a long time, and it is necessary to complete the charging by means of manual intervention. The manual intervention charging mode not only wastes manpower time, but also causes the limitation of the working time of the robot, and reduces the autonomy and the intellectualization of the robot. Therefore, in order to improve the sustainable working capacity of the robot, the robot may be charged. The most common way of charging robots is based on contact charging technology. The contact type charging technology adopts an interface butt joint mode, and the charging mode is easy to cause poor contact or short circuit, causes charging failure and brings potential safety hazard, and influences charging efficiency and application of the robot. The charger and the electric device can be exposed without conductive contact because the charger and the electric device are connected by no electric wire. Compared with contact charging, wireless charging is receiving more and more attention due to the advantages of having an exposed interface or not, running safety, convenience and flexibility, good user experience and the like.

Generally, in the wireless charging process of the robot, a transmitting coil of the wireless charging device is required to be aligned with a receiving coil in the robot to ensure the charging efficiency. Currently, the wireless charging may be performed by providing an outwardly extending guide wire in the wireless charging device, through which the robot finds the position of the wireless charging device, so that a receiving coil in the robot can be aligned with a transmitting coil of the wireless charging device.

Disclosure of Invention

The embodiment of the specification aims to provide a wireless charging method, a wireless charging device and a robot, so that a charging mode of the robot is more convenient, the safety of the wireless charging mode is improved, and the cost is reduced.

In order to solve the above problems, embodiments of the present disclosure provide a wireless charging method, apparatus, and robot.

A wireless charging method applied to a robot, the method comprising: obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged; obtaining a third magnetic induction intensity detected by a third detecting means; and determining the charging position according to the third magnetic induction intensity detected by the third detection component.

A wireless charging method applied to a robot, the method comprising: obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is the same as the second magnetic induction intensity, maintaining the current travelling direction so that the robot returns to a charging position along the current travelling direction for charging; obtaining a third magnetic induction intensity detected by a third detecting means; and determining the charging position according to the third magnetic induction intensity detected by the third detection component.

A wireless charging device, the device comprising: the first acquisition module is used for acquiring the first magnetic induction intensity detected by the first detection component and the second magnetic induction intensity detected by the second detection component, and the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; the first determining module is used for determining a rotating direction if the first magnetic induction intensity is different from the second magnetic induction intensity; the correction module is used for correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to charge the robot, and the correction module is used for obtaining the third magnetic induction intensity detected by the third detection component; and the second determining module is used for determining the charging position according to the third magnetic induction intensity detected by the third detecting component.

A wireless charging device, the device comprising: the first acquisition module is used for acquiring the first magnetic induction intensity detected by the first detection component and the second magnetic induction intensity detected by the second detection component, and the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; the regression module is used for keeping the current travelling direction if the first magnetic induction intensity is the same as the second magnetic induction intensity, so that the robot can return to a charging position along the current travelling direction for charging; a second obtaining module for obtaining a third magnetic induction intensity detected by the third detecting means; and the determining module is used for determining the charging position according to the third magnetic induction intensity detected by the third detecting component.

A robot, comprising: a first detection means for detecting a first magnetic induction intensity; a second detection means for detecting a second magnetic induction intensity; a third detection means for detecting a third magnetic induction intensity; a memory for storing a computer program; at least one processor for executing the computer program to perform the steps of: obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged; obtaining a third magnetic induction intensity detected by a third detecting means; and determining the charging position according to the third magnetic induction intensity detected by the third detection component.

As can be seen from the technical solutions provided in the embodiments of the present specification, the charging method provided in the embodiments of the present specification may be applied to a robot, and may obtain a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, where the first detection component and the second detection component are symmetrically disposed along a central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged; obtaining a third magnetic induction intensity detected by a third detecting means; according to the third magnetic induction intensity that the third detection part detected, confirm the position of charging to find the best region of charging and charge, realize wireless automatic butt joint that charges, can avoid the installation trouble and with high costs that the installation guide wire brought in wireless charging device to and the security problem, make wireless charging more intelligent, it is more convenient, the cost is reduced has improved the security.

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, and it is obvious that the drawings in the following description are only some embodiments described in the present description, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic block diagram of a wireless charging system according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of an internal device of the robot according to the embodiment of the present disclosure;

FIG. 3 is a schematic diagram of field strength and positional relationship according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of field strength and positional relationship according to an embodiment of the present disclosure;

fig. 5 is a flowchart of a wireless charging method according to an embodiment of the present disclosure;

fig. 6 is a flowchart of a wireless charging method according to an embodiment of the present disclosure;

fig. 7 is a functional block diagram of a wireless charging device according to an embodiment of the present disclosure;

fig. 8 is a functional block diagram of a wireless charging device according to an embodiment of the present disclosure;

fig. 9 is a functional structural diagram of a robot according to an embodiment of the present disclosure.

Detailed Description

The technical solutions of 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 apparent 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.

With the progress of scientific technology, wireless charging technology has been developed rapidly. The wireless charging technique may include the following:

the electromagnetic induction type wireless charging device comprises a transmitting end and a receiving end which are in wireless charging, wherein coils are arranged in the transmitting end and the receiving end, when the transmitting end and the receiving end are close to each other, the transmitting coil of the transmitting end generates current in the receiving coil of the receiving end through electromagnetic induction based on alternating current with a certain frequency, so that energy is transferred from the transmitting end to the receiving end, and wireless charging is achieved.

The magnetic resonance type wireless charging can be realized through a magnetic vibrator. The magnetic vibrator consists of a large inductance coil with a small capacitor connected in parallel or in series. The magnetic resonance wireless charging requires that the transmitting end and the receiving end vibrate at the same frequency, for example, two coils are used as resonators, the transmitting end vibrates at the frequency of 10MHz to emit an electromagnetic field to the surrounding, and the receiving end also vibrates at the frequency of 10MHz to receive the transferred energy. Compared with electromagnetic induction, the wireless charging realizes long transmission distance and efficient power supply based on the mode of magnetic resonance, and can realize a one-to-many power supply mode. However, since both are required to be at the same resonant frequency, circuit frequency modulation is important.

The principle of radio wave type is that it converts the electromagnetic wave of environment into current, and the current is transmitted by circuit. The wireless charging mode has a transmission distance of more than 10 meters, is suitable for long-distance low-power charging, and can realize automatic charging at any time and any place. However, if this is done, the charging time will be longer for reasons of lower conversion efficiency.

The wireless charging technology can also comprise WiFi wireless charging, ultrasonic wireless charging, focusing light rays and the like.

In the embodiment of the present specification, the robot may include a robot having a walking function such as a floor sweeping robot, a robotic lawnmower, an automatic snowplow, a meal delivery robot, or the like. Robots can generally move and work within a preset work area. The working area defines the movement range of the robot. The robot can identify the boundary of the working area, thereby ensuring the smooth progress of the work. In the working area, a wireless charging device can be arranged, so that the robot can automatically find the position of the wireless charging device and charge under the condition of insufficient electric quantity.

In the embodiment of the present disclosure, the wireless charging device may generate a charging area. The relative positions of the robot and the wireless charging device in the charging area may deviate to some extent, so that the wireless charging receiving device in the robot is not aligned with the wireless charging device, but normal charging can still be performed, but charging efficiency is reduced to some extent. Generally, the acceptable deviation range of the magnetic resonance wireless charging is larger, and the acceptable deviation range of the magnetic induction wireless charging is smaller, even strict alignment is needed. Currently, a wireless charging receiving end in a robot is aligned with a wireless charging device by arranging a guide wire extending outwards in the wireless charging device, and the robot searches the position of the wireless charging device through the guide wire so as to perform wireless charging. Such a mode requires installation of a guide wire, is troublesome and costly to install, and the arrangement of the guide wire may bring about a safety problem, reducing the convenience of wireless charging. Considering if look for wireless charging device in-process at the robot, can be through detecting the magnetic field of wireless charging device transmission to confirm wireless charging device's position according to magnetic induction intensity, thereby find the best region of charging and charge, realize wireless automatic butt joint that charges, can avoid the installation trouble and with high costs that the installation guide wire brought in wireless charging device and security problem, make wireless charging more intelligent, it is more convenient, the cost is reduced, the security has been improved.

Please refer to fig. 1. The present embodiments provide a wireless charging system 100. The wireless charging system 100 may include: robot 110, wireless charging device 120.

In some embodiments, the wireless charging system 100 may employ electromagnetic induction technology or magnetic resonance technology to achieve wireless charging. When the electromagnetic induction technology is adopted to realize wireless charging, a receiving coil can be arranged in the robot, a transmitting coil is arranged in the wireless charging device, and the transmitting coil of the wireless charging device generates current in the receiving coil of the robot through electromagnetic induction based on alternating current with a certain frequency, so that energy is transferred from a transmitting end to the robot, and wireless charging is realized. When the wireless charging is realized by adopting the magnetic resonance technology, the magnetic vibrators can be respectively arranged in the robot and the wireless charging device, and when the wireless charging is performed, the magnetic vibrators of the robot and the wireless charging device keep the same vibration frequency so as to realize the wireless charging.

In some embodiments, the wireless charging device 120 may be disposed in a fixed location. The robot 110 may perform wireless charging in a charging area generated by the wireless charging device 120, but there may be a deviation in the relative positions of the robot 110 and the wireless charging device 120 in the charging area, so that the robot 110 is not aligned with the wireless charging device 120, resulting in a reduction in charging efficiency to some extent, and even failing to perform normal charging. Therefore, the robot 110 and the wireless charging device 120 are required to be aligned in relative positions so that the robot 110 can be normally charged.

In some embodiments, the wireless charging device 120 may emit a magnetic field, and the radiation range of the magnetic field may be used as a charging area. Specifically, wireless communication, such as WiFi, bluetooth, infrared, etc., may be used between the robot 110 and the wireless charging device 120. The robot 110 may send a charging signal to the wireless charging device 120 when its battery power is lower than a preset threshold, and the wireless charging device 120 may emit a magnetic field after receiving the charging signal sent by the robot 110.

In some embodiments, the robot 110 may walk to the charging area when its battery level is below a preset threshold. Since a certain amount of power is required to support the robot 110 to walk to the charging area, the preset threshold may be set to a value greater than zero, for example, 20% and 30% of the battery power of the robot 110, so that the robot 110 is ensured to walk to the charging area with sufficient power.

In some embodiments, the robot 110 may be walked to the charging area using RTK techniques. The RTK is a differential method for Real-time kinematic (Real-time) carrier phase observation of two measuring stations, and can send carrier phases acquired by a reference station to a user receiver for solving a difference to calculate coordinates. Of course, it is also possible to walk to the charging area using positioning techniques such as vision, radar, ultrasound, infrared, etc.

In some embodiments, due to limitations of the positioning technology, the positioning manner cannot accurately align the robot 110 and the wireless charging device 120 in the charging area, so that the robot 110 cannot reach the optimal charging efficiency. Thus, the robot 110 may include a first detection means, a second detection means, and a third detection means; the robot 110 may determine a traveling direction of the robot 110 in the charging area according to the magnetic induction intensity detected by the first detecting part and the magnetic induction intensity detected by the second detecting part; when the robot 110 walks along the traveling direction, the robot 110 walks to a position where the charging device 120 is aligned wirelessly according to the magnetic induction intensity detected by the third detecting component to charge.

In some embodiments, the first, second and third detection components may comprise magnetic induction sensors. The magnetic induction sensor is a sensor for measuring a magnetic field in a space and has the function of converting a magnetic quantity signal into an electric signal. The magnetic induction sensor may include physical properties and structural configurations. The physical magnetic induction sensor can comprise a Hall element, a Hall integrated circuit, a magneto-sensitive diode, a triode and the like; the structural magnetic induction sensor may include an inductive sensor, a capacitive sensor, a magneto-electric sensor, and the like. In the embodiment of the present specification, the first detecting member, the second detecting member, and the third detecting member may include any one of the magnetic induction sensors described above.

In some embodiments, as shown in fig. 2, the first and second detecting parts may be symmetrically disposed at both sides of the central axis of the robot 110, and the third detecting part may be disposed at the central axis of the robot 110. The robot 110 may acquire the magnetic induction intensities detected by the first detection part and the second detection part at intervals of a preset time, and if the magnitudes of the magnetic induction intensities detected by the first detection part and the second detection part are not equal to zero, it may be determined that the robot 110 has entered the magnetic field radiation range of the wireless charging device 120 to reach the charging area.

After reaching the charging area, the robot 110 may acquire the first magnetic induction intensity detected by the first detecting unit and the second magnetic induction intensity detected by the second detecting unit. As shown in fig. 3, if the magnitude of the first magnetic induction detected by the first detecting means is the same as the magnitude of the second magnetic induction detected by the second detecting means, it may be determined that the wireless charging device 120 is located in the current traveling direction of the robot 110, and the robot 110 may maintain the current traveling direction to travel so that the robot 110 returns to the charging position along the current traveling direction to perform charging. As shown in fig. 4, if the magnitude of the first magnetic induction is different from the magnitude of the second magnetic induction, it may be determined that the wireless charging device 120 is not in the current traveling direction of the robot 110, and the robot 110 may rotate to correct the current traveling direction of the robot 110, so that the magnitude of the first magnetic induction after correcting the traveling direction is the same as the magnitude of the second magnetic induction, so that the robot 110 returns to the charging position along the corrected traveling direction for charging. The charging position is a position where the robot 110 and the wireless charging device 120 are aligned. Wherein, since the magnetic induction intensity is a vector, the magnetic induction intensity has both magnitude and direction, and in the embodiment of the present specification, the comparison of the magnitude of the magnetic induction intensity does not include the comparison in the direction. Specifically, the absolute values of the first magnetic induction and the second magnetic induction may be compared after the first magnetic induction and the second magnetic induction are obtained.

In some embodiments, as shown in fig. 4, if the first magnetic induction is different in magnitude from the second magnetic induction, a rotation direction of the robot 110 may be determined according to the first magnetic induction and the second magnetic induction. Specifically, if the first magnetic induction intensity is greater than the second magnetic induction intensity, the rotation direction points to the first detection component; and if the first magnetic induction intensity is smaller than the second magnetic induction intensity, the rotating direction points to the second detection component. The robot 110 may rotate at a preset angle, and obtain a first magnetic induction intensity and a second magnetic induction intensity after rotation, if the first magnetic induction intensity and the second magnetic induction intensity after rotation are different, the rotation direction of the robot 110 is continuously determined according to the first magnetic induction intensity and the second magnetic induction intensity after rotation, and the current running direction of the robot is corrected according to the rotation direction until the first magnetic induction intensity after rotation is the same as the second magnetic induction intensity after rotation, and the robot 110 returns to the charging position along the direction after rotation to perform charging.

In some embodiments, to reduce the number of rotations of the robot 110, the rotation angle may be determined according to the first magnetic induction and the second magnetic induction, for example, the rotation angle may be determined according to a difference between an absolute value of the first magnetic induction and an absolute value of the second magnetic induction. Specifically, a plurality of numerical intervals may be set, different numerical intervals correspond to different rotation angles, and the rotation angle may be determined according to the numerical interval where the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is located, so that the smaller the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is, the smaller the rotation angle is. For example, a plurality of numerical intervals (-c, -b), [ -b, -a ], (-a, 0), (0, a), [ a, b ], (b, c) may be set, and when the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is in the intervals (-a, 0) and (0, a), the corresponding rotation angle is θ1; when the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is in the intervals of [ -b, -a ] and [ a, b ], the corresponding rotation angle is theta 2; when the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is in the intervals (-c, -b) and (b, c), the corresponding rotation angle is θ3. Wherein a, b and c are positive numbers, and a is smaller than b and smaller than c; θ1 < θ2 < θ3.

In some embodiments, considering the accuracy problem of the first detection part and the second detection part and further reducing the number of rotations of the robot 110, it may be determined that the magnitude of the first magnetic induction is the same as the second magnetic induction when the difference between the absolute value of the first magnetic induction and the absolute value of the second magnetic induction is within a preset interval. Wherein the preset interval is an interval around a value of 0, for example (-0.01, 0.01), (-0.05,0.05), etc.

In some embodiments, as shown in fig. 2, a third detection member may be disposed on a central axis of the robot 110. After the robot 110 determines the traveling direction of the robot 110 according to the magnetic induction intensities detected by the first detection part and the second detection part, when the robot 110 travels along the traveling direction, the robot 110 may travel to a position where the robot 110 and the wireless charging device 120 are aligned according to the magnetic induction intensity detected by the third detection part for charging. Specifically, during the process of the robot 110 walking along the travelling direction, the third magnetic induction detected by the third detecting component may be obtained at intervals of a preset time, and the third magnetic induction detected at the current moment and the third magnetic induction detected at the historical moment are compared, if the magnitude of the third magnetic induction detected at the current moment is greater than the third magnetic induction detected at the historical moment, it may be determined that the charging position is in front of the current position of the robot, the position of the robot 110 closer to the wireless charging device 120, and the robot 110 may continue to walk forward along the current travelling direction; if the magnitude of the third magnetic induction detected at the current moment is smaller than the magnitude of the third magnetic induction detected at the historical moment, it may be determined that the charging position is behind the current position of the robot, the robot 110 starts to be far away from the wireless charging device 120, and the robot 110 may walk backwards along the current traveling direction. In the walking process of the robot 110, whether the robot 110 walks forwards or backwards in the current direction can be determined by comparing the third magnetic induction intensity detected at the current moment with the third magnetic induction intensity detected at the historical moment, and when the magnitude of the third magnetic induction intensity reaches the maximum value, the robot 110 stops walking, and the position where the robot 110 is located at the moment is used as a charging position for charging.

In some embodiments, during the walking of the robot 110 along the travelling direction, the third magnetic induction detected by the third detecting component may be acquired at intervals of a preset time, and the walking is stopped when the magnitude of the third magnetic induction is equal to a preset threshold value, so as to determine that the charging position is at the current position of the robot 110. Specifically, the magnitude of the third magnetic induction intensity when the robot 110 and the wireless charging device 120 are aligned may be predetermined, the magnitude of the third magnetic induction intensity when the robot 110 and the wireless charging device 120 are aligned is taken as a preset threshold, and when the magnitude of the third magnetic induction intensity is equal to the preset threshold, it may be determined that the position where the robot 110 is located is aligned with the wireless charging device 120.

In the embodiment of the specification, the wireless charging system may include a robot and a wireless charging device; the wireless charging device is used for emitting a magnetic field and charging the robot; the robot comprises a first detection component, a second detection component and a third detection component; the robot determines the travelling direction of the robot according to the magnetic induction intensities detected by the first detection component and the second detection component; the robot is along when advancing the direction walk according to the magnetic induction intensity that the third detected part detected walks to the position of charging to find the best region of charging and charge, realize wireless automatic butt joint that charges, can avoid the installation trouble and with high costs that the installation guide wire brought in wireless charging device to and the security problem, make wireless charging more intelligent, it is more convenient, the cost is reduced has improved the security.

Fig. 5 is a flowchart of a wireless charging method according to an embodiment of the present disclosure. The charging method may be applied to a robot. The wireless charging method may include the following steps.

S510: the method comprises the steps of obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot.

In some embodiments, the wireless charging device may be disposed in a fixed location. The robot can realize wireless charging in the charging area that wireless charging device produced, but the relative position of robot and wireless charging device probably has certain deviation in this charging area for the robot is not aligned with wireless charging device, leads to reducing charging efficiency to a certain extent, can't carry out normal charging even. Therefore, the robot is required to be aligned in a relative position with the wireless charging device so that the robot can be normally charged.

In some embodiments, the wireless charging device may emit a magnetic field, and the radiation range of the magnetic field may be used as a charging area. Specifically, wireless communication, such as WiFi, bluetooth, infrared, etc., may be used between the robot and the wireless charging device. The robot can send a charging signal to the wireless charging device when the battery power of the robot is lower than a preset threshold value, and the wireless charging device can emit a magnetic field after receiving the charging signal sent by the robot.

In some embodiments, the robot may walk to the charging area when its own battery level is below a preset threshold. The robot can walk to the charging area with a certain amount of electricity, so that the preset threshold can be set to a certain value larger than zero, for example, 20% and 30% of the battery electricity of the robot, so that the robot can walk to the charging area with sufficient electricity.

In some embodiments, the robot may be walked to the charging area using RTK techniques. The RTK is a differential method for Real-time kinematic (Real-time) carrier phase observation of two measuring stations, and can send carrier phases acquired by a reference station to a user receiver for solving a difference to calculate coordinates. Of course, the user may walk to the charging area by using positioning technologies such as vision, radar, ultrasonic, infrared, etc., and may walk to the charging area by using any other means, which is not limited in the embodiment of the present specification.

In some embodiments, as shown in fig. 2, a first detection part and a second detection part may be provided in the robot, and the first detection part and the second detection part may be symmetrically provided at both sides of a central axis of the robot. The first and second detection means may comprise magnetic induction sensors. The magnetic induction sensor is a sensor for measuring a magnetic field in a space and has the function of converting a magnetic quantity signal into an electric signal. The magnetic induction sensor may include physical properties and structural configurations. The physical magnetic induction sensor can comprise a Hall element, a Hall integrated circuit, a magneto-sensitive diode, a triode and the like; the structural magnetic induction sensor may include an inductive sensor, a capacitive sensor, a magneto-electric sensor, and the like. In embodiments of the present disclosure, the first detection component and the second detection component may include any of the magnetic induction sensors described above.

In some embodiments, the robot may acquire the magnetic induction intensities detected by the first detection component and the second detection component at intervals of a preset time, and if the magnitudes of the magnetic induction intensities detected by the first detection component and the magnetic induction intensities detected by the second detection component are not equal to zero, it may be determined that the robot has entered the magnetic field radiation range of the wireless charging device and reached the charging region.

S520: and if the first magnetic induction intensity is different from the second magnetic induction intensity, determining the rotation direction.

In some embodiments, after the robot acquires the first magnetic induction intensity and the second magnetic induction intensity, the first magnetic induction intensity and the second magnetic induction intensity may be compared, and if the first magnetic induction intensity and the second magnetic induction intensity are different, it may be determined that the wireless charging device is not in the current traveling direction of the robot, the robot may rotate, and correct the traveling direction, so that the first magnetic induction intensity and the second magnetic induction intensity are the same after correcting the traveling direction. Specifically, if the first magnetic induction intensity is greater than the second magnetic induction intensity, the rotation direction points to the first detection component; and if the first magnetic induction intensity is smaller than the second magnetic induction intensity, the rotating direction points to the second detection component.

S530: correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged.

In some embodiments, the robot may rotate along the rotation direction at a preset angle, obtain the first magnetic induction intensity after rotation and the second magnetic induction intensity after rotation, and if the two magnetic induction intensities are different, continue to determine the rotation direction of the robot according to the first magnetic induction intensity after rotation and the second magnetic induction intensity after rotation, and rotate at the preset angle until the first magnetic induction intensity after rotation and the second magnetic induction intensity after rotation are the same.

In some embodiments, to reduce the number of rotations of the robot, the rotation angle may be determined from the first magnetic induction and the second magnetic induction, for example, the rotation angle may be determined from a difference between an absolute value of the first magnetic induction and an absolute value of the second magnetic induction. Specifically, a plurality of numerical intervals may be set, different numerical intervals correspond to different rotation angles, and the rotation angle may be determined according to the numerical interval where the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is located, so that the smaller the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is, the smaller the rotation angle is. For example, a plurality of numerical intervals (-c, -b), [ -b, -a ], (-a, 0), (0, a), [ a, b ], (b, c) may be set, and when the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is in the intervals (-a, 0) and (0, a), the corresponding rotation angle is 1; when the difference between the absolute value of the first magnetic induction intensity and the absolute value of the second magnetic induction intensity is in the intervals of [ -b, -a ] and [ a, b ], the corresponding rotation angle is 2; when the difference between the absolute value of the first magnetic induction and the absolute value of the second magnetic induction is in the intervals (-c, -b) and (b, c), the corresponding rotation angle is 3. Wherein a, b and c are positive numbers, and a is smaller than b and smaller than c;1 < 2 < 3.

In some embodiments, considering the accuracy problem of the first detection part and the second detection part and further reducing the number of rotations of the robot, it may be determined that the absolute value of the first magnetic induction and the absolute value of the second magnetic induction are equal when the difference between the absolute value of the first magnetic induction and the absolute value of the second magnetic induction is within a preset interval. Wherein the preset interval is an interval around a value of 0, for example (-0.01, 0.01), (-0.05,0.05), etc.

In some embodiments, when the magnitude of the first magnetic induction intensity and the second magnetic induction intensity are the same after the robot rotates, it may be determined that the wireless charging device is located in the corrected traveling direction of the robot, and the robot may return to the charging position along the corrected traveling direction for charging. The charging position is a position where the robot is aligned with the wireless charging device.

S540: a third magnetic induction intensity detected by the third detecting means is obtained.

In some embodiments, as shown in fig. 2, a third detection component may also be disposed on the central axis of the robot. Wherein the third detection means may comprise a magnetic induction sensor. The robot may further obtain a third magnetic induction intensity detected by a third detecting means when the robot walks in the corrected traveling direction after correcting the current traveling direction of the robot according to the rotation direction.

S550: and determining the charging position according to the third magnetic induction intensity detected by the third detection component.

In some embodiments, the robot may return to the charging position for charging according to the magnetic induction intensity detected by the third detecting means. Specifically, in the process that the robot walks along the corrected travelling direction, the third magnetic induction intensity detected by the third detection component can be obtained at intervals of preset time, the magnitudes of the third magnetic induction intensities in different time periods are compared, if the magnitude of the third magnetic induction intensity detected at the current moment is larger than the magnitude of the third magnetic induction intensity detected at the historical moment, the charging position can be determined to be in front of the current position of the robot, the position of the robot is closer to the wireless charging device, and the robot can walk forwards along the corrected travelling direction continuously, so that the robot returns to the charging position to be charged; if the third magnetic induction intensity detected at the current moment is smaller than the third magnetic induction intensity detected at the historical moment, the charging position can be determined to be behind the current position of the robot, the robot starts to be far away from the wireless charging device, and the robot can walk backwards along the corrected travelling direction. That is, during the robot traveling, the third magnetic induction detected at the current time and the third magnetic induction detected at the history time may be compared, and whether the robot travels forward or backward in the current direction may be determined according to the magnitude of the third magnetic induction detected at the current time and the magnitude of the third magnetic induction detected at the history time. When the third magnetic induction intensity is the maximum, the robot stops walking, and the current position of the robot is used as a charging position for charging.

In some embodiments, during the walking of the robot along the corrected travelling direction, the third magnetic induction intensity detected by the third detecting component may be obtained at intervals of a preset time, and the walking is stopped when the magnitude of the third magnetic induction intensity is equal to a preset threshold value, so as to determine that the charging position is at the current position of the robot. Specifically, the magnitude of the third magnetic induction intensity when the robot and the wireless charging device are aligned can be predetermined, the magnitude of the third magnetic induction intensity when the robot and the wireless charging device are aligned is taken as a preset threshold, and when the magnitude of the third magnetic induction intensity is equal to the preset threshold, the position where the robot is located can be determined to be aligned with the wireless charging device.

In the embodiment of the present specification, it is possible to obtain the first magnetic induction intensity detected by the first detecting means and the second magnetic induction intensity detected by the second detecting means, the first detecting means and the second detecting means being symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged; obtaining a third magnetic induction intensity detected by a third detecting means; according to the third magnetic induction intensity that the third detection part detected, confirm the position of charging to find the best region of charging and charge, realize wireless automatic butt joint that charges, can avoid the installation trouble and with high costs that the installation guide wire brought in wireless charging device to and the security problem, make wireless charging more intelligent, it is more convenient, the cost is reduced has improved the security.

Fig. 6 is a flowchart of a wireless charging method according to an embodiment of the present disclosure. The charging method may be applied to a robot. The wireless charging method may include the following steps.

S610: the method comprises the steps of obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot.

S620: if the first magnetic induction intensity is the same as the second magnetic induction intensity, the current travelling direction is kept, so that the robot returns to the charging position along the current travelling direction for charging.

In some embodiments, after the robot obtains the first magnetic induction intensity and the second magnetic induction intensity, the first magnetic induction intensity and the second magnetic induction intensity may be compared, if the first magnetic induction intensity detected by the first detection component and the second magnetic induction intensity detected by the second detection component are the same, it may be determined that the wireless charging device is located in the current traveling direction of the robot, and the robot may maintain the current traveling direction, and return to the charging position along the current traveling direction for charging. The charging position is a position where the robot and the wireless charging device are aligned.

S630: a third magnetic induction intensity detected by the third detecting means is obtained.

S640: and determining the charging position according to the third magnetic induction intensity detected by the third detection component.

In the embodiment of the present specification, it is possible to obtain the first magnetic induction intensity detected by the first detecting means and the second magnetic induction intensity detected by the second detecting means, the first detecting means and the second detecting means being symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is the same as the second magnetic induction intensity, maintaining the current travelling direction so that the robot returns to a charging position along the current travelling direction for charging; obtaining a third magnetic induction intensity detected by a third detecting means; according to the third magnetic induction intensity that the third detection part detected, confirm the position of charging to find the best region of charging and charge, realize wireless automatic butt joint that charges, can avoid the installation trouble and with high costs that the installation guide wire brought in wireless charging device to and the security problem, make wireless charging more intelligent, it is more convenient, the cost is reduced has improved the security.

Referring to fig. 7, the embodiment of the present disclosure further provides a wireless charging device, which may specifically include the following structural modules.

A first obtaining module 710, configured to obtain a first magnetic induction detected by a first detecting component and a second magnetic induction detected by a second detecting component, where the first detecting component and the second detecting component are symmetrically arranged along the central axis of the robot;

a first determining module 720, configured to determine a rotation direction if the first magnetic induction intensity and the second magnetic induction intensity are different;

a correction module 730, configured to correct the current travelling direction of the robot according to the rotation direction, so that the robot returns to the charging position along the corrected travelling direction for charging

A second obtaining module 740 for obtaining a third magnetic induction detected by the third detecting part;

the second determining module 750 is configured to determine a charging position according to the third magnetic induction detected by the third detecting component.

In some embodiments, the apparatus may further comprise: the third determining module is used for determining a rotation angle if the first magnetic induction intensity is different from the second magnetic induction intensity; the correction module is also used for rotating the current travelling direction of the robot by the rotation angle along the rotation direction.

In some embodiments, the determining the charging position according to the third magnetic induction intensity detected by the third detecting means includes:

if the third magnetic induction intensity detected at the current moment is larger than the third magnetic induction intensity detected at the historical moment, determining that the charging position is in front of the current position of the robot; and if the third magnetic induction intensity detected at the current moment is smaller than the third magnetic induction intensity detected at the historical moment, determining that the charging position is behind the current position of the robot.

In some embodiments, the determining the charging position according to the third magnetic induction intensity detected by the third detecting means includes: and if the third magnetic induction intensity is equal to a preset threshold value, determining that the charging position is at the current position of the robot.

Referring to fig. 8, the embodiment of the present disclosure further provides a wireless charging device, which may specifically include the following structural modules.

A first obtaining module 810 for obtaining a first magnetic induction detected by a first detecting component and a second magnetic induction detected by a second detecting component, the first detecting component and the second detecting component being symmetrically arranged along the central axis of the robot;

A regression module 820, configured to maintain a current traveling direction if the first magnetic induction intensity is the same as the second magnetic induction intensity, so that the robot returns to a charging position along the current traveling direction for charging;

a second obtaining module 830 for obtaining a third magnetic induction detected by the third detecting means;

a determining module 840, configured to determine a charging position according to the third magnetic induction detected by the third detecting component.

The embodiment of the present disclosure further provides a robot, and in particular, reference may be made to a functional structural schematic diagram of the robot in the embodiment of the present disclosure shown in fig. 9. The robot may include a first detection component 910, a second detection component 920, a memory 930, at least one processor 940, and a third detection component 950. The first detecting unit 910 is configured to detect a first magnetic induction intensity; the second detecting unit 920 is configured to detect a second magnetic induction; the third detecting unit 950 is configured to detect a third magnetic induction; the memory 930 is used for storing a computer program; the at least one processor 940 is configured to execute the computer program to implement the steps of: obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged in the central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged.

In some embodiments, the memory may be implemented in any suitable manner. For example, the memory may be a read-only memory, a mechanical hard disk, a solid state hard disk, or a usb disk. The memory may be used to store computer instructions.

In some embodiments, the processor may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor, and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic controller, and an embedded microcontroller, among others. The processor may execute the computer instructions to implement the steps of: receiving a service code value acquisition request; generating an original code value of a service code; generating encryption check data according to the key data and the original code value; generating a synthetic code value according to the encryption check data and the original code value; and feeding back the synthesized code value.

In the embodiments of the present disclosure, the specific functions and effects of the robot may be explained in comparison with other embodiments, which are not described herein.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and the same or similar parts of each embodiment are referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments and the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

Those skilled in the art, after reading this specification, will recognize without undue burden that any and all of the embodiments set forth herein can be combined, and that such combinations are within the scope of the disclosure and protection of the present specification.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented with "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but HDL is not only one, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog2 are most commonly used at present. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

From the above description of embodiments, it will be apparent to those skilled in the art that the present description may be implemented in software plus a necessary general purpose hardware platform. Based on this understanding, the technical solution of the present specification may be embodied in essence or a part contributing to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present specification.

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 system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The specification is operational with numerous general purpose or special purpose computer system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

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.

Although the present specification has been described by way of example, it will be appreciated by those skilled in the art that there are many variations and modifications to the specification without departing from the spirit of the specification, and it is intended that the appended claims encompass such variations and modifications as do not depart from the spirit of the specification.

Claims

1. A wireless charging method, applied to a robot, the method comprising:

obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot;

if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction;

correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged;

obtaining a third magnetic induction intensity detected by a third detecting means;

and if the third magnetic induction intensity is equal to a preset threshold value, determining that the charging position is at the current position of the robot.

2. The method of claim 1, wherein the direction of rotation is directed toward the first detection component if the magnitude of the first magnetic induction is greater than the second magnetic induction; and if the first magnetic induction intensity is smaller than the second magnetic induction intensity, the rotating direction points to the second detection component.

3. The method of claim 1, wherein if the magnitude of the first magnetic induction and the second magnetic induction are different, further comprising: determining a rotation angle;

the correcting the current travelling direction of the robot according to the rotating direction comprises the following steps:

and rotating the current travelling direction of the robot by the rotation angle along the rotation direction.

4. The method according to claim 1, wherein the method further comprises:

if the third magnetic induction intensity detected at the current moment is larger than the third magnetic induction intensity detected at the historical moment, determining that the charging position is in front of the current position of the robot;

and if the third magnetic induction intensity detected at the current moment is smaller than the third magnetic induction intensity detected at the historical moment, determining that the charging position is behind the current position of the robot.

5. The method according to claim 4, wherein the method further comprises:

if the charging position is in front of the current position of the robot, the robot walks forwards along the corrected travelling direction, so that the robot returns to the charging position along the corrected travelling direction for charging;

And if the charging position is behind the current position of the robot, the robot walks backwards along the corrected travelling direction, so that the robot returns to the charging position along the corrected travelling direction for charging.

6. A wireless charging method, applied to a robot, the method comprising:

if the first magnetic induction intensity is the same as the second magnetic induction intensity, maintaining the current travelling direction so that the robot returns to a charging position along the current travelling direction for charging;

7. The method of claim 6, wherein the method further comprises:

8. A wireless charging apparatus, the apparatus comprising:

the first acquisition module is used for acquiring the first magnetic induction intensity detected by the first detection component and the second magnetic induction intensity detected by the second detection component, and the first detection component and the second detection component are symmetrically arranged along the central axis of the robot;

the first determining module is used for determining a rotating direction if the first magnetic induction intensity is different from the second magnetic induction intensity;

the correction module is used for correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged;

a second obtaining module for obtaining a third magnetic induction intensity detected by the third detecting means;

and the second determining module is used for determining that the charging position is at the current position of the robot if the third magnetic induction intensity is equal to a preset threshold value.

9. The apparatus of claim 8, wherein the apparatus further comprises:

The third determining module is used for determining a rotation angle if the first magnetic induction intensity is different from the second magnetic induction intensity;

the correction module is also used for rotating the current travelling direction of the robot by the rotation angle along the rotation direction.

10. The apparatus of claim 8, wherein the second determination module is further configured to:

11. A wireless charging apparatus, the apparatus comprising:

the regression module is used for keeping the current travelling direction if the first magnetic induction intensity is the same as the second magnetic induction intensity, so that the robot can return to a charging position along the current travelling direction for charging;

and the determining module is used for determining that the charging position is at the current position of the robot if the third magnetic induction intensity is equal to a preset threshold value.

12. A robot, comprising:

a first detection means for detecting a first magnetic induction intensity;

a second detection means for detecting a second magnetic induction intensity;

a third detection means for detecting a third magnetic induction intensity;

a memory for storing a computer program;

at least one processor for executing the computer program to perform the steps of: obtaining a first magnetic induction intensity detected by a first detection component and a second magnetic induction intensity detected by a second detection component, wherein the first detection component and the second detection component are symmetrically arranged along the central axis of the robot; if the first magnetic induction intensity is different from the second magnetic induction intensity, determining a rotation direction; correcting the current travelling direction of the robot according to the rotating direction so that the robot returns to a charging position along the corrected travelling direction to be charged; obtaining a third magnetic induction intensity detected by a third detecting means; and if the third magnetic induction intensity is equal to a preset threshold value, determining that the charging position is at the current position of the robot.