CN116742839A - Charging control method and device, autonomous mobile equipment and base station - Google Patents

Charging control method and device, autonomous mobile equipment and base station Download PDF

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Publication number
CN116742839A
CN116742839A CN202210203846.XA CN202210203846A CN116742839A CN 116742839 A CN116742839 A CN 116742839A CN 202210203846 A CN202210203846 A CN 202210203846A CN 116742839 A CN116742839 A CN 116742839A
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China
Prior art keywords
charging
autonomous mobile
base station
mobile device
wave
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CN202210203846.XA
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Chinese (zh)
Inventor
张一茗
安惠中
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Qfeeltech Beijing Co Ltd
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Qfeeltech Beijing Co Ltd
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Priority to CN202210203846.XA priority Critical patent/CN116742839A/en
Priority to PCT/CN2023/079031 priority patent/WO2023165519A1/en
Publication of CN116742839A publication Critical patent/CN116742839A/en
Pending legal-status Critical Current

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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
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • 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
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
    • H02J13/00022—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission
    • H02J13/00026—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment using wireless data transmission involving a local wireless network, e.g. Wi-Fi, ZigBee or Bluetooth
    • 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
    • H02J50/60—Circuit arrangements or systems for wireless supply or distribution of electric power responsive to the presence of foreign objects, e.g. detection of living beings
    • 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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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The disclosure relates to a charging control method, a charging control device, an autonomous mobile device and a base station. A charge control method applied to an autonomous mobile device, comprising: a positioning step, which is used for acquiring real-time direction and/or position information of the autonomous mobile equipment; a transmitting step, which is used for transmitting feedback information comprising the real-time direction and/or position information and a charging request to the base station through a wireless network, wherein the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and a charging step of receiving a charging wave emitted from the base station toward a charging direction based on the first direction, and charging with the received charging wave.

Description

Charging control method and device, autonomous mobile equipment and base station
Technical Field
The disclosure relates to the technical field of smart home, and in particular relates to a charging control method, a charging control device, a charging control system, an autonomous mobile device, a base station, a computer readable storage medium and a program.
Background
With the continuous development of autonomous mobile device technology, autonomous mobile devices for multiple purposes have emerged. At present, most autonomous mobile devices use a battery as a power source, and the battery needs to be automatically returned to a charging pile for charging (short for recharging) when the electric quantity is low.
In the prior art, there are a number of technical problems associated with autonomous mobile devices that need to be run to a charging pile (also called a base station) for charging.
On the one hand, when charging, the charging contact of the autonomous mobile equipment needs to be accurately aligned with the charging contact of the charging pile to charge, and the charging contact are very small, so that the accurate alignment needs the assistance of a plurality of sensors and complex recharging paths, the cost and the time consumed in the recharging process are increased, and the recharging success rate is reduced; on the other hand, autonomous mobile devices do not function properly during charging, reducing efficiency.
Disclosure of Invention
It is an object of the present disclosure to overcome or at least alleviate the above-mentioned deficiencies in the art and to provide a charge control method, apparatus and system, an autonomous mobile device, a base station, a computer readable storage medium and a program.
According to a first aspect of the present disclosure, there is provided a charge control method applied to an autonomous mobile apparatus, including: a positioning step, which is used for acquiring real-time direction and/or position information of the autonomous mobile equipment; a transmitting step, which is used for transmitting feedback information containing the real-time direction and/or position information and a charging request to a base station through a wireless network, wherein the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and a charging step of receiving a charging wave emitted from the base station toward a charging direction based on the first direction, and charging with the received charging wave.
With reference to the first aspect, in a first possible implementation manner, the real-time direction/position information is obtained based on an environment map established by the autonomous mobile device.
With reference to the first aspect, in a second possible implementation manner, before the sending step, the charging control method further includes: judging whether the charging preset condition is met, and if so, performing the sending step.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, the preset charging condition includes at least one of the following conditions: the remaining power of the autonomous mobile device is equal to or less than a first power threshold; the operating mileage of the autonomous mobile device is equal to or greater than a mileage threshold; the running time of the autonomous mobile device is equal to or greater than a time threshold; the coverage area of the autonomous mobile equipment on the working area is equal to or larger than an area threshold value; and the ratio of the coverage area of the working area by the autonomous mobile apparatus to the area of the working area is equal to or greater than a proportional threshold.
With reference to the first aspect, in a fourth possible implementation manner, a second direction of the autonomous mobile apparatus relative to the base station after a predicted time can be determined based on the feedback information, where the predicted time represents a time from when the autonomous mobile apparatus transmits the feedback information until the base station transmits the charging wave, and the charging direction can be adjusted according to the second direction.
With reference to the first aspect, in a fifth possible implementation manner, after the charging step, the charging control method further includes: judging whether the preset condition of stopping charging is met; and if the charging stopping preset condition is judged to be met, stopping sending the feedback information to the base station, or sending a charging stopping request for requesting the base station to stop charging the autonomous mobile equipment to the base station.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner, the charging stopping condition includes at least one of the following conditions: the current electric quantity of the autonomous mobile equipment is equal to or greater than a second electric quantity threshold value; a distance between the autonomous mobile device and the base station is equal to or greater than a distance threshold; the distance between the autonomous mobile device and the base station is greater than the distance between the autonomous mobile device and other base stations; and an obstacle exists between the autonomous mobile apparatus and the base station.
With reference to the fifth possible implementation manner of the first aspect, in a seventh possible implementation manner, the charging stopping preset condition further includes a charging efficiency equal to or less than a charging efficiency threshold, where the charging efficiency is a ratio of a charging power of the autonomous mobile device to a transmitting power of the base station to transmit the charging wave.
With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner, if the charging efficiency is equal to or less than the charging efficiency threshold, determining that the charging fails, counting the number of times of the charging failure, and when the counted number of times of the charging failure is greater than or equal to the number threshold, determining that the charging stopping preset condition is met.
With reference to the first aspect, in a ninth possible implementation manner, the feedback information includes information about a charging power of the autonomous mobile apparatus.
With reference to the fifth possible implementation manner of the first aspect, in a tenth possible implementation manner, the charging control method further includes: transmitting a detection signal to the base station by an optical detector on the autonomous mobile device, wherein the detection signal is used to detect the presence of an obstacle between the autonomous mobile device and the base station and/or calculate a distance between the autonomous mobile device and the base station.
With reference to the fifth possible implementation manner of the first aspect, in an eleventh possible implementation manner, the charging control method further includes: the identification feature on the base station is detected by an optical detector on the autonomous mobile device and it is determined that no obstacle exists between the autonomous mobile device and the base station if the identification feature is detected.
With reference to the first aspect, in a twelfth possible implementation manner, the charging control method further includes obtaining base station position information of each base station in the plurality of base stations, obtaining a relative distance between each base station and the autonomous mobile device according to the real-time direction/position information and the position information of each base station, selecting a target base station that preferentially charges the autonomous mobile device from the plurality of base stations based on the relative distance between each base station and the autonomous mobile device and whether the relative distance between each base station and the autonomous mobile device is blocked by an obstacle, and sending the feedback information carrying identification information for the target base station to identify itself to the target base station.
With reference to the twelfth possible implementation manner of the first aspect, in a thirteenth possible implementation manner, a relative distance between the target base station and the autonomous mobile device is smaller than a relative distance between other base stations of the plurality of base stations and the autonomous mobile device, or the target base station is at least two but smaller than the plurality of base stations, and respective relative distances between each of the at least two target base stations and the autonomous mobile device are smaller than a relative distance between other base stations of the plurality of base stations and the autonomous mobile device.
With reference to the first aspect, in a fourteenth possible implementation manner, whether the charging direction is accurate is determined according to a charging efficiency, where the charging efficiency is a ratio of a charging power of the autonomous mobile device to a transmitting power of the base station to transmit the charging wave.
According to a second aspect of the present disclosure, there is provided a charging control method applied to a base station, including: a receiving step, which is used for receiving feedback information from an autonomous mobile device through a wireless network, wherein the feedback information comprises a charging request and real-time direction and/or position information of the autonomous mobile device, and the first direction of the autonomous mobile device relative to the base station can be determined based on the real-time direction and/or position information; and a charging wave transmitting step of transmitting a charging wave for charging the autonomous mobile apparatus toward a charging direction based on the first direction.
With reference to the second aspect, in a first possible implementation manner, before the charging wave transmitting step, the charging control method further includes: and judging whether the charging start condition is met, and if so, performing the charging wave transmitting step.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner, the charging start condition includes at least one of the following conditions: no obstacle exists between the base station and the autonomous mobile device; and a distance between the base station and the autonomous mobile device is equal to or less than a distance threshold.
With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner, the charging control method further includes: a probe signal transmitted by the autonomous mobile device is received by a probe signal receiver on the base station, wherein the presence of the obstacle is determined based on the probe signal and/or the distance is calculated based on the probe signal.
With reference to the second possible implementation manner of the second aspect, in a fourth possible implementation manner, the charging control method further includes: information about the presence of the obstacle and/or the distance is received from the autonomous mobile apparatus.
With reference to the second aspect, in a fifth possible implementation manner, a second direction of the autonomous mobile apparatus relative to the base station after a predicted time is determined based on the feedback information, where the predicted time represents a time from when the autonomous mobile apparatus transmits the feedback information until the base station transmits the charging wave, and the charging direction is adjustable according to the second direction.
With reference to the second aspect, in a sixth possible implementation manner, after the charging wave transmitting step, the charging control method further includes: and judging whether a charging stop request for requesting the base station to stop charging the autonomous mobile equipment is received from the autonomous mobile equipment, and stopping transmitting the charging wave if the charging stop request is received.
With reference to the fifth possible implementation manner of the second aspect, in a seventh possible implementation manner, the charging control method further includes: judging whether the charging efficiency is lower than a charging efficiency threshold, wherein the charging efficiency is the ratio of the charging power of the autonomous mobile device to the transmitting power of the charging wave transmitted by the base station, and if the charging efficiency is lower than the charging efficiency threshold, adjusting the charging direction according to the second direction, recalculating the charging efficiency, and comparing the recalculated charging efficiency with the efficiency threshold.
With reference to the seventh possible implementation manner of the second aspect, in an eighth possible implementation manner, the charging control method further includes: if the charging efficiency is equal to or less than the charging efficiency threshold, determining that the charging fails, and counting the number of times of the charging failure, and when the counted number of times of the charging failure is greater than or equal to the number threshold, not emitting the charging wave.
With reference to the second aspect, in a ninth possible implementation manner, the charging wave transmitting step further includes: judging whether the base station corresponds to identification information carried by the received feedback information and used for self-identification of a target base station; and if the base station is judged to correspond to the identification information, determining the base station as a target base station, and transmitting the charging wave by the target base station towards a first direction of the autonomous mobile equipment, which is determined based on the real-time direction and/or the position information of the autonomous mobile equipment carried by the feedback information, relative to the target base station.
According to a third aspect of the present disclosure, there is provided a charge control apparatus applied to an autonomous mobile device, comprising: the positioning module is used for acquiring real-time direction and/or position information of the autonomous mobile equipment; the processing module is used for sending feedback information containing the real-time direction and/or position information and a charging request to a base station through a wireless network, wherein the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and a charging module for receiving a charging wave emitted by the base station toward a charging direction based on the first direction, and charging with the received charging wave.
According to a fourth aspect of the present disclosure, there is provided a charging control apparatus applied to a base station, including: the receiving module is used for receiving feedback information from the autonomous mobile equipment through a wireless network, wherein the feedback information comprises a charging request and real-time direction and/or position information of the autonomous mobile equipment, and the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and a power supply module for transmitting a charging wave for charging the autonomous mobile apparatus toward a charging direction based on the first direction.
According to a fifth aspect of the present disclosure, there is provided an autonomous mobile device comprising: a movement unit for moving the autonomous mobile apparatus on a two-dimensional plane of a work area; and the charge control device according to the third aspect.
According to a sixth aspect of the present disclosure, there is provided a base station including the charge control device described in the fourth aspect.
According to a seventh aspect of the present disclosure, there is provided an autonomous mobile device comprising: a movement unit for moving the autonomous mobile apparatus on a two-dimensional plane of a work area; one or more processors; and a memory storing instructions that when executed by the one or more processors cause the one or more processors to perform the charge control method of the first aspect or any one of the first to fourteenth possible implementation manners of the first aspect.
According to an eighth aspect of the present disclosure, there is provided a base station comprising: one or more processors; and a memory storing instructions that when executed by the one or more processors cause the one or more processors to perform the charge control method according to any one of the first to ninth possible embodiments of the second aspect or the second aspect.
According to a ninth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing a program, the program comprising instructions which, when executed by a computer, cause the computer to perform the charge control method according to the first aspect, any one of the first to fourteenth possible embodiments of the first aspect, the second aspect, or any one of the first to ninth possible embodiments of the second aspect.
According to a tenth aspect of the present disclosure, there is provided a computer program product comprising instructions which, when executed by a computer, cause the computer to perform the charge control method according to any one of the above-mentioned first aspect, the first to fourteenth possible embodiments of the first aspect, the second aspect, or any one of the first to ninth possible embodiments of the second aspect.
According to an eleventh aspect of the present disclosure, there is provided a charging control system comprising the autonomous mobile apparatus of the fifth aspect or the seventh aspect and the base station of the sixth aspect or the eighth aspect, wherein the autonomous mobile apparatus and the base station communicate through a wireless network.
According to the technical scheme, wireless charging of the autonomous mobile equipment by the base station can be achieved under the condition that the charging waves emitted by the base station are aimed at the autonomous mobile equipment, so that charging efficiency or success rate is improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a schematic diagram of a charge control system according to an exemplary embodiment.
Fig. 2 shows a flowchart of a charge control method according to an exemplary embodiment.
Fig. 3 shows a schematic diagram of an autonomous mobile device and a plurality of base stations according to an example embodiment.
Fig. 4 shows a flowchart of a charging operation in the case of having a plurality of base stations according to an exemplary embodiment.
Fig. 5a illustrates a checkerboard identification feature on a base station according to an example embodiment.
Fig. 5b illustrates a horizontally arranged alternating light and dark geometric pattern recognition feature on a base station according to an example embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
Fig. 1 shows a schematic diagram of a charge control system according to an exemplary embodiment. The system includes an autonomous mobile device 10 and a base station 20, wherein the autonomous mobile device 10 may be a cleaning robot or a mobile robot with a self-contained rechargeable battery that performs other work tasks (such as patrol, logistical handling, follow, etc.), the base station 20 may be a device that operates in coordination with the autonomous mobile device 10 and charges the autonomous mobile device 10, the autonomous mobile device 10 and the base station 20 communicate through a wireless network 30, and the wireless network 30 may be any wireless communication network for data transmission (e.g., wifi, bluetooth, zigbee, etc.). The base station 20 comprises a receiving module 24 for receiving feedback information sent from the mobile device 10 via the wireless network 30, and a power supply module 26 for transmitting charging waves towards the charging direction. The autonomous mobile device 10 comprises a movement module 12 for moving, a positioning module 14 for obtaining its real-time direction and/or position information, a processing module 16 for sending feedback information to the base station 20 via the wireless network 30, and a charging module 18 for receiving charging waves emitted by the base station 20 for charging.
Fig. 2 shows a flowchart of a charge control method according to an exemplary embodiment. Referring to fig. 2, the charge control method of the present disclosure may include the following steps.
In S110, real-time direction and/or location information of the autonomous mobile apparatus 10 is acquired by the positioning module 14 of the autonomous mobile apparatus 10.
In some embodiments, autonomous mobile devices typically move autonomously within a confined space, such as robotic cleaners, companion mobile robots typically operate indoors, and service mobile robots typically operate within a particular confined space such as a hotel, venue, or the like. The autonomous mobile apparatus 10 can acquire the position of an object (such as a wall, furniture, and other objects in a limited space) in the surrounding environment through a sensor (such as a collision sensor, a ranging sensor, etc.), so as to establish an environment map of the running space, for example, the distance between the object and the object in the environment is acquired through direct ranging of a laser range finder, the distance is converted into the coordinate position of the object under the coordinate system established by the autonomous mobile apparatus, or the coordinate position of the object in the environment is acquired through a code disc of the autonomous mobile apparatus itself, an inertial measurement unit (Inertial Measurement Unit, abbreviated as IMU) and a collision sensor thereof, or the characteristic extracted from an image of the object in the environment captured by a common camera is combined with kinematic data of dead reckoning sensors such as the code disc and IMU, and the coordinate position of the object in the environment is determined through a visual instant positioning and mapping (visual simultaneous localization and mapping, abbreviated as vsram) algorithm, so as to establish the environment map.
In some embodiments, a reflective column capable of assisting the autonomous mobile apparatus 10 in judging its own position is disposed in an environment where the autonomous mobile apparatus 10 operates, and after a probe beam emitted by a ranging sensor of the autonomous mobile apparatus 10 is reflected by the reflective column disposed at a specific position in a limited space and received by a receiver of the autonomous mobile apparatus 10, the autonomous mobile apparatus 10 can determine its own real-time direction and/or position information according to the reflected probe beam. For example, an AGV fork truck serving as an autonomous mobile device can assist in positioning the autonomous mobile device itself based on the light reflecting column when running in a limited space of a warehouse and logistics system.
It should be appreciated that the disclosure describes, by way of example, how the autonomous mobile apparatus 10 obtains the real-time direction and/or position information, but the manner in which the autonomous mobile apparatus 10 obtains the real-time direction and/or position information is not limited thereto, and the autonomous mobile apparatus 10 may also obtain the real-time direction and/or position information in any other suitable manner, which is limited by the length of disclosure and not described herein.
In S120, the autonomous mobile apparatus 10 transmits feedback information containing the real-time direction and/or location information and the charging request to the base station 20 through the wireless network 30.
Fig. 2 also shows a flowchart of determining a charge request according to an example embodiment. In this embodiment, in S010, the autonomous mobile apparatus 10 determines whether a charging preset condition is currently satisfied, wherein the charging preset condition includes at least one of the following conditions: the remaining power of the autonomous mobile apparatus is equal to or less than a first power threshold, the operating mileage of the autonomous mobile apparatus is equal to or greater than a mileage threshold, the operating time of the autonomous mobile apparatus is equal to or greater than a time threshold, the coverage area of the autonomous mobile apparatus to a working area is equal to or greater than an area threshold, and the ratio of the coverage area of the autonomous mobile apparatus to the working area to the area of the working area is equal to or greater than a proportional threshold. For example, the first power threshold may be 20%, and the autonomous mobile apparatus 10 may determine that the charging preset condition is met when the remaining power is equal to or less than 20%. For example, the mileage threshold may be 1000 meters, and the autonomous mobile apparatus 10 may determine that the charging preset condition is met in the case where 1000 meters or more have been run since the last charging was completed. For example, the time threshold may be 1 hour, and autonomous mobile device 10 may have been running equal to or more than 1 hour since the last charge was completed And if so, judging that the charging preset condition is met. For example, the area threshold may be 40m 2 The autonomous mobile apparatus 10 may have an area of the operation region that has been covered since the last charge was completed equal to or more than 40m 2 If the charging condition is determined to be satisfied. For example, the proportion threshold may be 50%, and the autonomous mobile apparatus 10 may determine that the charging preset condition is satisfied in the case where the ratio of the area of the work area that has been covered since the last charging was completed to the total area of the work area is equal to or exceeds 50%. The above-described charging preset conditions may be used alone, or a combination of the above-described charging preset conditions may be used.
If it is determined in S010 that the charging preset condition is not satisfied, the determination is continued.
If it is determined in S010 that the above-described charging preset condition is satisfied, in S020, the autonomous mobile apparatus 10 includes the charging request in the feedback information, and then performs step S120.
In the above embodiment, the determination of whether to start charging the autonomous mobile device is implemented, and the feedback information including the charging request is sent and the subsequent steps are performed on the basis of determining that charging is required; in this way, compared with the case where the base station 20 transmits the charging wave to the autonomous mobile apparatus 10 regardless of whether charging is required or not, in this embodiment, charging is requested to be performed to the base station 20 only when charging is required (the charging request is transmitted to the base station 20 only when charging is required), and charging is not requested to be performed to the base station 20 when charging is not required, so that the base station 20 which does not receive the charging request does not transmit the charging wave to the autonomous mobile apparatus 10 naturally, energy can be saved, and the security risk caused by ineffective electromagnetic radiation of the base station to the outside is reduced.
After the above step S120 is performed, the following step S130 is performed.
In S130, the receiving module 24 of the base station 20 may receive feedback information sent by the autonomous mobile device 10 via the wireless network 30, wherein the first direction of the autonomous mobile device relative to the base station can be determined based on the real-time direction and/or the location information of the autonomous mobile device carried by the feedback information.
In some embodiments, the autonomous mobile device 10 has positioning capabilities. The processing module 16 is capable of determining the coordinate position of the autonomous mobile device 10 in the established environment map and is capable of calculating the direction of the autonomous mobile device 10 relative to the base station 20 based on the coordinate position of the base station 20, so that real-time direction and/or position information of the autonomous mobile device 10 relative to the base station 20 can be included in the feedback information. For example, in an environment map, an autonomous mobile device typically starts and starts operating from a base station, so typically the coordinate position of the base station 20 in the environment map established by the autonomous mobile device 10 is the origin of coordinates of the global coordinate system, i.e. x=0, y=0. When the base station 20 receives feedback information comprising real-time direction and/or location information of the autonomous mobile device 10, a first direction of the autonomous mobile device 10 relative to the base station 20 may be determined by the coordinate location of the autonomous mobile device 10 and based on the coordinate location of the base station 20. For example, when the coordinate position of the base station 20 is the origin of coordinates, the relative position and the relative direction of the autonomous mobile apparatus 10 to the base station 20, which are the coordinate positions of the autonomous mobile apparatus 10 themselves, can be calculated from the first direction, which is the relative direction of the autonomous mobile apparatus 10 to the base station 20 at this time.
In some embodiments, the autonomous mobile device 10 is able to detect specific identification features set on the base station 20 by lidar or a camera; the location of the base station 20 is determined from the identified identification features, the direction of the autonomous mobile device 10 relative to the base station 20 is determined from the location of the base station 20 and the location of the autonomous mobile device 10, and the determined direction is included as said real-time direction and/or location information in the feedback information. The base station 20 may calculate a first direction, i.e. a charging direction, representing the autonomous mobile device relative to the base station based on the received real-time direction and/or location information. For example, the camera of the autonomous mobile apparatus 10 photographs a photograph with the identification features of the base station 20 (such as a checkerboard pattern of alternately bright and dark arranged on a two-dimensional plane perpendicular to the ground, which is arranged on the side wall of the base station 20, as shown in fig. 5a, or a geometric pattern of alternately bright and dark arranged horizontally parallel to the ground, which is arranged on the side wall of the base station 20, as shown in fig. 5 b), and the processing module 16 compares the photograph with the sample pattern stored therein after performing image processing, and can calculate the position and direction of the camera with respect to the identification features (i.e., the base station) when photographing the photograph based on the comparison of the pattern in photographing the sample pattern, thereby determining the direction and position of the autonomous mobile apparatus with respect to the base station. Of course, the identification features on the base station can also be identified by a lidar range finder on the autonomous mobile device and the direction and/or position of the autonomous mobile device relative to the base station can be determined. The present disclosure is not limited in the manner in which the first direction is determined based on real-time direction and/or location information.
In S140, the base station 20 transmits a charging wave for charging the autonomous mobile apparatus 10 toward a charging direction based on the first direction using the power supply module 26.
In some embodiments, the charging direction is the first direction. In other embodiments, the charging direction is the estimated time t elapsed after the feedback information is transmitted from the autonomous mobile apparatus e A second direction of the autonomous mobile apparatus 10 relative to the base station 20, wherein the estimated time t e The time from when the autonomous mobile apparatus 10 transmits the feedback information to when the base station 20 transmits the charging wave is shown. For example, autonomous mobile device 10 at t 1 The moment of time feedback information is transmitted via the wireless network 30 to the base station 20 and continues to move after the feedback information is transmitted, the first direction determined from the time information, the angle information, and/or the direction/position information of the autonomous mobile device in the feedback information being reflected at t 1 The moment is the direction of the autonomous mobile device 10 relative to the base station 20. However if the base station 20 is at t 1 T after the moment of time 2 The charge wave is emitted at a moment, since the charge wave is emitted at the estimated time (t e ＝t 2 -t 1 ) The autonomous mobile apparatus 10 moves a further distance which may miss the charging wave transmitted in the first direction. Therefore, to better align the charge wave with the autonomous mobile device 10, it is necessary to determine the estimated time t e After that, t 2 A second direction of the autonomous mobile apparatus 10 with respect to the base station 20 at a moment in time and according toThe second direction adjusts the charging direction.
In some embodiments, the estimated time t e Empirical values may be used, such as by testing the time from when the autonomous mobile apparatus 10 transmits feedback information to when the base station 20 transmits a charge wave through multiple trials. In other embodiments, the estimated time t may be calculated from the time spent by steps after the autonomous mobile apparatus 10 transmits the feedback information e For example, the time t at which feedback information is transmitted by the autonomous mobile apparatus 10 to the base station is calculated based on theory 01 (e.g. according to t 01 Calculation of l/c, which is approximately the distance from the autonomous mobile device to the base station, can be calculated by the processing module 16 from the relative positions of the two; c is the speed of light), the time t when the base station receives the feedback information and obtains the position of the autonomous mobile device 02 (which may be calculated from the delay of the software and hardware or set according to an empirical value), the time at which the base station notifies the power module, the time at which the charging wave from the power module of the base station reaches the autonomous mobile device (ignoring the displacement of the autonomous mobile device in such a short time, then the time is approximately equal to t) 01 ) Adding up to obtain estimated time t e . The present disclosure does not limit the method for calculating the estimated time.
In one embodiment, the operation speed v of the autonomous mobile apparatus may be calculated according to the normal operation speed v of the autonomous mobile apparatus recorded in the processing module 16 or the direction/position information of the autonomous mobile apparatus contained in the feedback information by the processing module 16, and the estimated time t e A possible second direction of the autonomous mobile device relative to the base station after the estimated time is calculated. Since the autonomous mobile apparatus is a planar operating apparatus operating on the ground, the positions that may be reached within the estimated time are only within a small selection range, i.e. t, from the autonomous mobile apparatus 10 with the base station 20 facing the feedback information 01 The first direction of the autonomous mobile device at the moment is taken as the center, and t is taken as 01 V x t on the left and right sides of the coordinate position of the autonomous mobile apparatus at the moment relative to the center e Within the range is an area where autonomous mobile devices may be present. For example, charge waves may be emitted into the region or directed into the regionIf the charging wave is received by the autonomous mobile device in a certain direction (the second direction) in the area, the autonomous mobile device informs the base station that the autonomous mobile device receives the charging wave in the second direction through feedback information, so that the base station can charge the autonomous mobile device. During the course of continued operation of the autonomous mobile apparatus, the above formula v×t may be continued e And calculating an area where the autonomous mobile equipment possibly exists, sending out charging waves into the area, and realizing remote wireless charging of the autonomous mobile equipment in motion by sending out the charging waves and feedback information which is sent by the autonomous mobile equipment and contains whether the charging waves are received or not through the base station.
Through the embodiment, the second direction of the autonomous mobile equipment relative to the base station after the estimated time can be obtained, and the charging direction is adjusted according to the second direction. Therefore, for example, the direction of the charging wave can be always oriented to the autonomous mobile equipment, and the success rate and the efficiency of charging are improved; and can charge the running autonomous mobile equipment in real time. Of course, if the charge wave is a cone with the emission point as the peak, and its diffusion area is large enough over a reasonable distance range (e.g., 3 to 5 meters) of the autonomous mobile device from the base station, so that the diameter of the cone at the bottom surface is large enough (e.g., greater than or equal to 0.5 meter), the running speed of the autonomous mobile device is 25cm/s and the estimated time t e For 1s, then the autonomous mobile apparatus estimates time t e Up to 25cm in a plane, the base station transmits from the autonomous mobile apparatus 10 the feedback information towards the base station 01 The charging wave emitted by the autonomous mobile apparatus in the first direction at the moment can also be at the estimated time t e T at the back 02 And the autonomous mobile equipment at the moment receives the data. It is also possible that the second direction, i.e. the charging wave emitted directly by the base station towards the first direction, does not have to be calculated at this time to charge the autonomous mobile device.
In some embodiments, the feedback information of the autonomous mobile device may also include charging power information; for example, the charging module of the base station emits a charging wave/trial charging wave into an area where the autonomous mobile apparatus may exist, or emits a charging wave/trial charging wave to different angles in the area, respectively (the power of the trial charging wave is smaller than the charging wave for normally charging the autonomous mobile apparatus, for example, only 1% of the power of the normal charging wave, the trial charging wave may be used as a pilot of the charging wave for normally charging to detect whether the autonomous mobile apparatus can receive the charging wave), and calculates the charging efficiency at the base station based on the transmission power recorded in the base station and the charging power information contained in the feedback information, wherein the charging efficiency is the ratio of the charging power of the autonomous mobile apparatus to the transmission power of the charging wave emitted by the base station (charging efficiency=charging power +.transmission power×100%). In some embodiments, the charging direction may be checked using the charging efficiency to determine if the charging direction is accurate. For example, if the charging efficiency is within a reasonable range (e.g., the charging efficiency is greater than or equal to 60%), then consider the autonomous mobile device to have been charged, then continue to transmit charging waves to the first direction, or a second direction estimated based on the first direction, and/or a possible area around the first direction; otherwise, it is considered that the charge wave is not received by the autonomous mobile apparatus, it may be necessary to stop transmitting the charge wave or change the transmitting direction of the charge wave.
In some embodiments, it may also be determined whether the charging direction is accurate based on the charging efficiency, and the charging direction may be adjusted based on a comparison of the charging efficiency and a charging efficiency threshold. For example, a charging wave may be sent to an area where the first direction is located, if the base station receives charging power information in feedback information from the autonomous mobile apparatus and calculates that charging efficiency of the autonomous mobile apparatus is lower than a charging efficiency threshold (including a case that the autonomous mobile apparatus does not receive the charging wave to make its charging efficiency approximately equal to zero) based on the charging power information, the base station may adjust the charging direction according to the second direction, for example, may send the charging wave to the second direction and/or a possible area around the second direction after the estimated time, and recalculate the charging efficiency after the estimated time. If the charge efficiency at this point is within a reasonable range (e.g., the charge efficiency at this point has been greater than or equal to the charge efficiency threshold), then the determination of the second direction is deemed to be correct and the next second direction continues to be determined in the same manner; otherwise, it is necessary to stop the emission of the charge wave or change the determination of the second direction.
In the running process of the autonomous mobile equipment, the method can also send out charging waves in the first direction or the second direction where the autonomous mobile equipment is possibly located, and whether the charging waves are received by the autonomous mobile equipment or not is determined in real time by continuously detecting the charging efficiency, so that the autonomous mobile equipment can be remotely and wirelessly charged in the moving process.
After the above step S140 is performed, the following step S150 is performed.
In S150, in response to the base station 20 transmitting a charging wave in a charging direction, the charging module 18 of the autonomous mobile device 10 receives the charging wave transmitted by the base station 20 for charging, where the charging module 18 is capable of converting energy carried in the charging wave into electrical energy. For example, the charging wave is a microwave or other high-energy electromagnetic wave, and is converted into electric energy through electromagnetic induction by an electromagnetic coil on the autonomous mobile device.
After the autonomous mobile apparatus 10 has started receiving the charging wave for charging, a determination is also made regarding the charging stop preset condition and charging is stopped if the charging stop preset condition is met.
Fig. 2 also shows a flowchart of a stop charging operation in the charge control method according to an exemplary embodiment. In S210, it is determined whether the charging stop preset condition is satisfied. In some embodiments, the charging-stopping preset condition includes at least one of the following conditions: the current power of the autonomous mobile apparatus is equal to or greater than a second power threshold, a distance between the autonomous mobile apparatus and the base station is equal to or greater than a distance threshold, a distance between the autonomous mobile apparatus and the base station is greater than a distance between the autonomous mobile apparatus and other base stations, and an obstacle exists between the autonomous mobile apparatus and the base station. For example, the second power threshold may be 90%, and it may be determined that the charging stop preset condition is satisfied when the current power of the autonomous mobile apparatus 10 is equal to or greater than 90%; of course, the second power threshold may also be set to 100%, where it is determined that the charging stop preset condition is met when the current power of the autonomous mobile apparatus 10 is equal to 100%. For example, the distance threshold may be 5 meters, and in the case where the distance of the autonomous mobile apparatus 10 from the base station 20 that is transmitting the charging wave is equal to or greater than 5 meters, it is determined that the charging stop preset condition is satisfied. For example, in the case where there are a plurality of base stations that can charge the autonomous mobile apparatus 10, if the distance between the autonomous mobile apparatus 10 and the base station 20 that is transmitting the charging wave is greater than the distance between the autonomous mobile apparatus 10 and another base station 20', it may be determined that the charging stop preset condition is met for the base station 20, at which time the autonomous mobile apparatus is charged by the base station 20' that is closer to the autonomous mobile apparatus 10. For example, it may be determined that the charging stop preset condition is satisfied in the case where an obstacle such as a living body or a metal object is detected to exist between the autonomous mobile apparatus 10 and the base station 20 that is transmitting a charging wave. In some embodiments, the recharge preset condition may further include the charging efficiency of the autonomous mobile apparatus 10 being equal to or below a charging efficiency threshold (e.g., 60%). Specifically, in some embodiments, if the charging efficiency is equal to or lower than the charging efficiency threshold, it is determined that the charging stopping preset condition is met, and a related action is performed, for example, a charging stopping request for requesting the base station to stop charging the autonomous mobile device is sent to the base station. In other embodiments, the number of charging failures may be used as a preset condition for stopping charging, and if the charging efficiency is equal to or lower than the charging efficiency threshold, it may be determined as one charging failure, and the number of charging failures may be counted; when the counted number of failed charging times is greater than or equal to the threshold number (for example, 5 times), the preset condition for stopping charging is judged to be met, and the related action is executed. The charging stop preset conditions may be used alone or in combination.
In some embodiments, an optical detector (not shown in fig. 1) on the autonomous mobile device 10 may be utilized to transmit probe signals to the base station. The optical detector is, for example, a lidar, which may be a mechanical lidar (e.g., a continuous rotational sweep at a frequency of 6Hz, i.e., a frequency of 6 cycles/second) with 360 ° rotational sweep by a motor, or a solid-state radar that simultaneously emits multiple beams of detection signals in all directions or detection signals in a sector area within a set angular range. The base station 20 may be provided with a receiver (not shown in fig. 1) for receiving the probe signal. If the receiver of the base station 20 receives the probe signal, it indicates that there is no obstacle between the autonomous mobile apparatus 10 and the base station 20, and if the receiver of the base station 20 does not receive the probe signal, it indicates that there is an obstacle between the autonomous mobile apparatus 10 and the base station 20, or that the autonomous mobile apparatus 10 is too far from the base station 20 to attenuate the probe signal to be received by the receiver. In other embodiments, the base station may also calculate the distance between the autonomous mobile device 10 and the base station by receiving a probe signal transmitted by the autonomous mobile device.
In some embodiments, an optical detector (e.g., a lidar or camera) on the autonomous mobile device 10 may be utilized to detect the identification feature provided on the base station 20. For example, if the optical detector is able to detect the identification feature, it is indicated that no obstacle exists between the autonomous mobile apparatus 10 and the base station 20, so that the charging waves emitted by the base station to the location/direction of the autonomous mobile apparatus are not blocked by the obstacle. If the optical detector is not able to detect the identification feature, it may be stated that there is an obstacle between the autonomous mobile apparatus 10 and the base station 20 or that the identification feature is not facing the optical detector of the autonomous mobile apparatus, in which case the base station does not emit a charging wave to the location/direction of the autonomous mobile apparatus for safety reasons in order to avoid safety hazards.
In some embodiments, the autonomous mobile device 10 will also mark the obstacle in the environment map when building the environment map, so it can determine whether there is an obstacle between the autonomous mobile device 10 and the base station 20 on the map according to the locations of the base station and the autonomous mobile device on the environment map; in this case, it is also possible to detect whether there is an obstacle between the autonomous mobile apparatus and the base station without the optical detector in the above embodiment recognizing the recognition feature on the base station. The present disclosure is not limited to a specific manner of determining whether an obstacle exists between an autonomous mobile device and a base station.
If it is determined in S210 that the charging stop preset condition is not satisfied, charging is continued. If it is determined in S210 that the charging stop preset condition is met, the following step S220 is performed.
In S220, the autonomous mobile apparatus 10 instructs the base station 20 to stop charging the autonomous mobile apparatus 10.
In S230, the base station 20 stops transmitting the charge wave in response to receiving the instruction from the autonomous mobile apparatus 10 via the wireless network 30, thereby stopping charging the autonomous mobile apparatus.
In some embodiments, the feedback information sent by the autonomous mobile apparatus 10 to the base station 20 via the wireless network 30 includes a charge stop request for requesting the base station 20 to stop charging the autonomous mobile apparatus 10, by which the base station is instructed to stop transmitting the charge wave. The base station 20 stops transmitting the charging wave in response to receiving the charging stop request so as not to charge the autonomous mobile apparatus any more.
With the above embodiments, charging of the autonomous mobile apparatus by the base station can be stopped in an appropriate case. Thereby, for example, the safety of charging can be improved and/or energy can be saved.
In some embodiments, there may be multiple base stations that may charge autonomous mobile device 10, and each base station has an identification number that uniquely corresponds to the base station. Fig. 3 shows a schematic diagram of an autonomous mobile device and a plurality of charging base stations according to an example embodiment. In order to improve charging efficiency and safety, it is desirable to be able to charge the autonomous mobile apparatus 10 with the base station 20' that is closest to the autonomous mobile apparatus 10 without obstruction from there between.
Fig. 4 shows a flowchart of a charging operation in the case of having a plurality of charging base stations according to an exemplary embodiment.
In S130', the position of each of the plurality of base stations may be obtained in the established map, and the relative distance between each base station and the autonomous mobile apparatus may be obtained from the real-time direction/position information of the autonomous mobile apparatus and the position information of each base station. In some embodiments, the distance may be a quantitative distance, that is, an absolute distance value between the autonomous mobile apparatus and each base station is calculated according to the coordinate position of the autonomous mobile apparatus and the coordinate position of each base station, and then a plurality of absolute distance values are compared to obtain a minimum absolute distance value, so as to determine the nearest base station. In other embodiments, the distance may also be a qualitative distance, i.e., only the relative distance of the autonomous mobile apparatus 10 from each base station need be determined, without obtaining a specific distance value for the autonomous mobile apparatus 10 from each base station.
In S132', it may be determined whether an obstacle exists between the autonomous mobile apparatus and each base station. The judgment can be made specifically by the embodiments described above, but the specific manner is not limited. For example, in the case where the autonomous mobile apparatus 10 is able to detect the identification feature of the base station 20 (such as the pattern shown in fig. 5a and 5 b), it is determined that there is no obstacle between the autonomous mobile apparatus 10 and the base station 20.
In S134', a target base station that preferentially charges the autonomous mobile apparatus is selected from the plurality of base stations according to respective relative distances between the autonomous mobile apparatus 10 and each base station calculated using the coordinate position of the autonomous mobile apparatus 10 and the coordinate position between each base station, and according to whether the autonomous mobile apparatus 10 and each base station are blocked by an obstacle, and corresponding identification information for the target base station to identify itself is included in the feedback information. For example, a base station closest to the autonomous mobile apparatus 10 among base stations having no obstacle with the autonomous mobile apparatus 10 may be selected as the target base station to be preferentially used for the autonomous mobile apparatus 10 to perform charging. The distance between the current location of the autonomous mobile device and each base station and whether an obstacle exists between the current location of the autonomous mobile device and each base station may be calculated by the processing module 16 based on the current location of the autonomous mobile device on the environment map and the locations of the plurality of base stations on the environment map, thereby determining and selecting a target base station that does not exist between the current location of the autonomous mobile device and is closest to the current location of the autonomous mobile device.
In S136', the autonomous mobile apparatus 10 transmits feedback information containing unique identification information of the target base station to each base station via the wireless network 30. In some embodiments, the feedback information may be in the form of a message. For example, the feedback information is a 128-byte message, wherein the first 8 bytes are header check bits for determining the beginning of the message, the second 8 bytes are autonomous mobile device information, the third 8 bytes are identification information of the target base station, and the following bytes are check bits; of course, some bytes may be set as special information, for example, a plurality of bytes of different selected positions are used to represent real-time direction and/or position information of the autonomous mobile device, and/or information of the first direction, and/or information of the second direction, and/or charging power information, and/or charging stop request, and/or instruction information indicating whether the base station sends out charging waves, and/or identification information of the target base station, etc. The above description is merely an example, and the present disclosure is not limited to a specific form of feedback information.
In S138', the plurality of base stations each receive feedback information via the wireless network 30.
In S140', each base station performs self-identification according to the identification information in the feedback information to determine whether the base station is selected as the target base station. For example, each base station may determine whether the base station is selected as the target base station by judging whether the identification number of the base station matches the identification information. Since the identification numbers are in one-to-one correspondence with the base stations, only the base station having the identification number corresponding to the identification information contained in the feedback information is uniquely identified as the target base station. In some embodiments, each base station determines whether the base station is selected as the target base station based on the identification information in the third 8 bytes of the feedback information in the form of a message. If it is determined that the base station is not selected as the target base station, no further operation is performed. If it is determined that the base station is selected as the target base station, S142' is next performed.
In S142', the base station selected as the target base station emits a charging wave in the charging direction. In some embodiments, the charging direction may be determined as described in the above embodiments.
As autonomous mobile device 10 moves, the selection of the target base station may change. For example, the currently charging base station may no longer be the closest base station to the autonomous mobile apparatus 10, or an obstacle may occur between the currently charging base station and the autonomous mobile apparatus 10, and a new base station needs to be selected as the target base station. In some embodiments, the autonomous mobile device 10 continually obtains the distance from each base station and corresponding obstacle information, updates the selection of the target base station, and sends feedback information including the updated identification information via the wireless network 30. Each base station continuously receives feedback information and performs self-identification. If the base station that is not currently charging is determined as its selected target base station based on the updated identification information, transmission of the charging wave is started as described in the above embodiment. If the base station currently undergoing charging determines that it is no longer the target base station based on the updated identification information, the transmission of the charging wave is stopped.
Thus, for example, the autonomous mobile apparatus can be ensured to be charged always through the base station which is nearest to the autonomous mobile apparatus and has no obstacle with the autonomous mobile apparatus, and the safety and efficiency of charging are further improved.
In some embodiments, the number of target base stations may not be limited to 1, i.e., the number of target base stations may be two or more, and at the same time, the target base stations are base stations selected from the plurality of base stations according to the principle that the relative distance between the target base station and the autonomous mobile device is smaller than the relative distance between other base stations than the target base station and the autonomous mobile device among the plurality of base stations, and thus the number of target base stations is smaller than the total number of the plurality of base stations. Thus, the number of target base stations may be two or more, but less than the total number of the plurality of base stations. In addition, the relative distances between each target base station and the autonomous mobile apparatus should be smaller than the relative distances between other base stations than the target base station among the plurality of base stations and the autonomous mobile apparatus.
For the case that a plurality of target base stations exist, the target base stations in the preset priority order can be utilized to charge the autonomous mobile equipment; alternatively, the autonomous mobile device may be charged with the target base station having the smallest relative distance to the autonomous mobile device; or, one target base station of the target base stations may be set as a master target base station, and the other target base stations are set as slave target base stations, and the master target base station is used to charge the autonomous mobile device, where when the master target base station cannot charge the autonomous mobile device, the other target base stations may reselect a new master target base station and charge the autonomous mobile device by the new master target base station.
In some embodiments, a non-transitory computer readable storage medium or program product is also provided, the instructions included in the computer readable storage medium or program product being executable on a processor to perform the above-described charge control method. Including but not limited to Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic elements, etc.
The specific manner in which the individual units perform the operations in relation to the apparatus of the above embodiments has been described in detail in relation to the embodiments of the method and will not be described in detail here.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A charging control method applied to an autonomous mobile apparatus, comprising:
a positioning step, which is used for acquiring real-time direction and/or position information of the autonomous mobile equipment;
a transmitting step, which is used for transmitting feedback information containing the real-time direction and/or position information and a charging request to a base station through a wireless network, wherein the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and
and a charging step of receiving a charging wave emitted by the base station toward a charging direction based on the first direction, and charging by using the received charging wave.
2. The charge control method according to claim 1, characterized by further comprising, before the transmitting step:
judging whether the charging preset condition is met or not,
and if the charging preset condition is judged to be met, the sending step is carried out.
3. The charge control method according to claim 1, characterized by further comprising, after the charging step:
judging whether the preset condition of stopping charging is met;
and if the charging stopping preset condition is judged to be met, stopping sending the feedback information to the base station, or sending a charging stopping request for requesting the base station to stop charging the autonomous mobile equipment to the base station.
4. A charging control method applied to a base station, comprising:
a receiving step, which is used for receiving feedback information from an autonomous mobile device through a wireless network, wherein the feedback information comprises a charging request and real-time direction and/or position information of the autonomous mobile device, and the first direction of the autonomous mobile device relative to the base station can be determined based on the real-time direction and/or position information; and
and a charging wave transmitting step of transmitting a charging wave for charging the autonomous mobile apparatus toward a charging direction based on the first direction.
5. The charge control method according to claim 4, characterized by further comprising, before the charge wave transmitting step:
it is determined whether the charge start condition is met,
and if the charging start condition is judged to be met, performing the charging wave transmitting step.
6. The charge control method according to claim 4, characterized by further comprising, after the charge wave transmitting step:
determining whether a charge stop request is received from the autonomous mobile apparatus for requesting the base station to stop charging the autonomous mobile apparatus,
And stopping transmitting the charging wave if the charging stop request is received.
7. A charging control apparatus applied to an autonomous mobile device, comprising:
the positioning module is used for acquiring real-time direction and/or position information of the autonomous mobile equipment;
the processing module is used for sending feedback information containing the real-time direction and/or position information and a charging request to a base station through a wireless network, wherein the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and
and the charging module is used for receiving the charging wave emitted by the base station towards the charging direction based on the first direction and charging by utilizing the received charging wave.
8. A charging control device applied to a base station, characterized by comprising:
the receiving module is used for receiving feedback information from the autonomous mobile equipment through a wireless network, wherein the feedback information comprises a charging request and real-time direction and/or position information of the autonomous mobile equipment, and the first direction of the autonomous mobile equipment relative to the base station can be determined based on the real-time direction and/or position information; and
And the power supply module is used for transmitting a charging wave for charging the autonomous mobile device towards a charging direction based on the first direction.
9. An autonomous mobile device, comprising:
a movement unit for moving the autonomous mobile apparatus on a two-dimensional plane of a work area; and
the charge control device according to claim 7.
10. A base station, comprising:
the charge control device according to claim 8.
CN202210203846.XA 2022-03-03 2022-03-03 Charging control method and device, autonomous mobile equipment and base station Pending CN116742839A (en)

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PCT/CN2023/079031 WO2023165519A1 (en) 2022-03-03 2023-03-01 Charging control method, charging control apparatus, charging control system, autonomous mobile device, and base station

Applications Claiming Priority (1)

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