CN117375154A - Charging pile, grass mower robot charging system and automatic identification charging method - Google Patents
Charging pile, grass mower robot charging system and automatic identification charging method Download PDFInfo
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- CN117375154A CN117375154A CN202311305498.8A CN202311305498A CN117375154A CN 117375154 A CN117375154 A CN 117375154A CN 202311305498 A CN202311305498 A CN 202311305498A CN 117375154 A CN117375154 A CN 117375154A
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- 238000000034 method Methods 0.000 title claims description 12
- 244000025254 Cannabis sativa Species 0.000 title description 6
- 238000005286 illumination Methods 0.000 claims abstract description 43
- 201000009310 astigmatism Diseases 0.000 claims abstract description 33
- 239000011248 coating agent Substances 0.000 claims abstract description 25
- 238000000576 coating method Methods 0.000 claims abstract description 25
- 238000000149 argon plasma sintering Methods 0.000 claims abstract description 22
- 230000031700 light absorption Effects 0.000 claims abstract description 20
- 210000001503 joint Anatomy 0.000 claims abstract description 19
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000005070 sampling Methods 0.000 claims description 18
- 239000003550 marker Substances 0.000 description 4
- 206010014357 Electric shock Diseases 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007649 pad printing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007650 screen-printing Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B5/00—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied
- G08B5/22—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission
- G08B5/36—Visible signalling systems, e.g. personal calling systems, remote indication of seats occupied using electric transmission; using electromagnetic transmission using visible light sources
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a charging pile, comprising: the charging pile comprises a charging pile panel, wherein a charging pile mark and a first charging structure are arranged on the surface of the charging pile panel, and the charging structure is used for being connected with a second charging structure of a robot to be charged; the charging pile mark is an astigmatism charging pile mark made of milky light astigmatism material; the astigmatic charging pile marks are not luminous when the illumination is sufficient, and are luminous when the illumination is insufficient and are respectively used for identifying the robot when the illumination is sufficient or insufficient, so that the robot can identify the position of the first charging structure based on the astigmatic charging pile marks when the robot is in charging butt joint; the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark. The light scattering charging pile marks and the light absorbing coating are arranged, so that the accuracy of the robot for identifying the light scattering charging pile marks is improved.
Description
Technical Field
The invention relates to the field of robots, in particular to a charging pile, a charging system of a grass mower robot and an automatic identification charging method.
Background
The current charging pile is mainly formed by burying a wire under a charging pile bottom plate, wherein a detection signal module is arranged on the robot, and the wire is identified by the detection signal module so as to be charged by the charging pile; the wire is buried in the mode in a complex manner, the wire needs to be electrified, and the risk of electric shock exists.
If the robot is guided to return to the charging pile by visually identifying the marker on the charging pile, the charging pile is white in a group of pictures in the camera of the robot under strong light in the daytime, and the camera cannot capture the marker on the charging pile, so that the robot cannot return to the charging pile for charging.
At night, the robot camera is difficult to identify the marker on the charging pile, after the illuminating lamp is added on the machine, the charging pile panel can reflect light, so that the camera can not identify and capture the mark on the charging pile, and the robot can not return to the charging pile for charging.
Disclosure of Invention
In order to solve the technical problems, the invention provides a charging pile, a grass mower robot charging system and an automatic identification charging method, which reduce the risk of electric shock and improve the accuracy of robot identification marks.
Specifically, the technical scheme of the invention is as follows:
a charging pile comprising:
the charging pile comprises a charging pile panel, wherein a charging pile mark and a first charging structure are arranged on the surface of the charging pile panel, and the charging structure is used for being connected with a second charging structure of a robot to be charged;
the charging pile mark is an astigmatism charging pile mark made of milky light astigmatism material; the astigmatic charging pile marks are not luminous when the illumination is sufficient, and are luminous when the illumination is insufficient and are respectively used for identifying the robot when the illumination is sufficient or insufficient, so that the robot can identify the position of the first charging structure based on the astigmatic charging pile marks when the robot is in charging butt joint;
the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark.
The charging pile mark is set to be insufficient in illumination and not luminous, and the light-scattering charging pile mark with insufficient illumination and luminous is used for preventing the mark from reflecting light when the illumination is sufficient, so that the phenomenon that a picture is white due to strong light by a robot camera is avoided. And be provided with the light absorption coating on filling electric pile panel surface, the light absorption coating is used for making the camera of robot can not expose when the astigmatic electric pile mark of robot discernment, has further improved the astigmatic electric pile mark's of robot accuracy.
In some embodiments of the present invention, in some embodiments,
the difference between the color of the astigmatic charging pile mark and the color of the charging pile panel is larger than a preset value.
The color of the astigmatic charging pile mark is different from that of the charging pile panel, for example, the astigmatic charging pile mark is white, and the charging pile panel is blue, so that the astigmatic charging pile mark can be recognized by the robot, and the accuracy of the astigmatic charging pile mark recognition by the robot is further improved.
In some embodiments of the present invention, in some embodiments,
the luminous color of the light-scattering charging pile mark is green.
In some embodiments of the present invention, in some embodiments,
the astigmatism filling pile is marked as an annular structure, the outer ring and the inner ring of the astigmatism filling pile are respectively provided with a plurality of sampling points, the number of the sampling points of the outer ring is the same as or different from that of the sampling points of the inner ring, and the shape of the sampling points of the outer ring is the same as or different from that of the sampling points of the inner ring.
In some embodiments of the present invention, in some embodiments,
the first charging structure is arranged below the astigmatic charging pile mark, and the first charging structure is two contacts protruding from the surface of the charging pile panel or two contacts recessed in the surface of the charging pile panel.
In some embodiments of the present invention, in some embodiments,
the charging pile surface is also provided with an indicator light, and the indicator light is arranged above the astigmatic charging pile mark.
Through setting up the pilot lamp to according to the colour of pilot lamp, the state that conveniently knows the robot charges this moment, avoid the robot to lead to the problem of damage because of charging.
In some embodiments, further comprising:
fill electric pile bottom plate, fill electric pile bottom plate with fill electric pile panel bottom and be connected, just fill electric pile bottom plate on set up with the robot the butt joint structure of the looks interlock of second charging structure place end is used for when charging to the robot is directed.
The invention also provides an automatic identification charging method, which comprises the following steps:
when the electric quantity of the robot is smaller than the preset electric quantity, controlling the robot to go to the position of the charging pile according to a preset path;
the robot is controlled to rotate so as to identify a charging pile mark on the charging pile, the charging pile mark is arranged on a charging pile panel of the charging pile, the charging pile mark is a light-scattering charging pile mark made of a milky light-scattering material, the light-scattering charging pile mark does not emit light when the illumination is sufficient, emits light when the illumination is insufficient, and is respectively used for the robot to identify when the illumination is sufficient or insufficient; the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark;
after the robot successfully recognizes the astigmatic charging pile mark, the robot is controlled to be in butt joint with the charging pile, so that a second charging structure of the robot is connected with a first charging structure arranged on the surface of the charging pile, and charging is performed.
In some embodiments, further comprising:
and if the robot does not successfully identify the astigmatic charging pile mark, controlling the robot to continue rotating and identifying until the identification is successful or sending an alarm after the identification is still unsuccessful for a preset time.
The invention also provides a charging system of the grass mower robot, which comprises the grass mower robot and the charging pile in the previous embodiment.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the charging pile mark is set to be insufficient in illumination and not luminous, and the light-scattering charging pile mark with insufficient illumination and luminous is used for preventing the mark from reflecting light when the illumination is sufficient, so that the phenomenon that a picture is white due to strong light by a robot camera is avoided. And be provided with the light absorption coating on filling electric pile panel surface, the light absorption coating is used for making the camera of robot can not expose when the astigmatic electric pile mark of robot discernment, has further improved the astigmatic electric pile mark's of robot accuracy.
2. The color of the astigmatic charging pile mark is different from that of the charging pile panel, for example, the astigmatic charging pile mark is white, and the charging pile panel is blue, so that the astigmatic charging pile mark can be recognized by the robot, and the accuracy of the astigmatic charging pile mark recognition by the robot is further improved.
3. Through setting up the pilot lamp to according to the colour of pilot lamp, the state that conveniently knows the robot charges this moment, avoid the robot to lead to the problem of damage because of charging.
Drawings
The above features, technical features, advantages and implementation of the present invention will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clear and easily understood manner.
Fig. 1 is a structural view of one embodiment of a charging pile of the present invention;
fig. 2 is a flow chart of one embodiment of an auto-id charging method of the present invention.
Reference numerals:
a charging pile mark 100; a charging stake panel 200; an indicator light 300; a first charging structure 400; and a charging pile bottom plate 500.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For simplicity of the drawing, only the parts relevant to the invention are schematically shown in each drawing, and they do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
In one embodiment, as shown in fig. 1, the present invention provides a charging pile comprising:
the charging pile panel 200, the charging pile mark 100 and the first charging structure 400 are arranged on the surface of the charging pile panel 200, and the first charging structure 400 is used for being connected with a second charging structure of the robot to be charged.
The charging pile mark 100 is an astigmatic charging pile mark made of a milky-white astigmatic material; the astigmatic charging pile mark does not emit light when the illumination is sufficient, emits light when the illumination is insufficient, and is respectively used for identifying the robot when the illumination is sufficient or insufficient, so that the robot can identify the position of the first charging structure 400 based on the astigmatic charging pile mark when the robot is in charging butt joint.
The charging pile panel 200 is also provided with a light absorbing coating on the surface for preventing the camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark.
Specifically, the charging pile includes a charging pile panel 200, wherein the charging pile panel 200 may be a cuboid, a cube, or the like, and is not limited herein. The charging pile panel surface is provided with a charging pile mark 100 and a first charging structure 400, and the first charging structure 400 is used for connecting a second charging structure of the robot to be charged. The first charging structure 400 may be a protruding structure disposed on the surface of the charging pile panel 200, and the first charging structure includes two electrodes, one of which is a positive electrode and one of which is a negative electrode, and the charging electrode may be a bar shape.
The charging pile mark 100 is a light-diffusing charging pile mark made of a milky light-diffusing material, and of course, may be made of other light-diffusing materials, such as red, blue, green, purple, etc. Referring to fig. 1, the astigmatic charging post marks are in a square frame shaped pattern, i.e. the astigmatic charging post marks are composed of an outer ring and an inner ring nested.
Further, the astigmatic charging post marks are protruding parts arranged on the surface of the charging post panel 200, and can be grooves arranged on the surface of the charging post panel 200, so that the astigmatic charging post marks are printed on the surface of the charging post 200 in a silk-screen or pad printing mode.
Further, the pattern of the astigmatism charging pile marks can be square, rectangle, circle, triangle, two-dimension code and the like.
Further, the surface of the charging post panel 200 is further provided with a light absorbing coating for preventing the camera head of the robot from being exposed to light when the robot recognizes the astigmatic charging post mark.
Further, when the illumination is sufficient, the astigmatic charging pile mark does not emit light, so that the picture of the robot camera is not enabled to be white, and the surface of the charging pile panel 200 is provided with the light absorption coating, so that exposure is avoided when the robot camera recognizes the astigmatic charging pile mark; when illumination is insufficient, the illuminating lamp on the robot is lightened to provide illumination for the camera, so that the camera can conveniently identify surrounding environment, errors of a robot charging route are prevented, and the astigmatic charging pile mark emits green light to facilitate the identification and charging of the camera of the robot. At this time, due to the existence of the light absorbing coating on the surface of the charging pile panel 200, the illuminating lamp of the robot can be always turned on, and no exposure occurs.
In one embodiment, as shown in fig. 1, the present invention provides a charging pile, on the basis of the above embodiment,
the difference between the color of the astigmatic charging pile mark and the color of the charging pile panel is larger than a preset value.
In particular, the difference between the color of the astigmatic charging stake marks and the color of the area surrounding the astigmatic charging stake marks can be measured by color differences or gray values. For example, when the color difference between the astigmatism charging pile mark pattern and the area around the astigmatism charging pile mark is greater than a preset color difference value, it is determined that the difference between the color of the astigmatism charging pile mark and the color of the area around the astigmatism charging pile mark is greater than a preset difference value. Or when the gray level difference between the astigmatism charging pile mark pattern and the surrounding area of the astigmatism charging pile mark is larger than the preset gray level difference value, determining that the difference between the color of the astigmatism charging pile mark and the color of the surrounding area of the astigmatism charging pile mark is larger than the preset difference value. When the color difference between the astigmatism charging pile mark pattern and the surrounding area of the astigmatism charging pile mark is larger than a preset difference value, the astigmatism charging pile mark pattern is easy to identify and position by the image sensor, and the robot is easy to extract the outline of the charging pile. For example, the surface of the charging pile body is white, and the color of the marking pattern is black, red, blue, yellow or green.
Further, when the illumination is insufficient, the luminous color of the light-scattering charging pile mark is green, and the color depth can be adjusted by adjusting the voltage of the light-scattering charging pile mark.
In one embodiment, as shown in fig. 1, the present invention provides a charging pile, on the basis of the above embodiment,
the astigmatic charging pile is marked with an annular structure, the outer ring and the inner ring of the astigmatic charging pile are respectively provided with a plurality of sampling points, the number of the sampling points of the outer ring is the same as or different from that of the inner ring, and the shape of the sampling points of the outer ring is the same as or different from that of the sampling points of the inner ring.
Specifically, the astigmatic charging pile mark has a ring structure, that is, the astigmatic charging pile mark may have a circular ring structure, a square ring structure, a rectangular ring structure, etc., or may have a ring structure protruding from the surface of the charging pile 200, a ring groove provided on the surface of the charging pile 200, a ring pattern provided on the surface of the charging pile 200 by pad printing or screen printing, etc., which may be freely combined, and the invention is not limited thereto.
Furthermore, the inner ring and the outer ring of the astigmatism charging pile mark are respectively provided with a plurality of sampling points, the sampling points of the inner ring and the outer ring can be the same or different, and the sampling point shape of the inner ring and the sampling point shape of the outer ring can be the same or different. It is contemplated that the shape of the outer ring and the shape of the inner ring may be the same or different, for example, the outer ring is rectangular and the inner ring is circular; the outer ring is circular, the inner ring is square, etc.
Further, the plurality of spots marked by the astigmatism charging pile are used for enabling the robot to identify the astigmatism charging pile robot.
In one embodiment, as shown in fig. 1, the present invention provides a charging pile, on the basis of the above embodiment,
the first charging structure 400 is disposed below the astigmatic charging post mark, and the first charging structure 400 is two contacts protruding from the surface of the charging post panel or two contacts recessed in the surface of the charging post panel.
Specifically, the first charging structure 400 is disposed below the astigmatic charging pile mark, and the first charging structure 400 is two contacts protruding from the surface of the charging pile panel or two contacts recessed in the surface of the charging pile panel, or the first charging structure 400 is two contacts protruding from the surface of the charging pile panel or two elongated electrodes recessed in the surface of the charging pile panel. When the camera of the robot successfully recognizes the astigmatic charging pile mark, the charging structure of the robot is connected with the first charging structure 400, and charging is started.
In one embodiment, as shown in fig. 1, the present invention provides a charging pile, which further includes:
the surface of the charging pile 200 is also provided with an indicator light 300, and the indicator light 300 is arranged above the astigmatic charging pile mark.
Specifically, the surface of the charging pile 200 is also provided with an indicator lamp 300, and the indicator lamp 300 is arranged above the astigmatic charging pile mark and is used for giving a prompt that the robot is charging when the robot starts charging; and after the robot is charged, giving a prompt for the completion of the charging of the robot. For example, when the electric quantity of the robot is insufficient, the second charging structure of the robot is connected with the first charging structure 400 on the surface of the charging pile 200 by identifying the astigmatic charging pile mark, and charging is started, and at this time, the indicator lamp 300 emits red light to prompt that the robot is being charged; when the robot is charged, the indicator light 300 emits green light, prompting the robot to be charged.
Further, other colors may be used to represent that the robot is being charged and that the robot is being charged, which is not limited herein.
The charging pile bottom plate 500, the charging pile bottom plate 500 is connected with the bottom of the charging pile panel 200, and a butt joint structure meshed with the end where the second charging structure of the robot is located is arranged on the charging pile bottom plate 500 and used for guiding the robot during charging.
The charging pile bottom plate 500 is in a mountain shape, wherein the charging pile bottom plate 500 is connected with the bottom of the charging pile panel 200, and a butt joint structure meshed with the end where the second charging structure of the robot is located is arranged in the middle of the charging pile bottom plate 500, so that when the robot is convenient to recognize the astigmatic charging mark, the robot is conveniently guided and fixed, and the robot is conveniently charged.
In one embodiment, as shown in fig. 2, the present invention provides an automatic identification charging method, comprising the steps of:
and S100, when the electric quantity of the robot is smaller than the preset electric quantity, controlling the robot to go to the position of the charging pile according to a preset path.
S110, controlling the robot to rotate so as to identify a charging pile mark on the charging pile, wherein the charging pile mark is arranged on a charging pile panel of the charging pile, and is made of a milky light scattering material, and the astigmatic charging pile mark does not emit light when the illumination is sufficient, emits light when the illumination is insufficient and is respectively used for identifying when the illumination is sufficient or insufficient by the robot; the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark.
S130, after the robot successfully identifies the astigmatic charging pile marks, controlling the robot to be in butt joint with the charging pile, so that a second charging structure of the robot is connected with a first charging structure arranged on the surface of the charging pile to charge.
Specifically, the charging pile mark on the surface of the charging pile panel is a light-scattering charging pile mark made of milky light-scattering material, the light-scattering charging pile mark does not emit light when the illumination is sufficient, emits light when the illumination is insufficient, and has green light-emitting color; the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark.
Further, when the electric quantity of the robot is smaller than the preset electric quantity, the robot goes to the charging pile position for charging according to the preset path. When the illumination is sufficient, the robot runs to the front end of the charging pile, a plurality of sample points on the non-luminous astigmatism charging pile mark are identified in a rotating mode, after the astigmatism charging pile mark is successfully identified by the robot, the robot is in butt joint with the charging pile, namely, the butt joint structure on the charging pile base plate is engaged with the end where the second charging structure of the robot is located, the second charging structure of the robot is connected with the first charging structure arranged on the surface of the charging pile, so that charging is conducted, the indicator lights are lighted to display that the robot is being charged. And if the indicator lights are lighted to be green, the robot is completely charged.
Further, when illumination is insufficient, the robot turns on the illuminating lamp and drives to the front end of the charging pile, and at the moment, the illuminating lamp on the robot can be always turned on. The robot rotates a plurality of sample points on the astigmatism charging pile mark of discernment green light, and after the astigmatism charging pile mark was successfully discerned to the robot, the robot was docked with the charging pile, charges the butt joint structure on the pile bottom plate and the second charging structure of robot and is located the end looks interlock promptly, and the second charging structure of robot is connected with the first charging structure that charges the pile surface and set up to charge.
Further, if the robot does not successfully identify the astigmatic charging pile mark, the robot is controlled to continue to rotate for identification until the identification is successful, or an alarm is sent after the identification is still unsuccessful for a preset time.
In one embodiment, the present invention provides an automatic identification charging method, which further includes the steps of:
the charging pile mark on the surface of the charging-shaped panel can be set as a light-scattering charging pile mark made of a milky light-scattering material, the light-scattering charging pile mark does not emit light when the illumination is sufficient, and emits light when the illumination is insufficient, and the surface of the charging pile panel is not provided with a light-absorbing coating.
When the electric quantity of the robot is smaller than the preset electric quantity, the robot goes to the charging pile position for charging according to a preset path. When the illumination is sufficient, the robot runs to the front end of the charging pile, a plurality of sample points on the non-luminous astigmatism charging pile mark are identified in a rotating mode, after the astigmatism charging pile mark is successfully identified by the robot, the robot is in butt joint with the charging pile, namely, the butt joint structure on the charging pile base plate is engaged with the end where the second charging structure of the robot is located, the second charging structure of the robot is connected with the first charging structure arranged on the surface of the charging pile, so that charging is conducted, the indicator lights are lighted to display that the robot is being charged. And if the indicator lights are lighted to be green, the robot is completely charged.
Further, when illumination is insufficient, the robot turns on the illuminating lamp and drives to the front end of the charging pile, and at the moment, the illuminating lamp on the robot is turned off. The robot rotates a plurality of sample points on the astigmatism charging pile mark of discernment green light, and after the astigmatism charging pile mark was successfully discerned to the robot, the robot was docked with the charging pile, charges the butt joint structure on the pile bottom plate and the second charging structure of robot and is located the end looks interlock promptly, and the second charging structure of robot is connected with the first charging structure that charges the pile surface and set up to charge.
In one embodiment, the present invention provides an automatic identification charging method, which further includes the steps of:
the charging pile mark on the surface of the charging pile panel can be made of a milky light scattering material, and the surface of the charging pile panel is provided with a light absorption coating which is used for preventing the camera of the robot from exposing when the robot recognizes the charging pile mark.
When the electric quantity of the robot is smaller than the preset electric quantity, the robot goes to the charging pile position for charging according to a preset path. When the illumination is sufficient, the robot goes to the front end of the charging pile, a plurality of sample points on the charging pile mark are identified in a rotating mode, after the robot successfully identifies the charging pile mark, the robot is in butt joint with the charging pile, namely, the butt joint structure on the charging pile bottom plate is engaged with the end where the second charging structure of the robot is located, the second charging structure of the robot is connected with the first charging structure arranged on the surface of the charging pile so as to charge, and the indicator lights are lighted to display that the robot is charging. And if the indicator lights are lighted to be green, the robot is completely charged.
Further, when illumination is insufficient, the robot turns on the illuminating lamp and drives to the front end of the charging pile, and at the moment, the illuminating lamp on the robot is still turned on. The robot rotates and discerns a plurality of sample points on the electric pile mark that fills, after the electric pile mark is filled in the robot successful discernment, the robot dock with the electric pile that fills, the last docking structure of electric pile bottom plate that fills promptly with the mutual interlock of robot second charging structure place end, the second charging structure of robot is connected with the first charging structure that fills electric pile surface and set up to charge to the pilot lamp lights red light, shows that the robot is charging. And if the indicator lights are lighted to be green, the robot is completely charged.
It is conceivable that when the robot charges the charging pile under the condition of insufficient illumination, the illumination lamp of the robot can automatically dim the light, the exposure is avoided when the marker on the charging pile is identified, and the charging can be better carried out.
In one embodiment, the present invention provides a charging system for a lawnmower robot, comprising a lawnmower robot, and a charging stake as described in the previous embodiments.
In one embodiment, the present invention provides a computer medium having a computer program stored thereon, which when executed by a processor, implements the automatic identification charging method as described in the previous embodiments. That is, when some or all of the foregoing technical solutions that contribute to the prior art according to the embodiments of the present invention are embodied by means of a computer software product, the foregoing computer software product is stored in a computer-readable storage medium. The computer readable storage medium can be any means or device that can carry computer program code entities such as a U disk, removable magnetic disk, optical disk, computer memory, read only memory, random access memory, and the like.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A charging pile, comprising:
the charging pile comprises a charging pile panel, wherein a charging pile mark and a first charging structure are arranged on the surface of the charging pile panel, and the charging structure is used for being connected with a second charging structure of a robot to be charged;
the charging pile mark is an astigmatism charging pile mark made of milky light astigmatism material; the astigmatic charging pile marks are not luminous when the illumination is sufficient, and are luminous when the illumination is insufficient and are respectively used for identifying the robot when the illumination is sufficient or insufficient, so that the robot can identify the position of the first charging structure based on the astigmatic charging pile marks when the robot is in charging butt joint;
the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark.
2. The charging pile according to claim 1, characterized in that,
the difference between the color of the astigmatic charging pile mark and the color of the charging pile panel is larger than a preset value.
3. The charging pile according to claim 1, characterized in that,
the luminous color of the light-scattering charging pile mark is green.
4. The charging pile according to claim 1, characterized in that,
the astigmatism filling pile is marked as an annular structure, the outer ring and the inner ring of the astigmatism filling pile are respectively provided with a plurality of sampling points, the number of the sampling points of the outer ring is the same as or different from that of the sampling points of the inner ring, and the shape of the sampling points of the outer ring is the same as or different from that of the sampling points of the inner ring.
5. The charging pile according to any one of claims 1-4, characterized in that,
the first charging structure is arranged below the astigmatic charging pile mark, and the first charging structure is two contacts protruding from the surface of the charging pile panel or two contacts recessed in the surface of the charging pile panel.
6. The charging pile according to claim 5, characterized in that,
the charging pile surface is also provided with an indicator light, and the indicator light is arranged above the astigmatic charging pile mark.
7. The charging stake of claim 1, further comprising:
fill electric pile bottom plate, fill electric pile bottom plate with fill electric pile panel bottom and be connected, just fill electric pile bottom plate on set up with the robot the butt joint structure of the looks interlock of second charging structure place end is used for when charging to the robot is directed.
8. An automatic identification charging method, comprising the steps of:
when the electric quantity of the robot is smaller than the preset electric quantity, controlling the robot to go to the position of the charging pile according to a preset path;
the robot is controlled to rotate so as to identify a charging pile mark on the charging pile, the charging pile mark is arranged on a charging pile panel of the charging pile, the charging pile mark is a light-scattering charging pile mark made of a milky light-scattering material, the light-scattering charging pile mark does not emit light when the illumination is sufficient, emits light when the illumination is insufficient, and is respectively used for the robot to identify when the illumination is sufficient or insufficient; the charging pile panel surface is also provided with a light absorption coating, and the light absorption coating is used for preventing a camera of the robot from exposing when the robot recognizes the astigmatic charging pile mark;
after the robot successfully recognizes the astigmatic charging pile mark, the robot is controlled to be in butt joint with the charging pile, so that a second charging structure of the robot is connected with a first charging structure arranged on the surface of the charging pile, and charging is performed.
9. The automatic identification charging method of claim 8, further comprising the step of:
and if the robot does not successfully identify the astigmatic charging pile mark, controlling the robot to continue rotating and identifying until the identification is successful or sending an alarm after the identification is still unsuccessful for a preset time.
10. A lawnmower robot charging system comprising a lawnmower robot and a charging post according to any of claims 1 to 7.
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| CN202311305498.8A CN117375154A (en) | 2023-10-10 | 2023-10-10 | Charging pile, grass mower robot charging system and automatic identification charging method |
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