WO2023240620A1

WO2023240620A1 - Automatic charging method and apparatus, device, and readable storage medium

Info

Publication number: WO2023240620A1
Application number: PCT/CN2022/099538
Authority: WO
Inventors: 毕监刚
Original assignee: 北京小米移动软件有限公司
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2023-12-21
Also published as: CN117597848A

Abstract

An automatic charging method and apparatus, a device, and a readable storage medium. The automatic charging method is executed by a first device used for outputting a charging current. The method comprises: receiving, by means of a plurality of array element antennas, an ultra-wide band (UWB) signal sent by a robot, the plurality of array element antennas being not collinear; determining real-time coordinates of the robot according to the UWB signal; determining a first control instruction according to the real-time coordinates, the first control instruction being used for instructing the robot to move to a preset charging position corresponding to a charging device; and sending the control instruction to the robot, so that the second device moves to the preset charging position and is charged.

Description

An automatic charging method, device, equipment and readable storage medium

Technical field

The present disclosure relates to the field of intelligent technology, and in particular, to an automatic charging method, device, equipment and readable storage medium.

Background technique

When the sweeping robot detects insufficient power during operation, it will automatically search for a charging base. Due to the limitations of various sensors, different sensors need to be used in different scenarios to enable it to automatically find the charging base. This process can be divided into long-distance recharging and short-distance recharging according to the distance from the charging base:

Regarding the long-distance recharging method: adding a path planning algorithm to the sweeping robot, using the equipped laser sensor to construct a map of the room, and marking the location of the charging base. When charging is needed, a path is automatically planned to return it to the robot. A location near the charging station. But this method can only be used if the robot's performance is good. Robots with ordinary performance use the method of walking along the wall to find the charging base.

Regarding the short-distance recharging method: usually an infrared sensor or an ultrasonic sensor is installed on the charging base, and the positioning is completed in conjunction with the sensor on the sweeping robot body. Most sweeping robots use a separate infrared sensor or a fusion method with other sensors, and some robots use ultrasonic sensors.

Contents of the invention

In order to overcome the problems existing in related technologies, the present disclosure provides an automatic charging method, device, equipment and readable storage medium.

According to a first aspect of an embodiment of the present disclosure, an automatic charging method is provided, which is performed by a first device for outputting charging current, and the method includes:

Receive the ultra-wideband technology UWB signal sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear;

Determine the real-time coordinates of the second device according to the UWB signal;

Determine a first control instruction according to the real-time coordinates, the first control instruction is used to instruct the second device to move to the preset charging position corresponding to the first device;

Send the first control instruction to the second device so that the second device moves to the preset charging position and charges.

In an exemplary embodiment, the plurality of array element antennas are three array element antennas that are coplanar and not collinear;

Determining the real-time coordinates of the second device according to the UWB signal includes:

The real-time plane coordinates of the second device are determined using a pseudorange equation according to the UWB signal.

In an exemplary embodiment, the plurality of array element antennas are four array element antennas that are not coplanar and not collinear;

A pseudorange equation is used to determine the real-time three-dimensional coordinates of the second device according to the UWB signal.

In an exemplary embodiment, determining the first control instruction according to the real-time coordinates includes: according to the real-time coordinates

The time coordinate determines the path from the real-time coordinate to the preset charging position corresponding to the first device;

It is determined that a first control instruction for instructing the path is included.

In an exemplary embodiment, the method further includes: determining that the second device moves to a location corresponding to the first device.

After the preset charging position, determine the voltage state of the charging terminal on the first device, according to the voltage state

After it is determined that the charging terminal and the charging head on the second device are connected, the charging circuit is started.

In an exemplary embodiment, the ultra-wideband technology UWB transmitted by the second device is received through multiple array element antennas.

Before the signal, also include:

After learning that the second device meets the automatic recharging conditions, the receiving function of the array element antenna is turned on.

Signals, including:

Send a second control instruction to the second device, where the second control instruction is used to instruct the second device to send

UWB signal;

The ultra-wideband technology sent by the second device after receiving the second control instruction is received through multiple array element antennas.

technology UWB signal.

Signals, including:

Through the plurality of array element antennas, the ultra-wideband technology sent by the second device after meeting the automatic recharging conditions is received.

UWB signal.

In an exemplary embodiment, the automatic recharge condition includes at least one of the following:

The remaining power is less than the set power;

The execution of the work task is completed;

Make sure that the time since the end of the last charge is greater than the set time;

Determine that the power required for the current work task is less than the remaining power.

According to a second aspect of an embodiment of the present disclosure, an automatic charging method is provided, including a second circuit for inputting a charging current.

Device execution, this method includes:

Using the ultra-wideband technology UWB emission source, send UWB signals to multiple array element antennas of the first device, the multiple array element antennas are not collinear, and the first device is a charging device for outputting charging current;

Receive a first control instruction. The first control instruction is a control instruction in which the first device determines the real-time coordinates of the second device according to the UWB signal and determines the real-time coordinates. The first control instruction The instruction is used to instruct the second device to move to a preset charging position corresponding to the first device;

Move to the preset charging position according to the first control instruction and electrically connect with the first device;

Charging is performed via the first device.

In an exemplary embodiment, the UWB emission source using ultra-wideband technology sends UWB signals to multiple array element antennas of the first device, including:

In response to meeting the automatic recharge conditions, transmit to multiple array element antennas of the first device through the UWB emission source

UWB signal.

The remaining power is less than the set power;

The execution of the work task is completed;

Receive a second control instruction sent by the first device, where the second control instruction is used to instruct the second device to send a UWB signal;

UWB signals are sent to multiple array element antennas of the first device through the UWB emission source.

According to a third aspect of an embodiment of the present disclosure, an automatic charging device is provided, which is applied to a device for outputting charging current.

First equipment, this device includes:

A receiving unit configured to receive ultra-wideband technology UWB signals sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear;

A first determining unit configured to determine the real-time coordinates of the second device according to the UWB signal;

A second determination unit configured to determine a first control instruction according to the real-time coordinates, the first control instruction being used to instruct the second device to move to a preset charging position corresponding to the first device;

A sending unit configured to send the first control instruction to the second device so that the second device moves to the preset charging position and charges.

According to a fourth aspect of an embodiment of the present disclosure, an automatic charging device is provided, which is used for inputting charging current.

Second equipment, this device includes:

The sending unit is configured to send UWB signals to multiple array element antennas of the first device through the ultra-wideband technology UWB emission source. The multiple array element antennas are not collinear, and the first device is used to output charging current. charging equipment;

A receiving unit configured to receive a first control instruction, which is a control instruction that the first device determines the real-time coordinates of the second device based on the UWB signal and determines based on the real-time coordinates. , the first control instruction is used to instruct the second device to move to the preset charging position corresponding to the first device;

A mobile unit configured to move to the preset charging position according to the first control instruction and to be electrically connected to the first device;

A charging unit configured to charge via the first device.

According to a fifth aspect of an embodiment of the present disclosure, a first device is provided, including:

processor;

Memory used to store instructions executable by the processor;

Wherein, the processor is configured to execute the automatic charging method as described in the first aspect of the embodiment of the present disclosure.

According to a sixth aspect of the embodiment of the present disclosure, a second device is provided, including:

processor;

Memory used to store instructions executable by the processor;

Wherein, the processor is configured to execute the automatic charging method described in the second aspect of the embodiment of the present disclosure.

According to a seventh aspect of an embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, which when instructions in the storage medium are executed by a processor of a first device, enables the first device to perform implementations of the present disclosure. Example of the automatic charging method described in the first aspect.

According to an eighth aspect of an embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, which when instructions in the storage medium are executed by a processor of a second device, enables the second device to execute implementations of the present disclosure. Example of the automatic charging method described in the second aspect.

The technical solution provided by the embodiments of the present disclosure can include the following beneficial effects: UWB ultra-wideband technology is used to position the second device with higher accuracy, stronger environmental adaptability, effectively improve the recharging success rate, and at the same time reduce the calculation and Hardware costs. During the positioning process, there is no need to synchronize the system clocks of the second device and the first device, which can greatly improve the compatibility of the devices.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and do not limit the present disclosure.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Figure 1 is a schematic diagram of a communication architecture according to an exemplary embodiment.

FIG. 2 is a flow chart of an automatic charging method according to an exemplary embodiment.

Figure 3 is a schematic diagram of a horizontal UWB positioning method according to an exemplary embodiment.

Figure 4 is a schematic diagram of a three-dimensional UWB positioning method according to an exemplary embodiment.

Figure 5 is a flow chart of an automatic charging method according to an exemplary embodiment.

Figure 6 is a flow chart of an automatic charging method according to an exemplary embodiment.

Figure 7 is a block diagram of an automatic charging device according to an exemplary embodiment.

Figure 8 is a block diagram of an automatic charging device according to an exemplary embodiment.

Figure 9 is a block diagram of a charging device according to an exemplary embodiment.

Figure 10 is a block diagram of a robot according to an exemplary embodiment.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the disclosure as detailed in the appended claims.

In the related technology, infrared sensors or ultrasonic sensors are installed on the charging platform to complete specific positioning in conjunction with the sensors on the sweeping robot body. The methods for setting sensors on the robot body include the following:

1. Use a separate infrared sensor. The disadvantage of this method is that it has poor accuracy and is greatly affected by the environment (dust in the air, etc.).

2. A high-precision solution using infrared camera fusion and lidar sensors. The disadvantage of this method is that it requires better hardware and algorithm support, which will significantly increase the cost.

3. Using ultrasonic radar, specific distance values can be measured. Although relatively accurate, low cost, and easy to develop, it has the disadvantages of poor directionality and susceptibility to environmental influences (temperature, humidity, obstacles, etc.).

In order to solve the problems existing in related technologies, the present disclosure provides an automatic charging method.

An automatic charging method provided by an embodiment of the present disclosure can be applied in the communication architecture as shown in Figure 1, where the first device is a device for outputting charging current, and the second device is a device for receiving charging current. The first device and the second device may also communicate through short-range wireless transmission technology (such as Bluetooth, zigbee, etc.). The first device includes a receiving device (such as an array element antenna) for receiving UWB signals, and the second device includes a transmitting device (UWB emission source) for transmitting UWB signals.

In an example, the first device is a charging device, and the second device is a sweeping robot. In another example, the first device is a charging device, and the second device is a smart terminal device or a smart car. It can be understood that the first device and the second device are not limited to the devices in the above examples.

In an exemplary embodiment of the present disclosure, an automatic charging method is provided, which is executed by a first device for outputting charging current. FIG. 2 is a flow chart of an automatic charging method according to an exemplary embodiment, as shown in FIG. As shown in 2, this method includes steps S201-S204:

Step S201: Receive ultra-wideband technology UWB (Ultra Wide Band) signals sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear.

The array element antennas on the first device are connected to the MCU (Microcontroller Unit) through equal-length optical fibers, and the array element antennas only serve to receive signals, which can effectively avoid mutual signal interference.

In one embodiment, in a relatively flat indoor environment, UWB signals are received through three coplanar and non-collinear array element antennas located on the first device; In a flat indoor environment, UWB signals are received through four non-collinear and non-coplanar array element antennas.

Step S202: Determine the real-time coordinates of the second device according to the UWB signal.

In one embodiment, three coplanar and non-collinear array element antennas located on the first device and a UWB emission source located on the second device are used to perform horizontal spatial real-time positioning of the second device and determine the location of the second device. Real-time coordinates (i.e. real-time plane coordinates).

In another embodiment, four non-collinear and non-coplanar array element antennas and UWB emission sources are used to perform real-time positioning of the second device in three-dimensional space and determine the real-time coordinates of the second device (ie, real-time three-dimensional coordinates).

Step S203: Determine a first control instruction according to the real-time coordinates. The first control instruction is used to instruct the second device to move to a preset charging position corresponding to the first device.

In one embodiment, determining the first control instruction according to the real-time coordinates includes: determining a path from the real-time coordinates to the preset charging position corresponding to the first device according to the real-time coordinates; determining the first control instruction including indicating the path.

In one implementation, the first device determines the memory map based on historical movement data of the second device. The memory map may include obstacle locations and may also include ground materials in different areas.

A path for moving to a preset charging position corresponding to the first device is determined according to the real-time coordinates of the second device and the memory map. In one example, the second device is a sweeping robot, and the obstacle distribution map is a room architecture map; in another example, the second device is a smart car, and the obstacle distribution map is a road distribution map.

The path may be the shortest path or the optimal path.

Step S204: Send a first control instruction to the second device so that the second device moves to a preset charging position and charges.

In one implementation, the first control instruction is sent to the second device through short-range wireless communication methods such as WIFI and Bluetooth, so that after receiving the first control instruction, the second device moves to a preset charging position and charges.

In one embodiment, the automatic charging method further includes: after determining that the second device moves to a preset charging position corresponding to the first device, determining the voltage state of the charging terminal on the first device, and determining the connection between the charging terminal and the second device based on the voltage state. After the charging head on the device is connected, start the charging circuit.

Through the voltage state of the charging terminal on the first device, it is determined whether the charging terminal and the charging head of the second device are connected, and the charging circuit is started after the connection is determined, so that the charging circuit can be accurately controlled.

In exemplary embodiments of the present disclosure, UWB ultra-wideband technology is used to position the second device with higher accuracy and stronger environmental adaptability, which can effectively improve the recharging success rate and reduce computing and hardware costs. Moreover, there is no need to synchronize the system clocks of the second device and the first device during the positioning process, which can greatly improve the compatibility of the devices.

In one embodiment, when the plurality of array element antennas are three coplanar and non-collinear array element antennas, determining the real-time coordinates of the second device based on the UWB signal includes: determining the second device using a pseudorange equation based on the UWB signal. real-time plane coordinates.

In an example, FIG. 3 is a schematic diagram of a horizontal UWB positioning method according to an exemplary embodiment. As shown in FIG. 3, AT0, AT1, and AT2 represent three array element antennas located on the first device corresponding to the plane. The positions of the three points in the coordinate system are not collinear, and AT0, AT1, and AT2 form an isosceles right triangle. SR indicates that the UWB signal emission source on the second device corresponds to the point in the plane coordinate system. Among them, the positions of AT0, AT1, and AT2 are known, and the position of SR is unknown. Set AT0 as the origin of the plane rectangular coordinate system (0,0), then the coordinates of AT1 and AT2 are (L, 0) and (0, L) respectively, where L is known, and the coordinates of SR are set to (x, y).

Based on this, the pseudorange equation between the array element antenna and SR is established:

Among them, c is the speed of light, t ₀ , t ₁ , and t ₂ are the transmission times of the UWB signals sent by the SR to the antennas AT0, AT1, and AT2 respectively, and Δt is the offset between the system clock of the second device and the system clock of the first device. Therefore, only by measuring the values of t ₀ , t ₁ , and t ₂ can the clock offset be corrected without system clock synchronization, which can effectively avoid pairing obstacles, obtain the SR coordinates at the same time, and complete the plane positioning of the second device.

In one embodiment, when the plurality of array element antennas are four array element antennas that are not coplanar and non-collinear, determining the real-time coordinates of the second device based on the UWB signal includes: using the pseudorange equation to determine the second device's real-time coordinates based on the UWB signal. Real-time three-dimensional coordinates of the device.

In an example, Figure 4 is a schematic diagram of a three-dimensional UWB positioning method according to an exemplary embodiment. As shown in Figure 4, RT0, RT1, RT2, and RT3 are respectively four receiving array elements on the first device. The antenna corresponds to a point in the spatial coordinate system. The four points are neither collinear nor coplanar, and RT0, RT1, RT2, and RT3 form a regular triangular pyramid. UN indicates that the UWB signal emission source on the second device corresponds to a point in the spatial coordinate system. . Among them, the positions of RT0, RT1, RT2, and RT3 are known, and the position of UN is unknown. Set RT0 as the origin of the Cartesian coordinate system, then the four-point coordinates are RT0 (0, 0, 0), RT1 (L, 0, 0), RT2 (0, L, 0), RT3 (0, 0, L), and constitute a mutually perpendicular tripod, where L is known, and the coordinates of UN are set to UN (x _UN , y _UN , z _UN ).

Based on this, the pseudorange equation between the array element antenna and UN is established:

Among them, c is the speed of light, t _i is the transmission time from UN to the i-th array element antenna, ρ _i is the pseudo-range from UN to the i-th array element antenna, t _Δ is the system clock of the second device and the system clock of the first device offset between. Therefore, by measuring 4 sets of TOA (Time of Arrival) values and then obtaining 3 sets of TDOA (Time Difference of Arrival) values, the clock offset can be corrected without system clock synchronization, which can effectively avoid pairing obstacles. , and at the same time obtain the UN coordinates to complete the three-dimensional positioning of the second device.

In an exemplary embodiment of the present disclosure, an automatic charging method is provided, which is executed by a first device for outputting charging current. FIG. 5 is a flow chart of an automatic charging method according to an exemplary embodiment, as shown in FIG. As shown in 5, this method includes steps S501-S505:

Step S501: After learning that the second device meets the automatic recharging conditions, the receiving function of the array element antenna is turned on.

The micro control unit in the first device stores relevant configuration information of the second device, and the first device can control the second device to perform work tasks through the micro control unit. The relevant configuration information of the second device includes the power information of the second device, The power information required by the second device to perform the work task, and the charging information of the second device.

After the first device learns that the second device meets the automatic recharge conditions, it turns on the receiving function of the array element antenna, which can save the power consumption of the first device.

In one embodiment, the automatic recharge conditions include at least one of the following: the remaining power is less than the set power; the execution of the work task is completed; it is determined that the time since the end of the last charge is greater than the set time; and the power required for the current work task is determined. less than the remaining power.

Step S502: Receive the ultra-wideband technology UWB signal sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear.

In order to accurately control the recharge time of the second device and avoid affecting normal working tasks, when receiving the ultra-wideband technology UWB signal sent by the second device, one of the following methods is used:

The first one uses multiple array element antennas to receive the ultra-wideband technology UWB signal sent by the second device after meeting the automatic recharge conditions.

The second device determines whether it meets the automatic recharge conditions. After determining that it meets the automatic recharge conditions, it sends an ultra-wideband technology UWB signal. At this time, the first device uses multiple array element antennas to receive the second device's signal after it meets the automatic recharge conditions. The ultra-wideband technology UWB signal sent, this method requires the second device to have the function of determining whether it meets the conditions for automatic recharge.

The second method is to send a second control instruction to the second device, and the second control instruction is used to instruct the second device to send a UWB signal; and to receive the ultra-wideband signal sent by the second device after receiving the second control instruction through multiple array element antennas. Technology UWB signal.

After the first device determines that the second device meets the automatic recharge conditions, the first device sends a second control instruction to the second device to instruct the second device to send a UWB signal. At this time, the second device receives the UWB signal through multiple array element antennas. The UWB signal sent after receiving the second control command does not require the second device to have the function of determining whether it meets the automatic recharge conditions.

Step S503: Determine the real-time coordinates of the second device according to the UWB signal.

Step S504: Determine a first control instruction according to the real-time coordinates. The first control instruction is used to instruct the second device to move to a preset charging position corresponding to the first device.

Step S505: Send a first control instruction to the second device so that the second device moves to a preset charging position and charges.

The content of steps S503-S505 is the same as the content of steps S102-S104.

In an exemplary embodiment of the present disclosure, an automatic charging method is performed by a second device for inputting charging current. Figure 6 is a flow chart of an automatic charging method according to an exemplary embodiment. Figure 6 As shown, this method includes steps S601-S604:

Step S601: Send UWB signals to multiple array element antennas of the first device through the ultra-wideband technology UWB emission source. The multiple array element antennas are not collinear, and the first device is a charging device for outputting charging current;

Due to baseband pulse communication with extremely low power spectral density and extremely narrow pulse width, UWB has extremely high time resolution and good anti-multipath performance. At the same time, no carrier modulation is required, traditional radio frequency circuits can be omitted, the design is simple, and it is conducive to cost control. It is a high-precision positioning technology. Therefore, a single UWB emission source is installed on the second device, and UWB signals are sent to multiple array element antennas of the first device through the UWB emission source.

In one implementation, in order to save the power consumption of the second device and perform automatic recharging reasonably, UWB signals are sent to multiple array element antennas of the first device through the ultra-wideband technology UWB emission source, including the following two methods: A sort of:

The first method is to send UWB signals to multiple array element antennas of the first device through the UWB emission source in response to meeting the automatic recharging conditions.

The micro control unit of the second device determines whether the automatic recharge conditions are met. When it is determined that the automatic recharge conditions are met, UWB signals are sent to multiple array element antennas of the first device through the UWB emission source.

In one embodiment, the automatic recharge conditions include at least one of the following: the remaining power is less than the set power; the execution of the work task is completed; it is determined that the time since the end of the last charge is greater than the set time; it is determined that the current work task is The required power is less than the remaining power.

The second method is to receive a second control instruction sent by the first device. The second control instruction is used to instruct the second device to send a UWB signal, and to send UWB to multiple array element antennas of the first device through the UWB emission source. Signal.

The first device controls the automatic recharging time of the second device, and after receiving the second control instruction sent by the first device to instruct the second device to send UWB signals, sends UWB signals to multiple array element antennas of the first device. .

Step S602: Receive a first control instruction. The first control instruction is a control instruction in which the first device determines the real-time coordinates of the second device based on the UWB signal and determines the real-time coordinates. The first control instruction is used to instruct the second device to move to the desired location. The preset charging position corresponding to the first device moves;

Step S603, move to the preset charging position according to the first control instruction, and electrically connect with the first device;

Step S604: Charging is performed through the first device.

In an exemplary embodiment of the present disclosure, an automatic charging device is provided, which is applied to a first device for outputting charging current. FIG. 7 is a block diagram of an automatic charging device according to an exemplary embodiment. FIG. 7 As shown, this device includes:

The receiving unit 701 is configured to receive the ultra-wideband technology UWB signal sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear;

The first determining unit 702 is configured to determine the real-time coordinates of the second device according to the UWB signal;

The second determination unit 703 is configured to determine a first control instruction according to the real-time coordinates, the first control instruction being used to instruct the second device to move to the preset charging position corresponding to the first device;

The sending unit 704 is configured to send the first control instruction to the second device, so that the second device moves to the preset charging position and charges.

In some possible implementations, the plurality of array element antennas are three coplanar and non-collinear array element antennas; the first determining unit 702 is further configured to determine the The real-time plane coordinates of the second device.

In some possible implementations, the plurality of array element antennas are four array element antennas that are not coplanar or collinear; the determining unit 702 is further configured to determine the first element antenna according to the UWB signal using a pseudorange equation. The real-time three-dimensional coordinates of the second device.

In some possible implementations, the second determination unit 703 is further configured to determine a path from the real-time coordinates to the preset charging position corresponding to the first device according to the real-time coordinates; the determination includes indicating that the The first control instruction of the above path.

In some possible implementations, the control unit is further configured to determine the voltage state of the charging terminal on the first device after determining that the second device moves to a preset charging position corresponding to the first device, After determining that the charging terminal and the charging head on the second device are connected according to the voltage state, the charging circuit is started.

In some possible implementations, the method further includes: after the control unit learns that the second device meets the automatic recharging condition,

Turn on the receiving function of the array element antenna.

In some possible implementations, the sending unit 704 is further configured to send a second control instruction to the second device, where the second control instruction is used to instruct the second device to send a UWB signal;

The receiving unit 701 is further configured to receive the ultra-wideband technology UWB signal sent by the second device after receiving the second control instruction through multiple array element antennas.

In some possible implementations, the receiving unit 701 is further configured to receive, through the plurality of array element antennas, the ultra-wideband technology UWB signal sent by the second device after meeting the automatic recharge conditions.

The automatic recharge conditions include at least one of the following:

The remaining power is less than the set power;

The execution of the work task is completed;

In an exemplary embodiment of the present disclosure, an automatic charging device is provided, which is applied to a second device for inputting charging current. FIG. 8 is a block diagram of an automatic charging device according to an exemplary embodiment, as shown in FIG. 7 As shown, this device includes:

The sending unit 801 is configured to send UWB signals to multiple array element antennas of the first device through the ultra-wideband technology UWB emission source. The multiple array element antennas are not collinear. The first device is used for output charging. electric current charging equipment;

The receiving unit 802 is configured to receive a first control instruction. The first control instruction is the control that the first device determines the real-time coordinates of the second device based on the UWB signal and determines based on the real-time coordinates. Instruction, the first control instruction is used to instruct the second device to move to the preset charging position corresponding to the first device;

The mobile unit 803 is configured to move to the preset charging position according to the first control instruction, and to be electrically connected to the first device;

The charging unit 804 is configured to charge through the first device.

In some possible implementations, the sending unit 801 is also configured to respond to the automatic recharging condition by sending

In some possible implementations, the receiving unit 802 is configured to receive a second control instruction sent by the first device; the second control instruction is used to instruct the second device to send a UWB signal;

The sending unit 801 is also configured to send UWB signals to multiple array element antennas of the first device through the UWB transmission source.

Regarding the devices in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

In an exemplary embodiment of the present disclosure, Figure 9 is a block diagram of a first device according to an exemplary embodiment. As shown in Figure 9, it includes a charging device 901, a micro control unit MCU902, and a UWB array element antenna 903.

In an exemplary embodiment of the present disclosure, Figure 10 is a block diagram of a second device according to an exemplary embodiment. As shown in Figure 10, it includes a battery 1001, a micro control unit MCU1002, a mobile device 1003, and a UWB emission source. 1004.

Regarding the structure in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

In an exemplary embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of a first device, the first device can perform an automatic recharge. Methods, including any of the above methods.

In an exemplary embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of a second device, the second device can perform an automatic recharge. Methods, including any of the above methods.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common knowledge or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the disclosure is limited only by the appended claims.

Industrial applicability

The automatic charging method in the present disclosure adopts UWB ultra-wideband technology, which has higher positioning accuracy for the second device and stronger environmental adaptability. It can effectively improve the recharging success rate and reduce computing and hardware costs. During the positioning process, there is no need to synchronize the system clocks of the second device and the first device, which can greatly improve the compatibility of the devices.

Claims

An automatic charging method, executed by a first device for outputting charging current, the method includes:

Receive the ultra-wideband technology UWB signal sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear;

Determine the real-time coordinates of the second device according to the UWB signal;

Determine a first control instruction according to the real-time coordinates, the first control instruction is used to instruct the second device to move to the preset charging position corresponding to the first device;

Send the first control instruction to the second device so that the second device moves to the preset charging position and charges.
The automatic charging method according to claim 1, wherein the plurality of array element antennas are three array element antennas that are coplanar and not collinear;

Determining the real-time coordinates of the second device according to the UWB signal includes:

The real-time plane coordinates of the second device are determined using a pseudorange equation according to the UWB signal.
The automatic charging method according to claim 1, wherein the plurality of array element antennas are four array element antennas that are not coplanar and not collinear;

Determining the real-time coordinates of the second device according to the UWB signal includes:

A pseudorange equation is used to determine the real-time three-dimensional coordinates of the second device according to the UWB signal.
The automatic charging method according to claim 1, wherein determining the first control instruction according to the real-time coordinates includes:

Determine a path from the real-time coordinates to the preset charging position corresponding to the first device according to the real-time coordinates;

It is determined that a first control instruction for instructing the path is included.
The automatic charging method according to claim 1, further comprising:

After determining that the second device moves to the preset charging position corresponding to the first device, determine the voltage state of the charging terminal on the first device;

After determining that the charging terminal and the charging head on the second device are connected according to the voltage state, the charging circuit is started.
The automatic charging method according to claim 1, wherein before receiving the ultra-wideband technology UWB signal sent by the second device through the plurality of array element antennas, it further includes:

After learning that the second device meets the automatic recharging conditions, the receiving function of the array element antenna is turned on.
The automatic charging method according to any one of claims 1 to 6, wherein receiving the ultra-wideband technology UWB signal sent by the second device through multiple array element antennas includes:

Send a second control instruction to the second device, where the second control instruction is used to instruct the second device to send a UWB signal;

The ultra-wideband technology UWB signal sent by the second device after receiving the second control instruction is received through multiple array element antennas.
The automatic charging method according to any one of claims 1 to 6, wherein receiving the ultra-wideband technology UWB signal sent by the second device through multiple array element antennas includes:

Through the plurality of array element antennas, the ultra-wideband technology UWB signal sent by the second device after meeting the automatic recharging conditions is received.
The automatic charging method according to claim 6 or 8, wherein the automatic recharging conditions include at least one of the following:

The remaining power is less than the set power;

The execution of the work task is completed;

Make sure that the time since the end of the last charge is greater than the set time;

Determine that the power required for the current work task is less than the remaining power.
An automatic charging method, executed by a second device for inputting charging current, the method includes:

Using the ultra-wideband technology UWB emission source, send UWB signals to multiple array element antennas of the first device, the multiple array element antennas are not collinear, and the first device is a charging device for outputting charging current;

Receive a first control instruction. The first control instruction is a control instruction in which the first device determines the real-time coordinates of the second device according to the UWB signal and determines the real-time coordinates. The first control instruction The instruction is used to instruct the second device to move to a preset charging position corresponding to the first device;

Move to the preset charging position according to the first control instruction and connect with the electrical signal of the first device;

Charging is performed via the first device.
The automatic charging method according to claim 10, wherein the ultra-wideband technology UWB emission source sends UWB signals to multiple array element antennas of the first device, including:

In response to meeting the automatic recharging condition, UWB signals are sent to the plurality of array element antennas of the first device through the UWB emission source.
The automatic charging method according to claim 11, wherein the automatic recharging conditions include at least one of the following:

The remaining power is less than the set power;

The execution of the work task is completed;

Make sure that the time since the end of the last charge is greater than the set time;

Determine that the power required for the current work task is less than the remaining power.
The automatic charging method according to claim 10, wherein the UWB signal is sent by the ultra-wideband technology UWB emission source, including:

Receive a second control instruction sent by the first device, where the second control instruction is used to instruct the second device to send a UWB signal;

UWB signals are sent to multiple array element antennas of the first device through the UWB emission source.
An automatic charging device, applied to the first device for outputting charging current, this device includes:

A receiving unit configured to receive ultra-wideband technology UWB signals sent by the second device through multiple array element antennas; the multiple array element antennas are not collinear;

A first determining unit configured to determine the real-time coordinates of the second device according to the UWB signal;

A second determination unit configured to determine a first control instruction according to the real-time coordinates, the first control instruction being used to instruct the second device to move to a preset charging position corresponding to the first device;

A sending unit configured to send the first control instruction to the second device so that the second device moves to the preset charging position and charges.
An automatic charging device applied to a second device for inputting charging current. This device includes:

The sending unit is configured to send UWB signals to multiple array element antennas of the first device through the ultra-wideband technology UWB emission source. The multiple array element antennas are not collinear, and the first device is used to output charging current. charging equipment;

A receiving unit configured to receive a first control instruction, which is a control instruction that the first device determines the real-time coordinates of the second device based on the UWB signal and determines based on the real-time coordinates. , the first control instruction is used to instruct the second device to move to the preset charging position corresponding to the first device;

A mobile unit configured to move to the preset charging position according to the first control instruction and to be electrically connected to the first device;

A charging unit configured to charge via the first device.
A first device, characterized by including:

processor;

Memory used to store instructions executable by the processor;

Wherein, the processor is configured to perform the automatic charging method according to any one of claims 1-9.
A second device, characterized by including:

processor;

Memory used to store instructions executable by the processor;

Wherein, the processor is configured to perform the automatic charging method according to any one of claims 10 to 13.
A non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a processor of a first device, enables the first device to perform the automatic charging method according to any one of claims 1-9 .
A non-transitory computer-readable storage medium that, when instructions in the storage medium are executed by a processor of a second device, enables the second device to perform automatic charging as claimed in any one of claims 10 to 13 method.