CN106569495A - Positioning system and method for wireless charging sweeping machine - Google Patents
Positioning system and method for wireless charging sweeping machine Download PDFInfo
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- CN106569495A CN106569495A CN201610998672.5A CN201610998672A CN106569495A CN 106569495 A CN106569495 A CN 106569495A CN 201610998672 A CN201610998672 A CN 201610998672A CN 106569495 A CN106569495 A CN 106569495A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000010408 sweeping Methods 0.000 title abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 54
- 241001417527 Pempheridae Species 0.000 claims description 323
- 238000002604 ultrasonography Methods 0.000 claims description 15
- 230000005674 electromagnetic induction Effects 0.000 claims description 11
- 230000004807 localization Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 6
- 238000000465 moulding Methods 0.000 claims description 3
- 238000002372 labelling Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a positioning system and method for a wireless charging sweeping machine. The positioning system comprises a sweeping machine and a charging seat. The sweeping machine comprises a transmitter which is used for transmitting an ultrasonic signal or an infrared signal, an electric energy receiving module which is used for generating a first serial port signal related to distance, and a first control module which is used for controlling the movement route and the movement speed of the sweeping machine according to position information or the serial port signal. The charging seat comprises a second control module which calculates the position information of the sweeping machine according to the received ultrasonic signal or infrared signal, and transmits the position information to the first control module. According to the invention, when the sweeping machine is charged, through the matching of the position information determined by the ultrasonic signal or the infrared signal or the first serial port signal associated with distance, the sweeping machine can accurately determine the relative position with the charging seat, and correspondingly moves to complete wireless charging.
Description
Technical field
The present invention relates to sweeper field, it particularly relates to the alignment system and method for a kind of wireless charging sweeper.
Background technology
Now sweeping robot more and more enters huge numbers of families, gives people life and brings great convenience, wherein,
Wireless charging sweeping robot more improves Consumer's Experience.But, the localization method of the wireless charging sweeping robot is only
It is to carry out positioning using infrared ray or ultrasound wave merely to recharge, the localization method has that accuracy is not good, so that
The distance of sweeper and cradle is difficult to reach optimal charge position, affects the effect of wireless charging.
For the problem in correlation technique, effective solution is not yet proposed at present.
The content of the invention
For the problem in correlation technique, the present invention proposes the alignment system and method for a kind of wireless charging sweeper, energy
Enough during sweeper is recharged, cooperate so that sweeping the floor by positional information or to the related first serial signal of distance
Machine can accurately judge its relative position with cradle, and make corresponding reaction so that rapidly close cradle carries out nothing
Line charges.
The technical scheme is that what is be achieved in that：
According to an aspect of the invention, there is provided a kind of alignment system of wireless charging sweeper.
The alignment system of the wireless charging sweeper includes：Sweeper and the cradle for being charged to sweeper,
Wherein, sweeper includes：Sweeper and the cradle for being charged to sweeper, wherein, sweeper includes：For launching
The emitter of ultrasonic signal or infrared signal；For receiving electric energy by electromagnetic induction principle, and produce and sweeper and fill
The related first serial signal of the distance between electric seat and the electric energy receiver module for sending；For receiving position information or the first string
Message number, and according to positional information or rs 232 serial interface signal, control the moving line of sweeper and the first control module of movement velocity；
Cradle includes：For received ultrasonic signal or infrared signal, and ultrasonic signal or infrared signal are sent to the second control
The receptor of molding block；For launching electric energy by electromagnetic induction principle, and produce related to the charged state of sweeper the
The electric energy transmitter module of two rs 232 serial interface signals；For according to ultrasonic signal or infrared signal, calculating the positional information of sweeper simultaneously
The first control module is sent, and the second control mould of the power supply of electric energy transmitter module is controlled according to second serial signal
Block.
According to one embodiment of present invention, further include：First is in sweeper relative to the distance of cradle
When distance and second distance, according to ultrasonic signal or infrared signal, positional information of the sweeper relative to cradle is determined；
Sweeper relative to cradle distance in the 3rd distance and the 4th apart from when, according to first serial signal, determine sweeper
Relative to the distance of cradle.
According to one embodiment of present invention, according to positional information and first serial signal, the motion side of sweeper is controlled
To including with movement velocity：Sweeper relative to cradle distance in first apart from when, the direction of coarse adjustment sweeper makes
It is right against the movement of cradle center, and the movement velocity of sweeper is set to into First Speed；In sweeper relative to filling
The distance of electric seat be in second distance when, sweeper also not just to the center of cradle in the case of, finely tune sweeper shifting
Dynamic direction, and the movement velocity of sweeper is reduced to into second speed, wherein, the first distance is more than second distance；Sweeping the floor
Machine relative to cradle distance in the 3rd apart from when, continue the direction of motion for keeping sweeper, and by the fortune of sweeper
Dynamic speed is reduced to third speed, wherein, second distance is more than the 3rd distance；It is in relative to the distance of cradle in sweeper
4th apart from when, sweeper is stopped to move, and sweeper carries out wireless charging.
According to one embodiment of present invention, further include：First control module is used for after sweeper is fully charged, will
Sweeper is moved to second distance.
According to one embodiment of present invention, receptor includes：First receptor, for received ultrasonic signal, and will
Ultrasonic signal is converted to first apart from indication signal；Second receptor, for receiving ultrasound wave letter, and ultrasonic signal is turned
It is changed to second distance indication signal.
According to one embodiment of present invention, further include：Second control module, for receiving the first distance letter is indicated
Number and second distance indication signal, and determine that sweeper is relative apart from indication signal and second distance indication signal according to first
In the first distance of the first receptor, and sweeper is relative to the second distance of the second receptor.
According to one embodiment of present invention, further include：It is provided for sending the second of positional information on cradle
Radio-frequency module；Receiving position information is provided on sweeper and is sent to the first radio-frequency module of the first control module.
According to one embodiment of present invention, the second radio-frequency module is further used for controlling the electric energy transmitting mould in cradle
The power supply of block.
According to one embodiment of present invention, also include：Electric energy receiver module includes the electric energy of the perforate for being provided with circle
Receiving coil, wherein, the diameter with diameter greater than emitter of perforate.
According to one embodiment of present invention, further include：The second control module on cradle includes being provided for
Show display module of the sweeper relative to the distance of cradle.
According to one embodiment of present invention, also include：Crash bar is provided with sweeper, wherein, the shape of crash bar
For circular arc, and the curvature of circular arc is identical with the curvature of sweeper.
According to one embodiment of present invention, also include：Electric energy receiving coil is located at the center of crash bar.
According to a further aspect in the invention, a kind of localization method of wireless charging sweeper is additionally provided.
The localization method of the wireless charging sweeper includes：The emitter transmitting ultrasonic signal of sweeper or infrared letter
Number；The receptor received ultrasonic signal of cradle or infrared signal, and the second control module of cradle is according to ultrasound wave
Signal or infrared signal, determine sweeper relative to the positional information of cradle and send to the first control module of sweeper；
The electric energy receiver module of sweeper produces the first serial signal related to the distance between sweeper and cradle, and first
Control module controls the moving line and movement velocity of sweeper according to positional information or first serial signal；Stop in sweeper
After only moving, cradle carries out wireless charging by electromagnetic induction principle to sweeper；And the electric energy transmitter module of cradle
The second serial signal related to the charged state of sweeper, and the second control module are produced according to second serial signal, control
The power supply of wireless charging processed.
According to one embodiment of present invention, further include：First is in sweeper relative to the distance of cradle
When distance and second distance, according to ultrasonic signal or infrared signal, positional information of the sweeper relative to cradle is determined；
Sweeper relative to cradle distance in the 3rd distance and the 4th apart from when, according to first serial signal, determine sweeper
Relative to the distance of cradle.
According to one embodiment of present invention, according to positional information and first serial signal, the motion side of sweeper is controlled
To including with movement velocity：Sweeper relative to cradle distance in first apart from when, the direction of coarse adjustment sweeper makes
It is right against the movement of cradle center, and the movement velocity of sweeper is set to into First Speed；In sweeper relative to filling
The distance of electric seat be in second distance when, sweeper also not just to the center of cradle in the case of, finely tune sweeper shifting
Dynamic direction, and the movement velocity of sweeper is reduced to into second speed, wherein, the first distance is more than second distance；Sweeping the floor
Machine relative to cradle distance in the 3rd apart from when, continue the direction of motion for keeping sweeper, and by the fortune of sweeper
Dynamic speed is reduced to third speed, wherein, second distance is more than the 3rd distance；It is in relative to the distance of cradle in sweeper
4th apart from when, sweeper is stopped to move, and sweeper carries out wireless charging.
The present invention Advantageous Effects be：
The present invention by recharging in sweeper during, by positional information or to distance related first serial signal
Cooperate and enable sweeper accurately to judge its relative position with cradle, and make and reacting so as to rapidly accordingly
Close cradle carries out wireless charging.Meanwhile, it is of the invention also by leaving cradle after sweeper is fully charged, effectively to reduce
System standby power consumption.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing that needs are used is briefly described, it should be apparent that, drawings in the following description are only some enforcements of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can be being obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the schematic diagram of the alignment system of wireless charging sweeper according to embodiments of the present invention；
Fig. 2 is that the position of the transmitting coil in sweeper cradle according to embodiments of the present invention and ultrasonic receiver shows
It is intended to；
Fig. 3 is the schematic diagram of electric energy receiving coil according to embodiments of the present invention；
Fig. 4 is the position view of sweeper according to embodiments of the present invention and crash bar；
Fig. 5 is the flow chart of the localization method of wireless charging sweeper according to embodiments of the present invention；
Fig. 6 is the flow chart according to the operation of the cradle of the specific embodiment of the invention；
Fig. 7 is the flow chart according to the operation of the sweeper of the specific embodiment of the invention.
Wherein, labelling 1 is electric energy transmitter module in Fig. 1, and labelling 2 is ultrasonic receiver 1, and labelling 3 is ultrasound wave reception
Device 2, labelling 4 is the second control module, and labelling 5 is the second radio-frequency module, and labelling 6 is electric energy receiving coil, and labelling 7 is wireless charging
Electric receiving circuit, labelling 8 is the first control module, and labelling 9 is charge power supply, and labelling 10 is emitter, and labelling 11 is penetrated for first
Frequency module.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained belongs to present invention protection
Scope.
A kind of embodiments in accordance with the present invention, there is provided alignment system of wireless charging sweeper.
As shown in figure 1, the alignment system of wireless charging sweeper according to embodiments of the present invention includes：Sweeper and it is used for
The cradle that sweeper is charged, wherein, sweeper includes：For launching the emitter of ultrasonic signal or infrared signal
10；For receiving electric energy by electromagnetic induction principle, and produce first string related to the distance between sweeper and cradle
Message number and the electric energy receiver module for sending；For receiving position information or first serial signal, and according to positional information or string
Message number, controls the moving line of sweeper and the first control module 8 of movement velocity；Cradle includes：For receiving ultrasound
Ripple signal or infrared signal, and ultrasonic signal or infrared signal are sent to the receptor of the second control module 4；For passing through
Electromagnetic induction principle launches electric energy, and produces the electric energy transmitter module of the second serial signal related to the charged state of sweeper
1；For according to ultrasonic signal or infrared signal, calculating the positional information of sweeper and sending the first control module 8, and root
The second control module 4 of the power supply of electric energy transmitter module is controlled according to second serial signal.
In this embodiment, as shown in figure 1, cradle includes：Electric energy transmitter module 1, ultrasonic receiver 2, ultrasound wave
Receptor 3, the second control module 4, the second radio-frequency module 5, sweeper includes：Electric energy receiving coil 6, wireless charging receiving circuit
7th, the first control module 8, charge power supply 9, emitter 10, the first radio-frequency module 11, wherein, electric energy receiver module includes：Electric energy
Receiving coil 6 and wireless charging receiving circuit 7, wherein, first the first radio-frequency module 11 sends charge requirement to the second radio frequency mould
Block 5, the second control module 4 is powered to electric energy transmitter module 1, the transmitting ultrasonic signal or red of emitter 10 in subsequent sweeper
External signal, receptor in subsequent cradle receives above-mentioned ultrasonic signal or infrared signal, and by above-mentioned ultrasonic signal or
Infrared signal is sent to the second control module 4, and subsequently second control module 4 is true according to above-mentioned ultrasonic signal or infrared signal
Determine position of the sweeper relative to cradle, subsequent second radio-frequency module 5 sends the position after above-mentioned determination to sweeper, should
The first radio-frequency module 11 in sweeper receives the positional information and passes to the first control module 8, subsequent first control module 8
According to the direction of motion and movement velocity of the positional information control sweeper, when sweeper is nearer apart from the position of cradle, can
The first serial related to the distance between sweeper and cradle produced by the wireless charging receiving circuit 7 in sweeper
Signal sends the first control module 8 into sweeper, the sweeping the floor according to the first serial signal transmission of the first control module 8
The relative distance information of machine and cradle is made corresponding motion and is come near cradle, the character of the transmission of the first serial signal
Concrete meaning it is as follows：
Mark 01H represents sweeper near cradle, and stage of the sweeper in preparing to charge；
Mark 02H represents that the output voltage of cradle is stably exported, and output current is more than 0.6A；
Mark 03H represents output current between 0.2-0.6A, if sweeper has just connected the output before cradle in 10S
Electric current is between 0.2-0.6A, it may be possible to sweeper and cradle misalignment；
Mark 04H represents that the electric current that cradle is provided is less than 0.2A, and whether the electric current can be used as charging normally refers to, and prevents
Only pretend to be；
Always low level represents that cradle and sweeper charging disconnect to serial ports.
Additionally, the electric energy transmitter module 1 in cradle can also produce the second serial related to the charged state of sweeper
Signal, and the second serial signal being sent to the second control module 4 of cradle, second control module 4 by this second
Rs 232 serial interface signal, controls the power supply of electric energy transmitter module 1, wherein, the electric energy transmitter module 1 in cradle is used to launch wireless
Charging signals, accordingly, the electric energy receiver module in sweeper is used to receive the wireless charging signal, above-mentioned wireless charging signal
Can be AC signal etc., additionally, electric energy transmitter module 1 and electric energy receiver module are also used for wireless energy in addition to energy transmission
The related carrier information transmission of transmission.Electric energy transmitter module 1 can also produce the second control that serial data is passed in cradle
Module 4, for example：The concrete meaning of the character of the transmission of the second serial signal is as follows：
Mark 01H represents sweeper near cradle, and state of the sweeper in preparing to charge；
Mark 02H represents that the output voltage of cradle has been stablized, and output current is more than 0.6A, now, sweeper
State in charging normal；
Mark 03H represents the output current of cradle between 0.2-0.6A, but has in 10S as just connected before cradle
This situation, it may be possible to misalignment；
Mark 04H represents the emission current of cradle less than 0.2A, and the charging in the electric current mark cradle has filled full
Or pretend to be；
Mark 06H represents that cradle supplies electricity to sweeper, and waits sweeper to leave；
Mark 08H represents that sweeper has been moved off.
By the such scheme of the present invention, can be by ultrasonic signal or infrared signal defined location information and serial ports
Signal cooperates and enables sweeper accurately to judge its relative position with cradle, and makes and reacting so as to fast accordingly
Fastly close cradle carries out wireless charging.
According to one embodiment of present invention, further include：First is in sweeper relative to the distance of cradle
When distance and second distance, according to ultrasonic signal or infrared signal, positional information of the sweeper relative to cradle is determined；
Sweeper relative to cradle distance in the 3rd distance and the 4th apart from when, according to first serial signal, determine sweeper
Relative to the distance of cradle.
In this embodiment, when sweeper is in first apart from d1 and second distance d2 relative to the distance of cradle,
According to ultrasonic signal or infrared signal, distance of the sweeper relative to cradle is determined, it is of course possible to understand, can be according to reality
Demand is configured to first apart from d1 and second distance d2, and the present invention is not limited this, but is because ultrasound wave or red
When distance of the outside line range finding between sweeper and cradle is smaller, it is possible to have blind spot, certainty of measurement has declined, institute
With closely when using rs 232 serial interface signal coordinate come judging distance, therefore, sweeper relative to cradle distance be in the 3rd
Apart from d3 and the 4th apart from d4 when, according to indication signal, determine distance of the sweeper relative to cradle, the present invention will be by will be super
Acoustic signals or infrared signal and rs 232 serial interface signal cooperate and enable the relative position of the accurate diagnosis apparatuss of sweeper and cradle
Put, and make corresponding reaction so that rapidly close cradle carries out wireless charging, additionally, the process of the wireless charging is logical
The close of electric energy receiving coil 6 in the transmitting coil 1 and electric energy receiver module crossed in electric energy transmitter module 1 utilizes electromagnetic induction
Principle is so as to carrying out the transmission of wireless energy.
According to one embodiment of present invention, according to positional information and rs 232 serial interface signal, control sweeper the direction of motion and
Movement velocity includes：When sweeper is in first apart from d1 relative to the distance of cradle, such as >=1m, by sweeper coarse adjustment
Direction makes it be right against cradle movement, and the movement velocity of sweeper is set to into First Speed V1, such as 20.5-
23.5cm/s；When sweeper is in second distance d2 relative to the distance of cradle, such as d2 ＜ 1m and d2 >=12mm keep
The moving direction of sweeper, and the movement velocity of sweeper is adjusted to into second speed V2, such as 8cm/s；In sweeper phase
For cradle distance in the 3rd apart from d3 when, the 3rd apart from d3 according to serial data for 01H judging, such as ＜ 12mm
And >=5mm, continue to keep the direction of motion of sweeper, and the movement velocity of sweeper is adjusted to into third speed V3, such as
0.5cm/s；When sweeper and cradle distance for the 4th apart from d4 when, d4 is 02H, 03H and 04H according to serial data sentencing
Fixed, such as ＜ 5mm, sweeper carries out wireless charging, stop motion near cradle.Additionally, with regard to first apart from d1, second away from
It is of the invention apart from the setting of d4 and First Speed V1, second speed V2 and third speed V3 from d2, the 3rd distance d3 and the 4th
Do not limit, be intended merely to facilitate understanding to be illustrated.
In this embodiment, the ultrasonic transmitter 10 in sweeper sends ultrasonic signal, the ultrasound wave in cradle
Receptor 2 and ultrasonic receiver 3 receive signal, and the second control module 4 in cradle is according to the ultrasonic signal for receiving
Time and sweeper send the time difference of ultrasound wave and be multiplied by the speed of ultrasound wave to calculate above-mentioned the two of sweeper and cradle
The distance between individual receptor, and positional information is passed back to into sweeper by the second radio-frequency module 5, sweeper is believed according to position
The traffic direction and the speed of service of breath adjustment sweeper, once ultrasonic receiver senses two apart from equal, shows sweeper
Just to cradle.
If additionally, sweeper is by closely (such as second distance d2) near cradle, it is possible to there is sweeper and do not have
Have just to cradle just near the situation of cradle, make the electric energy receiving coil 6 and cradle of sweeper wireless charging
Wireless charging transmitting coil does not have parallel alignment, but has certain low-angle, and effect is exactly that sweeper coil one end is close fills
Electric seat, the other end also has several millimeters of distance, can so affect charging effect, or even causes to pretend to be phenomenon.Therefore, by sweeper
The very short time is run with third speed V3, sweeper is encountered and the method solution stopped again is pushed up after cradle, additionally,
It is noted that leaning against stable position behind cradle when using, such as wall while or during cupboard, in order to avoid knocked over by sweeper.Additionally,
If just the differing angle than larger (misalignment, charge efficiency is not high or cannot charge) of sweeper and cradle, then need
Sweeper is backed to into suitable distance is carried out again near charging, or rotation sweeper is with adjustment angle, so as to complete wireless charging
Process.
According to one embodiment of present invention, further include：First control module 8 is used for after sweeper is fully charged,
Sweeper is moved to into second distance d2, now, sweeper is in low-power consumption standby state.Correspondingly, cradle stops as electricity
Energy transmitter module 1 is powered, and then can reduce the overall stand-by power consumption of product.
According to one embodiment of present invention, receptor includes：First receptor 2, for received ultrasonic signal, and will
Ultrasonic signal is converted to first apart from indication signal；Second receptor 3, for received ultrasonic signal, and ultrasound wave is believed
Number be converted to second distance indication signal.
In this embodiment, as shown in Fig. 2 receptor includes：Ultrasonic receiver 1 is used for received ultrasonic signal, the
When two control modules 4 launch ultrasonic signal according to the emitter 10 for receiving moment and sweeper that receptor 1 receives signal
The time difference at quarter calculates sweeper emitter 10 with a distance from receptor 1；Receptor 2 is also used for received ultrasonic signal simultaneously,
Second control module 4 according to receptor 2 receive signal moment and sweeper emitter 10 transmitting the ultrasonic signal moment when
Between difference calculate sweeper emitter 10 with a distance from receptor 2, according to the two distance just can calculate sweeper relative to
The position of cradle, the sending signal moment of above-mentioned sweeper emitter 10 is by the first radio-frequency module 11 and the second radio-frequency module
5 pass to the second control module 4.Both sides of the two receptor centrosymmetry in cradle in electric energy transmitter module 1, certainly
It is appreciated that the position and quantity of receptor can be configured according to the actual requirements, for example, an enforcement of the invention
Example, receptor includes：Receptor 1, receptor 2 and receptor 3, the present invention is not limited this.Additionally, can set in cradle
An infrared receiver is put, for receiving the infrared signal of sweeper.
According to one embodiment of present invention, further include：It is provided for sending the second of positional information on cradle
Radio-frequency module 5；Receiving position information is provided on sweeper and is sent to the first radio-frequency module 11 of the first control module 8.
In this embodiment, according to Fig. 1, when sweeper receives the instruction or because not enough power supply for needing to charge
When needing to charge, sweeper stops work of sweeping the floor, and the first radio-frequency module 11 in sweeper can send the letter for needing to charge
Number, the second radio-frequency module 5 in cradle received and powered for radio energy transmitter module 1 after signal, it is of course possible to managed
Solution, the communication of the first radio-frequency module 11 and the second radio-frequency module 5 is two-way, and for example, the effect of the second radio-frequency module 5 is to receive
The information of the first radio-frequency module 11 in sweeper, including sweeper will charge, sweeper produced according to the instruction of remote control or
Produced according to battery electric quantity, and including transmitting ultrasound wave or the moment of infrared signal.Additionally, second radio-frequency module 5 is also sent out
The positional information of sweeper is sent to the first radio-frequency module 11.
According to one embodiment of present invention, the second radio-frequency module 5 is further used for controlling the electric energy transmitting in cradle
The power supply of module 1, the information of cradle is had been moved off according to the information or sweeper that fill with to disconnect electric energy transmitting
The power supply of module 1, to save power attenuation, it is of course possible to understand, can be configured according to the actual requirements to power supply,
The present invention is not limited this.
According to one embodiment of present invention, also include：Electric energy receiver module includes the electric energy of the perforate for being provided with circle
Receiving coil 6, wherein, the diameter with diameter greater than emitter 10 of perforate is not affecting sending for ultrasonic signal.If red
External signal, circular perforate can as requested make the shape of runway into.
In this embodiment, as shown in figure 3, there is a ultrasonic transmitter 10 on sweeper, position is in sweeper
On front line direction, electric energy receiving coil 6, in order to not stop emitter 10, electric energy is received in the central platform position of crash bar
The perforate of 6 centrally disposed circles of coil, diameter of the bore size slightly larger than emitter 10, it is of course possible to understand, can basis
Actual demand is configured to the opening of electric energy receiving coil 6 and the diameter of emitter 10, for example, a reality of the invention
Apply example, a diameter of 12mm of emitter 10, the opening diameter of electric energy receiving coil 6 is 14mm, and the electric energy receiving coil 6 includes
Coil and screen layer, the perforate is punching on screen layer.
According to one embodiment of present invention, also include：The charge power supply 9 for charging is provided on sweeper.In the reality
In applying example, charge power supply 9 is placed on the rear portion dustbin of sweeper.According to one embodiment of present invention, further include：
The second control module 4 on cradle includes being provided for showing display module of the sweeper relative to the distance of cradle.
In this embodiment, when sweeper is recharged, a luminance bar shows sweeper on the display module of cradle
With a distance from cradle, the shinny length of the nearlyer luminance bar of distance is longer, shows sweeper from cradle by the length of vertical bar
Distance so that show it is more directly perceived.
According to one embodiment of present invention, also include：Crash bar is provided with sweeper, wherein, the shape of crash bar
For circular arc, and the curvature of circular arc is identical with the curvature of sweeper.
In this embodiment, as shown in figure 4, electric energy receiving coil 6 is pasted onto crash bar inner side, by adapter and wirelessly
Charging receiving circuit 7 is connected, and the transmitting coil of electric energy transmitter module 1 is close to the inner side in charging face in cradle, and structure sets
Ensure the center alignment of two coils on meter, wireless energy is carried out using electromagnetic induction principle by the close of coil during charging
Transmission.Additionally, transmitting coil is close to the inner side of charging seat surface, wireless charging radiating circuit can be in the side of transmitting coil simultaneously
Discharge is put, it is also possible to the other positions in being placed on the back side of transmitting coil, or cradle.
According to one embodiment of present invention, also include：Electric energy receiving coil 6 is located at the center of crash bar, at this
In embodiment, as shown in figure 4, the electric energy receiving coil 6 in sweeper is assemblied in the center of crash bar platform.
Embodiments in accordance with the present invention, additionally provide a kind of localization method of wireless charging sweeper.
As shown in figure 5, the localization method of wireless charging sweeper according to embodiments of the present invention includes：
Step S501, the transmitting ultrasonic signal of emitter 10 of sweeper or infrared signal；
Step S503, the receptor received ultrasonic signal of cradle or infrared signal, and the second control of cradle
Module 4 determines sweeper relative to the positional information of cradle and sends to sweeper according to ultrasonic signal or infrared signal
The first control module 8；
Step S505, the receptor received ultrasonic signal of cradle or infrared signal, and the second control of cradle
Module 4 determines sweeper relative to the positional information of cradle and sends to sweeper according to ultrasonic signal or infrared signal
The first control module 8；
Step S507, after sweeper stop motion, cradle carries out wireless charging by electromagnetic induction principle to sweeper
Electricity；
Step S508, the electric energy transmitter module 1 of cradle produces the second serial letter related to the charged state of sweeper
Number, and the second control module 4 controls the power supply of wireless charging according to second serial signal.
According to one embodiment of present invention, further include：First is in sweeper relative to the distance of cradle
When distance and second distance, according to ultrasonic signal or infrared signal, positional information of the sweeper relative to cradle is determined；
Sweeper relative to cradle distance in the 3rd distance and the 4th apart from when, according to first serial signal, determine sweeper
Relative to the distance of cradle.
According to one embodiment of present invention, according to positional information and first serial signal, the motion side of sweeper is controlled
To including with movement velocity：Sweeper relative to cradle distance in first apart from when, the direction of coarse adjustment sweeper makes
It is right against the movement of cradle center, and the movement velocity of sweeper is set to into First Speed；In sweeper relative to filling
The distance of electric seat be in second distance when, sweeper also not just to the center of cradle in the case of, finely tune sweeper shifting
Dynamic direction, and the movement velocity of sweeper is reduced to into second speed, wherein, the first distance is more than second distance；Sweeping the floor
Machine relative to cradle distance in the 3rd apart from when, continue the direction of motion for keeping sweeper, and by the fortune of sweeper
Dynamic speed is reduced to third speed, wherein, second distance is more than the 3rd distance；It is in relative to the distance of cradle in sweeper
4th apart from when, sweeper is stopped to move, and sweeper carries out wireless charging.
As shown in fig. 6, during wireless charging, the running of cradle is specifically included：
Step S1, cradle is in holding state；
Step S2, cradle judges whether to receive the radiofrequency signal that sweeper need to charge, and above-mentioned need to fill if not receiving
Electricity radiofrequency signal when, return to step S1, accordingly, if receive it is above-mentioned need to charge radiofrequency signal when, execution step S3；
Step S3, the transmitting coil in electric energy transmitter module 1 in cradle starts power supply；
Step S4,2 ultrasonic signals detected according to ultrasonic receiver 1 and ultrasonic receiver 2 in cradle
Calculate the distance of sweeper and above-mentioned two receptor；
Step S5, cradle occurs the range information after calculating to sweeper by the second radio-frequency module 5；
Step S6, cradle judges its Distance l imit with the whether close wireless charging of the distance of sweeper, does not such as connect
Near then return to step S4, if it is apart from close limit value, execution step S7；
Step S7, cradle detects its wireless charging state；
Step S8, cradle judges whether to detect wireless receiving end, that is, judge that electric energy transmitter module 1 and electric energy receive mould
Block whether successful matching, if being not detected by wireless receiving end or the match is successful, return to step S7, if detecting wireless receiving
Hold, then execution step S9；
Step S9, cradle carries out wireless charging to sweeper；
Step S10, cradle judges whether sweeper fills with electricity, if sweeper underfill is electric, return to step S9,
If sweeper is fully charged, execution step S11；
Step S11, cradle is stopped power supply, and return to step S1.
Above-mentioned steps show the running of cradle received ultrasonic signal, it will be understood that cradle receives infrared
The running of signal is similar with said process, and here is no longer illustrated.
As shown in fig. 7, during wireless charging, the running of sweeper is specifically included：
Step S1, sweeper is in running order or holding state；
Whether step S2, sweeper needs to charge, if it need not charge, return to step S1, and if it needs to charge,
Execution step S3；
Step S3, sweeper stops work of sweeping the floor, and by the first radio-frequency module 11 charge information will be needed to pass to charging
Seat, and ultrasonic transmitter 10 sends ultrasonic signal；
Step S4, sweeper receives the positional information passed back；
Whether step S5, according to above-mentioned positional information, judge sweeper with the relative distance of cradle in the first distance
D1, if relative distance is not return to step S3 first apart from d1, execution step S6 if relative distance is the first distance；
Step S6, when the distance of sweeper and cradle be first apart from d1 when, the direction of the coarse adjustment sweeper, and will
The speed of the sweeper is adjusted to First Speed V1 so that sweeper is close to cradle；
Whether step S7, according to above-mentioned positional information, judge sweeper with the relative distance of cradle in second distance
D2, if relative distance is not at second distance d2, return to step S6, if relative distance is in second distance d2, performs step
Rapid S8；
Step S8, when the distance of sweeper and cradle is second distance d2, if sweeper is not just in cradle
Heart position, then finely tuning the direction of motion of sweeper makes it just close to the center of cradle, and its movement velocity is reduced to
Second speed v2；
Step S9, sweeper according to the first serial signal that electric energy receiver module is produced judge its it is relative with cradle away from
The 3rd distance d3 is in from whether, if relative distance is not at the 3rd apart from d3, return to step S8, if relative distance is in the
Three apart from d3, then execution step S10；
Step S10, when the distance of sweeper and cradle be the 3rd apart from d3 when, the speed of the sweeper is reduced to into the
Three speed V3 so that sweeper is close to cradle, the state that now sweeper charges in preparation；
Step S11, sweeper according to first serial signal judge its relative distance with cradle whether in the 4th away from
From d4, if relative distance is not at the 4th apart from d4, return to step S10, if relative distance is in the 4th apart from d4, perform
Step S12；
Step S12, when the relative distance of sweeper and cradle is in the 4th apart from d4, stops sweeper, and right
Sweeper carries out wireless charging；
Step S13, the first control module 8 judges whether sweeper is full of, execution step S12 if sweeper underfill,
Execution step S14 if sweeper is full of；
Step S14, in the case where sweeper is full of, by sweeper retreat to a distance from cradle be second distance
d2；
Step S15, in the case of above-mentioned steps S14, reduces the power consumption of sweeper, and sweeper is in standby shape
State.
In sum, by means of the above-mentioned technical proposal of the present invention, during recharging in sweeper, by position
Information cooperates and enables sweeper accurately to judge that it is relative with cradle with the related first serial signal of distance
Position, and make corresponding reaction so that rapidly close cradle carries out wireless charging.Meanwhile, the present invention is also by sweeping the floor
Cradle is left after machine is fully charged, effectively to reduce system standby power consumption.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (15)
1. a kind of alignment system of wireless charging sweeper, it is characterised in that include：Sweeper and for entering to the sweeper
The cradle that row charges,
Wherein, the sweeper includes：
For launching the emitter of ultrasonic signal or infrared signal；
For receiving electric energy by electromagnetic induction principle, and produce related to the distance between the sweeper and the cradle
First serial signal and send electric energy receiver module；
For receiving the positional information or first serial signal, and according to the positional information or rs 232 serial interface signal, control is described
The moving line of sweeper and the first control module of movement velocity；
The cradle includes：
For receiving the ultrasonic signal or infrared signal, and the ultrasonic signal or infrared signal are sent to the second control
The receptor of molding block；
For launching electric energy by the electromagnetic induction principle, and produce second string related to the charged state of the sweeper
The electric energy transmitter module of message number；
For according to the ultrasonic signal or the infrared signal, calculating the positional information of the sweeper and sending the first control
Molding block, and second control module of the power supply of the electric energy transmitter module is controlled according to second serial signal.
2. the alignment system of the wireless charging sweeper according to claim 1, it is characterised in that further include：
When the sweeper is in the first distance and second distance relative to the distance of the cradle, according to the ultrasound wave
Signal or the infrared signal, determine positional information of the sweeper relative to the cradle；
The sweeper relative to the cradle distance in the 3rd distance and the 4th apart from when, according to described first string
Message number, determines distance of the sweeper relative to the cradle.
3. the alignment system of the wireless charging sweeper according to claim 2, it is characterised in that according to the positional information
With first serial signal, controlling the direction of motion and movement velocity of the sweeper includes：
The sweeper relative to the cradle distance in first apart from when, the direction of sweeper makes it described in coarse adjustment
The cradle center movement is right against, and the movement velocity of the sweeper is set to into First Speed；
When the sweeper is in the second distance relative to the distance of the cradle, in sweeper also not just to charging
In the case of the center of seat, the moving direction of the sweeper is finely tuned, and the movement velocity of the sweeper is reduced to into the
Two speed, wherein, first distance is more than the second distance；
The sweeper relative to the cradle distance in the 3rd apart from when, continue the motion for keeping the sweeper
Direction, and the movement velocity of the sweeper is reduced to into third speed, wherein, the second distance more than the described 3rd away from
From；
The sweeper relative to the cradle distance in the 4th apart from when, by the sweeper stop move, and
And the sweeper carries out wireless charging.
4. the alignment system of the wireless charging sweeper according to claim 3, it is characterised in that further include：
First control module is used for after the sweeper is fully charged, and the sweeper is moved to into the second distance.
5. the alignment system of the wireless charging sweeper according to claim 1, it is characterised in that the receptor includes：
First receptor, for receiving the ultrasonic signal, and the ultrasonic signal being converted to into the first distance letter is indicated
Number；
Second receptor, for receiving the ultrasound wave letter, and is converted to second distance indication signal by the ultrasonic signal.
6. the alignment system of the wireless charging sweeper according to claim 5, it is characterised in that further include：
Second control module, for receiving described first apart from indication signal and the second distance indication signal, and root
According to described first apart from indication signal and the second distance indication signal, determine that the sweeper is received relative to described first
First distance of device, and the sweeper is relative to the second distance of second receptor.
7. the alignment system of the wireless charging sweeper according to claim 1, it is characterised in that further include：
It is provided for sending the second radio-frequency module of the positional information on the cradle；
It is provided for receiving the positional information and sending to the first radio frequency mould of first control module on the sweeper
Block.
8. the alignment system of the wireless charging sweeper according to claim 1, it is characterised in that second radio-frequency module
It is further used for controlling the power supply of the electric energy transmitter module in the cradle.
9. the alignment system of the wireless charging sweeper according to claim 1, it is characterised in that also include：
The electric energy receiver module includes the electric energy receiving coil of the perforate for being provided with circle, wherein, the diameter of the perforate is big
In the diameter of the emitter.
10. the alignment system of the wireless charging sweeper according to claim 1, it is characterised in that further include：
The second control module on the cradle include being provided for showing the sweeper relative to the cradle away from
From display module.
The alignment system of the 11. wireless charging sweepers according to claim 1, it is characterised in that also include：
Be provided with crash bar on the sweeper, wherein, the crash bar is shaped as circular arc, and the curvature of the circular arc with
The curvature of the sweeper is identical.
The alignment system of the 12. wireless charging sweepers according to claim 11, it is characterised in that also include：
Electric energy receiving coil is located at the center of the crash bar.
13. a kind of localization methods of wireless charging sweeper, it is characterised in that include：
The emitter transmitting ultrasonic signal of sweeper or infrared signal；
The receptor of cradle receives the ultrasonic signal or infrared signal, and the second control module of cradle is according to institute
Ultrasonic signal or the infrared signal are stated, sweeper is determined relative to the positional information of cradle and is sent to the sweeper
The first control module；
The electric energy receiver module of the sweeper produces first related to the distance between the sweeper and the cradle
Rs 232 serial interface signal, and first control module controls the sweeper according to the positional information or first serial signal
Moving line and movement velocity；
After the sweeper stop motion, the cradle carries out wireless charging by electromagnetic induction principle to the sweeper
Electricity；And
The electric energy transmitter module of the cradle produces the second serial signal related to the charged state of the sweeper, and
Second control module controls the power supply of wireless charging according to the second serial signal.
The localization method of the 14. wireless charging sweepers according to claim 13, it is characterised in that further include：
When the sweeper is in the first distance and second distance relative to the distance of the cradle, according to the ultrasound wave
Signal or the infrared signal, determine positional information of the sweeper relative to the cradle；
The sweeper relative to the cradle distance in the 3rd distance and the 4th apart from when, according to described first string
Message number, determines distance of the sweeper relative to the cradle.
The localization method of the 15. wireless charging sweepers according to claim 14, it is characterised in that believed according to the position
Breath and first serial signal, controlling the direction of motion and movement velocity of the sweeper includes：
The sweeper relative to the cradle distance in first apart from when, the direction of sweeper makes it described in coarse adjustment
The cradle center movement is right against, and the movement velocity of the sweeper is set to into First Speed；
When the sweeper is in the second distance relative to the distance of the cradle, in sweeper also not just to charging
In the case of the center of seat, the moving direction of the sweeper is finely tuned, and the movement velocity of the sweeper is reduced to into the
Two speed, wherein, first distance is more than the second distance；
The sweeper relative to the cradle distance in the 3rd apart from when, continue the motion for keeping the sweeper
Direction, and the movement velocity of the sweeper is reduced to into third speed, wherein, the second distance more than the described 3rd away from
From；
The sweeper relative to the cradle distance in the 4th apart from when, by the sweeper stop move, and
And the sweeper carries out wireless charging.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610998672.5A CN106569495A (en) | 2016-11-11 | 2016-11-11 | Positioning system and method for wireless charging sweeping machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610998672.5A CN106569495A (en) | 2016-11-11 | 2016-11-11 | Positioning system and method for wireless charging sweeping machine |
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Family
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107728621A (en) * | 2017-10-19 | 2018-02-23 | 环球车享汽车租赁有限公司 | Charging inlet identifies and localization method and system |
| CN108107440A (en) * | 2017-11-30 | 2018-06-01 | 北京理工华汇智能科技有限公司 | Cradle is to the method and its device of robot transmitting distance measuring signal |
| CN108115707A (en) * | 2018-01-25 | 2018-06-05 | 芜湖应天光电科技有限责任公司 | A kind of band recharges the intelligent sweeping and its control system of function |
| CN108459593A (en) * | 2017-06-12 | 2018-08-28 | 炬大科技有限公司 | A kind of human-machine intelligence's cooperative manipulators system having floor sweeping function |
| CN109066853A (en) * | 2018-08-14 | 2018-12-21 | 珠海市微半导体有限公司 | The charge control system and control method and its charge position localization method of robot |
| CN109546718A (en) * | 2019-01-17 | 2019-03-29 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot charge protection method and device |
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| CN113729566A (en) * | 2021-08-25 | 2021-12-03 | 杭州芯云道科技有限公司 | Intelligent control terminal of robot sweeps floor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108459593A (en) * | 2017-06-12 | 2018-08-28 | 炬大科技有限公司 | A kind of human-machine intelligence's cooperative manipulators system having floor sweeping function |
| CN107728621A (en) * | 2017-10-19 | 2018-02-23 | 环球车享汽车租赁有限公司 | Charging inlet identifies and localization method and system |
| CN108107440A (en) * | 2017-11-30 | 2018-06-01 | 北京理工华汇智能科技有限公司 | Cradle is to the method and its device of robot transmitting distance measuring signal |
| CN108115707A (en) * | 2018-01-25 | 2018-06-05 | 芜湖应天光电科技有限责任公司 | A kind of band recharges the intelligent sweeping and its control system of function |
| CN109066853A (en) * | 2018-08-14 | 2018-12-21 | 珠海市微半导体有限公司 | The charge control system and control method and its charge position localization method of robot |
| CN109546718A (en) * | 2019-01-17 | 2019-03-29 | 小狗电器互联网科技（北京）股份有限公司 | A kind of sweeping robot charge protection method and device |
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| CN112596519A (en) * | 2020-12-14 | 2021-04-02 | 京东数科海益信息科技有限公司 | Guide control method and device, charging pile and robot |
| CN112637897A (en) * | 2020-12-14 | 2021-04-09 | 浙江诺昂科技有限公司 | Wireless signal transmission system and method |
| CN113729566A (en) * | 2021-08-25 | 2021-12-03 | 杭州芯云道科技有限公司 | Intelligent control terminal of robot sweeps floor |
| CN113729566B (en) * | 2021-08-25 | 2022-11-04 | 合肥荣事达电子电器集团有限公司 | Intelligent control terminal of robot sweeps floor |
| WO2023045792A1 (en) * | 2021-09-23 | 2023-03-30 | 追觅创新科技(苏州)有限公司 | Charging device, self-moving device, charging method, system, and storage medium |
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