CN113917926B - Pile return guide device, pile entry guide device, system, method and medium - Google Patents
Pile return guide device, pile entry guide device, system, method and medium Download PDFInfo
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- CN113917926B CN113917926B CN202111240290.3A CN202111240290A CN113917926B CN 113917926 B CN113917926 B CN 113917926B CN 202111240290 A CN202111240290 A CN 202111240290A CN 113917926 B CN113917926 B CN 113917926B
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- 238000002310 reflectometry Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 15
- 238000012840 feeding operation Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 8
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- 238000011065 in-situ storage Methods 0.000 description 3
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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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The disclosure provides a pile returning guiding device, a pile entering guiding device, an intelligent mobile device charging system, a method and a storage medium, wherein the method comprises the following steps: the pile returning guide device arranged on the charging pile side emits a guide light signal, the pile entering guide device arranged on the intelligent mobile equipment side judges whether the intelligent mobile equipment enters a preset area or not based on the guide light signal, scanning light is emitted to the pile returning guide device in the preset area, the pile returning direction is determined according to the reflected light, and pile entering operation is carried out. The device, the system, the method and the storage medium can automatically guide the intelligent mobile equipment to return to the pile for charging, improve the pile return success rate, avoid pile return failure caused by insufficient rotation angle or route deviation in the backward process, and improve the working efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent mobile equipment, in particular to a pile returning guiding device, a pile entering guiding device, an intelligent mobile equipment charging system, an intelligent mobile equipment charging method and a storage medium.
Background
The intelligent mobile device includes various robots such as a transfer robot, a machine room inspection robot, a mall service robot, and the like. At present, the robot is generally powered by a battery, and needs to return to the charging pile autonomously when in low power, and the charging pole piece of the robot contacts with the charging pile pole piece to realize the charging of the robot. The robot radar and the charging pole piece are respectively arranged at two sides of the robot, when the robot returns to the pile, the robot needs to be guided by the radar to reach the front of the charging pile, then the robot rotates 180 degrees, and the robot pole piece is contacted with the charging pile pole piece in a retreating mode. Aiming at the condition that the robot radar and the charging pole pieces are respectively arranged on two sides of the robot, when the robot reaches the front of a charging pile, the robot enters the pile charging process in a backward mode, if the rotation angle is not in place due to lack of guidance, or the backward process is deviated in route, pile returning failure is easily caused, and the robot needs to enter the pile again.
Disclosure of Invention
In view of the above, one technical problem to be solved by the present invention is to provide a pile returning guiding device, a pile entering guiding device, an intelligent mobile device charging system, an intelligent mobile device charging method and a storage medium.
According to the first aspect of the disclosure, a pile returning guide device is provided, and the pile returning guide device is arranged on a charging pile side and comprises a first optical signal guide device, a first reflection optical signal guide device and a first reflection optical signal guide device, wherein the first optical signal guide device is used for emitting a guide optical signal when receiving a pile returning charging starting signal sent by an intelligent mobile device so that the intelligent mobile device can judge whether the intelligent mobile device enters a preset area or not based on the guide optical signal, and the first reflection optical signal guide device is used for carrying out reflection processing on scanning light emitted by the intelligent mobile device in the preset area so that the intelligent mobile device can determine a pile returning direction according to the reflection light and control the intelligent mobile device to carry out pile returning operation based on the pile returning direction.
Optionally, the first light signal guiding device comprises a signal receiving unit, a first light emitting unit and a second light emitting unit, wherein the signal receiving unit is used for receiving the back pile charging starting signal, and the first light emitting unit and the second light emitting unit are arranged on two sides of the first reflection light guiding device and used for respectively transmitting a first guiding light signal and a second guiding light signal after the signal receiving unit receives the back pile charging starting signal.
Optionally, the first light emitting unit comprises a first infrared light emitting diode, the second light emitting unit comprises a second infrared light emitting diode, the first guiding light signal comprises a first infrared pulse signal, and the second guiding light signal comprises a second infrared pulse signal.
Optionally, the first reflected light guiding device comprises a reflective strip for reflecting the scanning light.
Optionally, the center of the reflecting belt is high in reflectivity and low in reflectivity at two sides, and the center of the reflecting belt is arranged corresponding to the center of the charging electrode at the charging pile side.
According to a second aspect of the disclosure, a pile entering guiding device is provided, and the pile entering guiding device is arranged on an intelligent mobile device side and comprises a second optical signal guiding device, a controller, a second reflected optical guiding device and a controller, wherein the second optical signal guiding device is used for receiving a guiding optical signal sent by a pile returning guiding device arranged on a charging pile side, the controller is used for judging whether the intelligent mobile device enters a preset area or not based on the guiding optical signal, the second reflected optical guiding device is used for emitting scanning light to the pile returning guiding device in the preset area, and the controller is used for determining a pile returning direction according to the reflected light of the pile returning guiding device to the scanning light and controlling the intelligent mobile device to perform pile entering operation based on the pile returning direction.
Optionally, the guiding light signals comprise a first guiding light signal and a second guiding light signal, and the second light signal guiding device comprises a guiding light receiving unit, the guiding light receiving unit is used for receiving the first guiding light signal and/or the second guiding light signal, and the controller is used for controlling the intelligent mobile device to enter a preset area based on the first guiding light signal and/or the second guiding light signal.
Optionally, the guiding light receiving unit comprises a photodiode, the photodiode is used for receiving the first guiding light signal and/or the second guiding light signal, and the preset area comprises an overlapping area of the first guiding light signal and the second guiding light signal.
The pile returning guiding device comprises a reflecting belt, a scanning light transmitting unit and a reflected light intensity detecting unit, wherein the center reflectivity of the reflecting belt is high, the reflectivity of two sides of the reflecting belt is low, the scanning light transmitting unit is used for transmitting scanning light to the reflecting belt to perform scanning operation on the reflecting belt, the reflected light intensity detecting unit is used for obtaining light intensity information of the reflecting light, the controller is used for determining the strongest light intensity direction based on the light intensity information, determining pile returning direction information according to the strongest light intensity direction, and controlling the intelligent mobile equipment to perform corresponding pile entering operation based on the pile returning direction information.
Optionally, the scanning light transmitting unit comprises a laser transmitter and a band-pass filter, the scanning light comprises laser, the reflected light intensity detecting unit comprises a light intensity sensor, and the light intensity sensor is used for acquiring the light intensity information.
Optionally, the controller is configured to determine a pile returning direction based on the pile returning direction information, and control the intelligent mobile device to perform pile-in operation in alignment with the pile returning direction.
Optionally, the controller is configured to control the intelligent mobile device to stop running if it is determined that the light intensity of the reflected light in the pile returning direction is reduced based on the light intensity information during pile-entering running of the intelligent mobile device, the scanning light transmitting unit is configured to transmit the scanning light to the reflection band to perform scanning operation on the reflection band again, and the controller is further configured to determine the strongest light intensity direction based on the light intensity information acquired by the reflection light intensity detecting unit, determine the strongest light intensity direction as a pile returning correction direction, and control the intelligent mobile device to perform corresponding pile-entering operation based on the pile returning correction direction information.
Optionally, the intelligent mobile device comprises a navigation device and a charging pole piece, wherein the navigation device and the charging pole piece are respectively positioned on two sides of the intelligent mobile device, and the pile-entering guide device and the charging pole piece are positioned on the same side of the intelligent mobile device.
Optionally, the intelligent mobile device comprises a wireless communication module, wherein the wireless communication module is used for sending a pile charging start signal back when the intelligent mobile device needs to be charged.
According to a third aspect of the present disclosure, there is provided an intelligent mobile device charging system comprising a pile back guide as described above and a pile in guide as described above.
According to a fourth aspect of the present disclosure, there is provided a charging method for an intelligent mobile device, including a pile returning guide device disposed at a charging pile side, transmitting a guiding light signal when receiving a pile returning charging start signal transmitted by the intelligent mobile device, a pile entering guide device disposed at the intelligent mobile device side, receiving the guiding light signal, judging whether the intelligent mobile device enters a predetermined area based on the guiding light signal, transmitting scanning light to the pile returning guide device in the predetermined area, determining a pile returning direction according to reflection light of the scanning light by the pile returning guide device, and controlling the intelligent mobile device to perform a pile entering operation based on the pile returning direction.
The pile-back guiding device comprises a signal receiving unit, a first light emitting unit and a second light emitting unit, the signal receiving unit receives the pile-back charging starting signal, the first light emitting unit and the second light emitting unit respectively emit a first guiding light signal and a second guiding light signal after the signal receiving unit receives the pile-back charging starting signal, wherein the first light emitting unit comprises a first infrared light emitting diode, the second light emitting unit comprises a second infrared light emitting diode, the first guiding light signal comprises a first infrared pulse, and the second guiding light signal comprises a second infrared pulse.
The pile-back guiding device comprises a reflecting belt, wherein the first light-emitting unit and the second light-emitting unit are arranged on two sides of the reflecting belt, the reflecting belt reflects the scanning light, the center reflectivity of the reflecting belt is high, the reflectivity of the two sides of the reflecting belt is low, and the center of the reflecting belt is arranged corresponding to the center of a charging electrode on the charging pile side.
Optionally, the pile-entering guiding device comprises a guiding light receiving unit and a controller, wherein the guiding light receiving unit is used for receiving the first guiding light signal and/or the second guiding light signal, the controller is used for controlling the intelligent mobile device to enter a preset area based on the first guiding light signal and/or the second guiding light signal, the guiding light receiving unit comprises a photosensitive diode, the photosensitive diode is used for receiving the first guiding light signal and/or the second guiding light signal, and the preset area comprises an overlapping area of the first guiding light signal and the second guiding light signal.
The pile entering guiding device comprises a scanning light transmitting unit and a reflected light intensity detecting unit, wherein the scanning light transmitting unit transmits scanning light to the reflection band to perform scanning operation on the reflection band, the reflected light intensity detecting unit obtains light intensity information of the reflected light, the controller determines a strongest light intensity direction based on the light intensity information, determines pile returning direction information based on the strongest light intensity direction, and controls the intelligent mobile device to perform corresponding pile entering operation based on the pile returning direction information.
The intelligent mobile equipment is controlled to perform corresponding pile entering operation based on the pile returning direction information, wherein the intelligent mobile equipment is controlled to perform pile entering operation in the pile returning direction based on the pile returning direction information, the intelligent mobile equipment is controlled to stop operation if the controller determines that the light intensity of reflected light in the pile returning direction is reduced based on the light intensity information during pile entering operation of the intelligent mobile equipment, the scanning light sending unit sends scanning light to the reflection belt to perform scanning operation again, the controller determines the strongest light intensity direction based on the light intensity information obtained by the reflection light intensity detecting unit, determines the strongest light intensity direction as a pile returning correction direction, and controls the intelligent mobile equipment to perform corresponding pile entering operation based on the pile returning correction direction information.
According to a fifth aspect of the present disclosure, there is provided a computer readable storage medium storing computer instructions for execution by a processor of a method as described above.
According to the pile returning guiding device, the pile entering guiding device, the intelligent mobile equipment charging system, the method and the storage medium, the pile returning guiding device arranged on the charging pile side emits guiding light signals, the pile entering guiding device arranged on the intelligent mobile equipment side judges whether the intelligent mobile equipment enters a preset area or not based on the guiding light signals, scanning light rays are emitted to the pile returning guiding device in the preset area, pile returning direction is determined according to the reflected light rays, pile returning operation is conducted, pile returning of the intelligent mobile equipment can be automatically guided, pile returning success rate is improved, pile returning failure caused by insufficient rotation angle or route deviation in a back process can be avoided, and working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, it being obvious that the drawings in the following description are only some embodiments of the present disclosure, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1A is a deployment schematic diagram of one embodiment of a back pile guide according to the present disclosure;
FIG. 1B is a block diagram of one embodiment of a back pile guide according to the present disclosure;
FIG. 2A is a deployment schematic of one embodiment of a pile entry guide according to the present disclosure;
FIG. 2B is a block schematic diagram of one embodiment of a pile guide according to the present disclosure;
FIG. 3A is a robotic post charging schematic in one embodiment of a smart mobile device charging system according to the present disclosure;
FIG. 3B is a block diagram of another embodiment of a smart mobile device charging system according to the present disclosure;
FIGS. 3C and 3D are schematic illustrations of the deployment of reflective tape;
FIG. 4 is a schematic application diagram of a pile back guide and pile in guide in one embodiment of an intelligent mobile device charging system according to the present disclosure;
FIG. 5 is a schematic diagram of a pile back guide and pile in guide in one embodiment of an intelligent mobile device charging system according to the present disclosure;
FIG. 6 is an infrared emission timing schematic of a pile back guide in one embodiment of an intelligent mobile device charging system according to the present disclosure;
FIG. 7 is an infrared receive time sequence schematic of a pile entry guide in one embodiment of an intelligent mobile device charging system according to the present disclosure;
FIG. 8 is a back-stake guide schematic diagram in one embodiment of a smart mobile device charging system according to the present disclosure;
FIG. 9 is a guiding schematic of a backspin process route in another embodiment of the smart mobile device charging system according to the present disclosure;
FIG. 10A is a schematic diagram of a correction principle of a back-off pile process in one embodiment of a smart mobile device charging system according to the present disclosure, FIG. 10B is a schematic diagram of a back-off pile correction in one embodiment of a smart mobile device charging system according to the present disclosure;
FIG. 11 is a flow diagram of one embodiment of a smart mobile device charging method according to the present disclosure;
Fig. 12 is a flow chart illustrating a back-off pile correction according to one embodiment of the smart mobile device charging method of the present disclosure.
Detailed Description
The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The following "first", "second" are used merely to describe differences and have no other special meaning.
As shown in fig. 1A and 1B, the present disclosure provides a back pile guide 11 provided on a side of a charging pile 10, the back pile guide 11 including a first optical signal guide 12 and a first reflected light guide 13. The first optical signal guiding device 12 transmits a guiding optical signal when receiving a back-pile charging start signal sent by the intelligent mobile device, so that the intelligent mobile device judges whether the intelligent mobile device enters a preset area or not based on the guiding optical signal.
The first reflected light guiding device 13 performs reflection processing on scanning light rays emitted by the intelligent mobile device in a preset area, so that the intelligent mobile device determines a pile returning direction according to the reflected light rays, and controls the intelligent mobile device to perform pile feeding operation based on the pile returning direction.
As shown in fig. 2A and 2B, the present disclosure provides a stake guide 21, provided on the intelligent mobile device 20 side, the stake guide 21 including a second light signal guide 25, a second reflected light guide 23, and a controller 24. The second optical signal guiding device 25 receives the guiding optical signal transmitted by the pile returning guiding device provided on the charging pile side, and the controller 24 judges whether the intelligent mobile device enters the predetermined area based on the guiding optical signal.
The second reflected light guiding device 23 emits scanning light to the pile returning guiding device in a predetermined area, and the controller 24 determines a pile returning direction according to the reflected light of the scanning light by the pile returning guiding device and controls the intelligent mobile device to perform pile feeding operation based on the pile returning direction.
In one embodiment, the intelligent mobile device comprises a wireless communication module for sending a post charging start signal back when the intelligent mobile device needs to be charged. The wireless communication module may send back a stake charge initiation signal using signals of 4G, 5G, bluetooth, etc.
As shown in fig. 3A, the intelligent mobile device may be a transfer robot, a machine room inspection robot, a mall service robot, etc., such as robot 22. The robot 22 includes a navigation device and a charging pole piece 30, the navigation device and the charging pole piece 30 being located on both sides of the robot 22, respectively. The navigation device may be a variety of navigation devices, such as a lidar 40 or the like. The stake advance guide is located on the same side of the intelligent mobile device as the charge pole piece 30.
As shown in fig. 3A, radar 40 of robot 22 is separated from charge pole piece 30 on both sides. During pile-back charging, the robot 22 runs to a position opposite to the charging pile, then rotates 180 degrees in situ, retreats to enter the charging pile 10, and enables the charging pole piece 30 of the robot 22 to be in contact with the charging pole piece of the charging pile 10 for charging.
In one embodiment, as shown in fig. 3B, the first optical signal guiding device 12 includes a signal receiving unit (not shown in the drawing), a first light emitting unit 111, and a second light emitting unit 112. The signal receiving unit receives a pile-retracting charge start signal. The first and second light emitting units 111 and 112 are disposed at both sides of the reflection band 113, and after the signal receiving unit receives the post-retraction charge start signal, the first and second light emitting units 111 and 112 emit first and second guide light signals, respectively. The reflective tape 113 reflects the scanning light emitted from the smart mobile device.
For example, the first light emitting unit 111 may be a first infrared light emitting diode or the like, the first guiding light signal may be a first infrared pulse signal or the like, the second light emitting unit 112 may be a second infrared light emitting diode or the like, and the second guiding light signal may be a second infrared pulse signal or the like.
The first reflected light guiding means 13 comprises a reflective strip 113, the reflective strip 113 reflecting the scanning light emitted by the smart mobile device. The reflection band 113 has a high central reflectance and low reflectance at both sides, and the center of the reflection band 113 is disposed corresponding to the center of the charging electrode on the charging pile side.
For example, as shown in fig. 3C, two charging electrodes 301, 302 are provided on the charging stake side, the two charging electrodes 301, 302 being arranged side by side, the center of the reflection band 113 being located at the midpoint of the lateral distance between the charging electrodes 301, 302.
As shown in fig. 3D, two charging electrodes 301, 302 provided on the charging pile side are juxtaposed up and down, and the center of the reflection band 113 is located at the midpoint of the longitudinal distance between the charging electrode 301 and the charging electrode 302.
The second optical signal guiding device 25 includes a guiding light receiving unit 211, and the guiding light receiving unit 211 receives the first guiding light signal and the second guiding light signal, and the controller 24 determines and controls the smart mobile device to enter the predetermined area based on the first guiding light signal and the second guiding light signal. The guided light receiving unit 211 may be a photodiode or the like for receiving the first guided light signal, the second guided light signal, a predetermined region including an overlapping region of the first guided light signal and the second guided light signal, or the like.
The reflection band 113 has a high central reflectance and low side reflectances. The pile guide includes a scanning light transmitting unit 212 and a reflected light intensity detecting unit 213. The scanning light transmitting unit 212 may be a laser sensor, a laser emitter, etc., the scanning light may be a laser, etc., and the reflected light intensity detecting unit 213 may be a light intensity sensor, etc., for acquiring light intensity information.
The scanning light transmitting unit 212 emits scanning light to the reflection band 113 for performing a scanning operation on the reflection band 113. The reflected light intensity detection unit 213 acquires light intensity information of the reflected light, the controller 24 determines a strongest light intensity direction based on the light intensity information, and determines pile returning direction information based on the strongest light intensity direction, and the controller 24 controls the intelligent mobile device to perform corresponding pile feeding operation based on the pile returning direction information.
For example, the center of the reflective tape 113 is located at the midpoint of the lateral distance between the charging electrode 301 and the charging electrode 302, or the center of the reflective tape 113 is located at the midpoint of the longitudinal distance between the charging electrode 301 and the charging electrode 302. The controller 24 determines the pile returning direction based on the pile returning direction information, and controls the intelligent mobile device 20 to perform pile-in operation aiming at the pile returning direction, so that the charging pole piece 30 of the robot 22 is in contact with the charging electrode 301 and the charging electrode 302 of the charging pile 10 to perform charging.
In one embodiment, as shown in fig. 4, the first light emitting unit 111 and the second light emitting unit 112 are respectively an infrared light emitting diode Q1 and Q2 installed on the charging pile, and the infrared light emission angles of the infrared light emitting diodes are γ, and the infrared pulses emitted by Q1 and Q2 divide the space into a Q1 coverage area, a Q2 coverage area, and a Q1 and Q2 overlapping area, and a blind area.
And the LED is provided with a gradual reflection band at the same height as the infrared light emitting diodes Q1 and Q2, and the reflection band has high central reflectivity and low reflectivity at two sides. A stake-advancing guide device 21 is installed at one side of the charging pole piece of the robot 22, and the stake-advancing guide device 21 comprises a photosensitive diode Q3, a laser emitter Q4, a light intensity sensor Q5 and the like.
As shown in fig. 5, the back-pile guide device on the side of the charging pile 10 includes a controller 114, a modulation circuit 1, a modulation circuit 2, a light emitting diode Q1, a light emitting diode Q2, a wireless communication module 115, a power supply, and the like. The controller 114 can communicate with the robot 22 via the wireless communication module 115 in a short-range communication manner, such as bluetooth. The IO1 and IO2 signals output by the controller 114 respectively pass through the modulation circuit 1 and the modulation circuit 2, and then drive the light emitting diodes Q1 and Q2 to emit modulated infrared pulse signals.
The pile-entering guiding device of the robot 22 comprises a controller 24, a demodulation circuit 1, an operational amplifier 1, a photosensitive diode Q3, a driving circuit, a laser emitter Q4, a band-pass shading sheet, an AD analog-to-digital conversion circuit, an amplifying circuit, a light intensity sensor Q5, a wireless communication module 215, a navigation system, a power system and the like. The navigation system may provide map and positioning services for the robot 22, and the power system may be any of a variety of existing power systems that allow the robot 22 to move freely.
The photodiode Q3 receives the infrared pulse emitted from the charging post 10, generates a current, and converts the current into a voltage through the resistor R1. The operational amplifier 1 amplifies the generated voltage signal, and the signal is recognized by the output controller 24 after passing through the demodulation circuit 1. The band-pass filter carries out filtering treatment on the light frequency band emitted by the laser emitter Q4, allows the light frequency band emitted by the laser emitter Q4 to transmit, and absorbs light of other frequency bands.
The light emitted by the laser emitter Q4 is reflected by the gradual change reflective belt on the charging pile 10, then transmitted through the bandpass filter, received by the light intensity sensor Q5, and input to the controller 24 through the amplifying circuit and the AD analog-digital conversion circuit.
As shown in fig. 6, when the robot 22 needs to return to the pile, a pile charging start signal is sent back to the charging pile 10 through its own wireless communication module. The pile returning guide device positioned on the charging pile 10 side enters a pile returning guide stage after receiving a pile returning charging start signal. The controller of the pile return guiding device outputs two paths of pulse signals IO1 and IO2 coding signals, and the two paths of pulse signals IO1 and IO2 coding signals can be simultaneously transmitted or alternatively transmitted in a time-sharing manner.
The adjusting circuit 1 and the modulating circuit 2 modulate the encoded signals of the pulse signals IO1 and IO2, respectively, and output a driving signal. The two driving signals modulated by the adjusting circuit 1 and the modulating circuit 2 respectively drive the photodiodes Q1 and Q2 to output infrared pulse signals as shown in fig. 6.
As shown in fig. 7, photodiodes Q1, Q2 output infrared pulse signals. The infrared light emission angles of the photodiodes Q1, Q2 may be adjusted to be γ, and the intensities of the output infrared pulse signals may be adjusted so that the infrared pulses emitted by Q1 and Q2 divide the space into a Q1 coverage area, a Q2 coverage area, a Q1 and Q2 overlapping area, and a dead area.
When the robot 22 is in the overlapping region of the light emitting diodes Q1 and Q2, the photodiode Q3 generates a current after receiving the infrared pulse, and a voltage difference is generated across the resistor R1 and the resistor R1, so that the operational amplifier 1 amplifies the voltage across the resistor R1, and the voltage is restored to a level signal recognizable by the controller through the demodulation circuit 1.
If the infrared pulse sent by the light emitting diode Q1 or Q2 is received, the voltage across the R1 is larger than the voltage threshold, and if the infrared pulse sent by the light emitting diode Q1 or Q2 is not received, the voltage across the R1 is smaller than or equal to the voltage threshold. And whether the robot is currently positioned in the Q1 coverage area, the Q2 coverage area, the overlapping area of the Q1 and the Q2 and the blind area can be determined through the voltage values at the two ends of the R1.
As shown in fig. 8, the infrared light emitting angles of the infrared light emitting diodes Q1, Q2 mounted on the charging post are γ, and the infrared pulses emitted from the infrared light emitting diodes Q1 and Q2 divide the space into a Q1 coverage area, a Q2 coverage area, a Q1 and Q2 overlapping area, and a dead zone.
And the LED is provided with a gradual reflection band at the same height as the infrared light emitting diodes Q1 and Q2, and the reflection band has high central reflectivity and low reflectivity at two sides. The center of the reflective strip 113 is located at the midpoint of the lateral distance between the two charging electrodes of the charging post side or at the midpoint of the longitudinal distance between the two charging electrodes of the charging post side.
The stake advance guidance device on the side of the robot 22 includes a wireless communication module, a laser radar 40, a photodiode, a laser transmitter, a light intensity sensor, etc. When the robot 22 needs pile returning, the robot 22 starts a charging pile returning guide program through wireless communication of the pile entering guide device, sends a pile returning charging start signal to the charging pile side through a wireless communication module of the robot 22, and the infrared light emitting diodes Q1 and Q2 emit infrared pulses alternately or simultaneously.
After receiving the infrared pulses, the photodiode of the stake guide of the robot 22 determines whether the infrared pulses from the infrared light emitting diode Q1 or Q2 are received based on the different frequencies of the infrared pulses from the infrared light emitting diodes Q1, Q2 and the pressure difference or other characteristic information generated across R1.
In stage one, it is determined that the photodiode receives an infrared pulse emitted by the infrared light emitting diode Q1, i.e., the robot 22 is located in the Q1 coverage area, and the robot 22 navigates by means of the lidar 40. In stage two, it is determined that the photodiode is capable of receiving the infrared pulses emitted by the infrared light emitting diodes Q1 and Q2, i.e., the robot 22 is located in the region where Q1 and Q2 overlap.
In stage three, the robot 22 emits scanning light to the pile-returning guide, determines a pile-returning direction from the reflected light of the scanning light by the pile-returning guide, and controls the intelligent mobile device to perform pile-feeding operation based on the pile-returning direction. In stage four, the robot 22 adjusts the direction alignment to the strongest reflection point, i.e., the center of the reflection band, and the robot retreats into the stake so that the charging pole piece of the robot 22 contacts with the electrode and the electrode on the charging stake side to perform charging.
In one embodiment, the controller 24 of the pile guide device controls the intelligent mobile device to stop operating if it is determined that the light intensity of the reflected light in the pile returning direction is reduced based on the light intensity information during the pile driving operation of the intelligent mobile device.
The scanning light transmitting unit 212 emits scanning light to the reflection band 113 to re-scan the reflection band. The controller 24 re-determines the strongest light intensity direction based on the light intensity information acquired by the reflected light intensity detection unit 213, determines the strongest light intensity direction as a pile-back correction direction, and controls the intelligent mobile device to perform corresponding pile-in operation based on the pile-back correction direction information.
As shown in fig. 9, as the distance between the robot and the charging post is shortened, the intensity of the laser received by the light intensity sensor is increased. When the light intensity of Q5 light sensing is reduced due to route deviation in the advancing process, the robot detects the change trend of the light intensity, scans the charging pile in situ again, searches the direction of the strongest reflecting point, and corrects the pile returning direction.
As shown in fig. 10A and 10B, the robot 22 has a low power and autonomously operates to the charging pile area. The robot 22 transmits a stake charge start signal back to the charging stake 10 through the wireless communication module. The infrared light emitting diodes Q1 and Q2 arranged on the side of the charging pile 10 alternately emit infrared coding pulses in a time-sharing manner. Robot 22 enters the overlapping coverage area of Q1 and Q2 through a laser radar and a pile-entering guide device, rotates in situ, scans the gradual reflection band through laser sensor Q4, and obtains the reflection point with the highest reflection light intensity.
The robot 22 adjusts the direction to back into the pile against the reflection point where the reflected light intensity is highest. The back-off course is off-course, causing the Q5 light intensity to decrease, at which time the robot 22 detects a trend in light intensity change. The robot 22 scans the charging stake 10 again in place, finds the direction of the reflection point with the strongest reflection intensity, realigns the direction of the reflection point with the strongest reflection intensity, and retreats the stake.
In one embodiment, the disclosure provides an intelligent mobile device charging system comprising a pile back guiding device in any of the embodiments above and a pile in guiding device in any of the embodiments above.
Fig. 11 is a flow chart illustrating an embodiment of a method for charging a smart mobile device according to the present disclosure, as shown in fig. 11:
And 111, transmitting a guiding light signal when receiving a pile returning charge starting signal sent by the intelligent mobile equipment by a pile returning guiding device arranged on the charging pile side.
And step 112, receiving the guiding light signal by the pile guide device arranged on the intelligent mobile equipment side, and judging whether the intelligent mobile equipment enters a preset area or not based on the guiding light signal.
And 113, the pile entering guide device emits scanning light rays to the pile returning guide device in a preset area, a pile returning direction is determined according to the reflection light rays of the pile returning guide device on the scanning light rays, and the intelligent mobile equipment is controlled to perform pile entering operation based on the pile returning direction.
In one embodiment, the signal receiving unit receives a pack charging start signal. The first light emitting unit and the second light emitting unit emit a first guiding light signal and a second guiding light signal, respectively, after the signal receiving unit receives the post-retraction charging start signal. The reflection band reflects the scanning light.
The guided light receiving unit receives the first guided light signal and the second guided light signal. The controller controls the intelligent mobile device to enter a preset area based on the first guiding light signal and the second guiding light signal. The scanning light transmitting unit transmits scanning light to the reflection band for scanning the reflection band, and the reflected light intensity detecting unit obtains light intensity information of the reflected light. The controller determines the strongest light intensity direction based on the light intensity information, determines the strongest light intensity direction as pile returning direction information, and controls the intelligent mobile device to perform corresponding pile feeding operation based on the pile returning direction information.
Fig. 12 is a schematic flow chart diagram of performing back-in pile correction according to an embodiment of the intelligent mobile device charging method of the present disclosure, as shown in fig. 12:
and step 121, the controller determines the pile returning direction based on the pile returning direction information, and controls the intelligent mobile equipment to perform pile entering operation aiming at the pile returning direction.
And step 122, in the process of pile driving operation of the intelligent mobile equipment, if the controller determines that the light intensity of the reflected light in the pile returning direction is reduced based on the light intensity information, controlling the intelligent mobile equipment to stop operation.
Step 123, the scanning light transmitting unit transmits scanning light to the reflection band for re-scanning the reflection band.
And 124, the controller redetermines the strongest light intensity direction based on the light intensity information acquired by the reflected light intensity detection unit, determines the strongest light intensity direction as a pile returning correction direction, and controls the intelligent mobile equipment to perform corresponding pile feeding operation based on the pile returning correction direction information.
In one embodiment, the present disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, perform the method of any of the embodiments above.
A computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of a readable storage medium may include an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present disclosure have been described above in connection with specific embodiments, but it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.
The pile returning guiding device, the pile entering guiding device, the intelligent mobile equipment charging system, the method and the storage medium in the embodiment can automatically guide pile returning charging of the intelligent mobile equipment, improve pile returning success rate, avoid pile returning failure caused by insufficient rotation angle or route deviation in a back process, and improve working efficiency.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For system embodiments, the description is relatively simple as it essentially corresponds to method embodiments, and reference should be made to the description of method embodiments for relevant points.
The block diagrams of the devices, apparatuses, devices, systems referred to in this disclosure are merely illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatus, devices, and systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, firmware. The above-described sequence of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the sequence specifically described above unless specifically stated otherwise. Furthermore, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the apparatus, devices and methods of the present disclosure, components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered equivalent to the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects, and the like, will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.
Claims (19)
1. A pile return guide device provided on a side of a charging pile, comprising:
The intelligent mobile device comprises a first optical signal guiding device, a second optical signal guiding device and a second optical signal guiding device, wherein the first optical signal guiding device is used for transmitting a guiding optical signal when receiving a pile returning charging starting signal sent by the intelligent mobile device, so that the intelligent mobile device judges whether the intelligent mobile device enters a preset area or not based on the guiding optical signal;
the first reflected light guiding device is used for carrying out reflection processing on scanning light rays emitted by the intelligent mobile equipment in the preset area so that the intelligent mobile equipment can determine a pile returning direction according to the reflected light rays and control the intelligent mobile equipment to carry out pile entering operation based on the pile returning direction;
The first reflected light guiding device comprises a reflecting band, the reflecting band is used for reflecting the scanning light, the central reflectivity of the reflecting band is high, the reflectivity of the two sides of the reflecting band is low, and the center of the reflecting band is arranged corresponding to the center of the charging electrode on the charging pile side.
2. The apparatus of claim 1, wherein,
The first optical signal guiding device comprises a signal receiving unit, a first light emitting unit and a second light emitting unit;
the signal receiving unit is used for receiving the pile returning charge starting signal;
The first light-emitting unit and the second light-emitting unit are arranged on two sides of the first reflected light guiding device and are used for respectively emitting a first guiding light signal and a second guiding light signal after the signal receiving unit receives the back pile charging starting signal.
3. The apparatus of claim 2, wherein,
The first light emitting unit comprises a first infrared light emitting diode, the second light emitting unit comprises a second infrared light emitting diode, the first guiding light signal comprises a first infrared pulse signal, and the second guiding light signal comprises a second infrared pulse signal.
4. Pile entry guiding device sets up in intelligent mobile device side, includes:
the second optical signal guiding device is used for receiving the guiding optical signal sent by the pile returning guiding device arranged on the charging pile side;
a controller for judging whether the intelligent mobile device enters a predetermined area based on the guiding light signal;
the second reflected light guiding device is used for emitting scanning light rays to the pile returning guiding device in the preset area;
The controller is used for determining a pile returning direction according to the reflected light of the scanning light by the pile returning guide device and controlling the intelligent mobile equipment to perform pile feeding operation based on the pile returning direction;
The pile-returning guide device comprises a reflecting belt, a second reflecting light guide device and a light intensity detection unit, wherein the reflecting belt is used for reflecting the scanning light, and the reflecting belt has high central reflectivity and low reflectivity at two sides;
The scanning light transmitting unit is used for transmitting the scanning light to the reflection band and is used for scanning the reflection band;
the reflected light intensity detection unit is used for acquiring light intensity information of the reflected light rays;
The controller is used for determining the strongest light intensity direction based on the light intensity information, determining pile returning direction information according to the strongest light intensity direction, and controlling the intelligent mobile equipment to perform corresponding pile feeding operation based on the pile returning direction information.
5. The apparatus of claim 4, wherein the guided light signal comprises a first guided light signal and a second guided light signal, the second light signal guiding apparatus comprising a guided light receiving unit;
the guiding light receiving unit is used for receiving the first guiding light signal and/or the second guiding light signal;
The controller is used for controlling the intelligent mobile device to enter a preset area based on the first guiding light signal and/or the second guiding light signal.
6. The apparatus of claim 5, wherein,
The guiding light receiving unit comprises a photosensitive diode, a first guiding light receiving unit and a second guiding light receiving unit, wherein the photosensitive diode is used for receiving the first guiding light signal and/or the second guiding light signal;
the predetermined area includes an overlapping area of the first and second guided light signals.
7. The apparatus of claim 4, wherein,
The scanning light transmitting unit comprises a laser transmitter and a band-pass filter, the scanning light comprises laser, the reflected light intensity detecting unit comprises a light intensity sensor, and the light intensity sensor is used for acquiring the light intensity information.
8. The apparatus of claim 4, wherein,
And the controller is used for determining a pile returning direction based on the pile returning direction information and controlling the intelligent mobile equipment to aim at the pile returning direction to perform pile entering operation.
9. The apparatus of claim 8, wherein,
The controller is used for controlling the intelligent mobile equipment to stop running if the light intensity of the reflected light in the pile returning direction is determined to be reduced based on the light intensity information in the pile driving running process of the intelligent mobile equipment;
the scanning light transmitting unit is used for transmitting the scanning light to the reflection band and is used for carrying out scanning operation on the reflection band again;
The controller is further used for redetermining the strongest light intensity direction based on the light intensity information acquired by the reflected light intensity detection unit, determining the strongest light intensity direction as a pile returning correction direction, and controlling the intelligent mobile equipment to perform corresponding pile feeding operation based on the pile returning correction direction information.
10. The apparatus of claim 4, wherein,
The intelligent mobile device comprises a navigation device and a charging pole piece, wherein the navigation device and the charging pole piece are respectively positioned on two sides of the intelligent mobile device, and the pile-entering guide device and the charging pole piece are positioned on the same side of the intelligent mobile device.
11. The apparatus of claim 4, wherein,
The intelligent mobile device comprises a wireless communication module, wherein the wireless communication module is used for sending a pile back charging starting signal when the intelligent mobile device needs to be charged.
12. An intelligent mobile device charging system, comprising:
A piling guide according to any one of claims 1 to 3 and a piling guide according to any one of claims 4 to 11.
13. An intelligent mobile device charging method, comprising:
the pile returning guiding device is arranged at the charging pile side and transmits guiding light signals when receiving pile returning charging starting signals sent by the intelligent mobile equipment;
The pile entering guiding device arranged at the intelligent mobile equipment side receives the guiding light signal and judges whether the intelligent mobile equipment enters a preset area or not based on the guiding light signal;
The pile entering guide device emits scanning light rays to the pile returning guide device in the preset area, a pile returning direction is determined according to the reflected light rays of the scanning light rays by the pile returning guide device, and the intelligent mobile equipment is controlled to perform pile entering operation based on the pile returning direction;
The pile returning guide device comprises a reflecting belt, wherein the reflecting belt is used for reflecting the scanning light, the central reflectivity of the reflecting belt is high, the reflectivity of two sides of the reflecting belt is low, the center of the reflecting belt is arranged corresponding to the center of a charging electrode on the charging pile side, the pile entering guide device comprises a scanning light transmitting unit and a reflected light intensity detecting unit, and the method comprises the following steps:
the scanning light transmitting unit transmits the scanning light to the reflection band so as to scan the reflection band;
the reflected light intensity detection unit acquires light intensity information of the line;
And the controller determines the strongest light intensity direction based on the light intensity information, determines pile returning direction information according to the strongest light intensity direction, and controls the intelligent mobile equipment to perform corresponding pile feeding operation based on the pile returning direction information.
14. The method of claim 13, wherein the back pile guide comprises a signal receiving unit, a first light emitting unit, a second light emitting unit, and the method further comprises:
the signal receiving unit receives the pile returning charge starting signal;
The first light-emitting unit and the second light-emitting unit respectively emit a first guiding light signal and a second guiding light signal after the signal receiving unit receives the back pile charging starting signal;
the first light emitting unit comprises a first infrared light emitting diode, the second light emitting unit comprises a second infrared light emitting diode, the first guiding light signal comprises a first infrared pulse, and the second guiding light signal comprises a second infrared pulse.
15. The method of claim 14, wherein the first and second light emitting units are disposed on both sides of the reflective tape.
16. The method of claim 15, wherein the pile guide comprises a guide light receiving unit and a controller, the method further comprising:
the guiding light receiving unit receives the first guiding light signal and/or the second guiding light signal;
The controller controls the intelligent mobile device to enter a preset area based on the first guiding light signal and/or the second guiding light signal;
the guiding light receiving unit comprises a photosensitive diode, wherein the photosensitive diode is used for receiving the first guiding light signal and/or the second guiding light signal, and the preset area comprises an overlapping area of the first guiding light signal and the second guiding light signal.
17. The method of claim 16, wherein the scanning light transmitting unit comprises a laser emitter and a bandpass filter, the scanning light comprises laser light, and the reflected light intensity detecting unit comprises a light intensity sensor for acquiring the light intensity information.
18. The method of claim 17, the controlling the intelligent mobile device to perform a corresponding pile-in operation based on the pile-back direction information comprising:
The controller determines a pile returning direction based on the pile returning direction information and controls the intelligent mobile equipment to perform pile entering operation aiming at the pile returning direction;
In the pile driving operation process of the intelligent mobile equipment, if the controller determines that the light intensity of the reflected light in the pile returning direction is reduced based on the light intensity information, the intelligent mobile equipment is controlled to stop operation;
The scanning light transmitting unit transmits the scanning light to the reflection band so as to carry out scanning operation on the reflection band again;
The controller redetermines the strongest light intensity direction based on the light intensity information acquired by the reflected light intensity detection unit, determines the strongest light intensity direction as a pile returning correction direction, and controls the intelligent mobile equipment to perform corresponding pile feeding operation based on the pile returning correction direction information.
19. A computer readable storage medium storing computer instructions for execution by a processor of the method of any one of claims 13 to 18.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111240290.3A CN113917926B (en) | 2021-10-25 | 2021-10-25 | Pile return guide device, pile entry guide device, system, method and medium |
| PCT/CN2022/118376 WO2023071559A1 (en) | 2021-10-25 | 2022-09-13 | Return guide device, entry guide device, system, method, and medium |
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| CN202111240290.3A CN113917926B (en) | 2021-10-25 | 2021-10-25 | Pile return guide device, pile entry guide device, system, method and medium |
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| CN113917926B (en) * | 2021-10-25 | 2025-01-10 | 北京京东乾石科技有限公司 | Pile return guide device, pile entry guide device, system, method and medium |
| CN114594769B (en) * | 2022-03-03 | 2025-01-10 | 北京京东乾石科技有限公司 | Walking navigation system, computer room inspection system and computer room inspection method |
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