CN114069778A - Recharging method and device based on charging area - Google Patents
Recharging method and device based on charging area Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00045—Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The recharging method based on the charging area comprises the following steps: the method comprises the steps of continuously acquiring, namely controlling the robot to randomly move, and continuously acquiring a charging area signal and a charging connector signal sent by a charging seat, wherein the charging connector signal comprises a first signal and a second signal; and a signal capturing step of driving the robot to perform virtual wall following until the robot receives the first signal and the second signal if the robot receives the charging area signal. And a docking step of driving the robot to dock with the charging seat under the guidance of the first signal and the second signal. Compared with the prior art, the robot is close to the charging seat in the free moving state, the scheme gradually reduces the adjustment range of the position of the robot, and finally realizes the accurate butt joint of the charging pole piece on the robot and the charging connector.
Description
Technical Field
The application relates to the technical field of robot walking control, in particular to a recharging method and device based on a charging area.
Background
The robot can be independently cleaned an area, greatly reduced the required manpower that consumes of cleaning work. In order to ensure the continuity of cleaning work, the robot needs to be automatically charged at regular intervals, and the preferred robot needs to run to the area where the charging seat is located under the cooperation of the navigation system and then is in butt joint with the charger to be charged. The navigation function can only drive the robot to walk in a certain area and traverse the whole area, however, the conventional navigation function can not ensure that the charging pole piece on the robot can be in butt joint with the charging connector on the charging seat, so that the charging butt joint efficiency of the robot is poor, and the working efficiency of the robot is influenced.
Among some modified technical scheme, infrared, radio signal's guide has been add for the robot can carry out the recharge under the guide, but in order that the robot when receiving the signal, can walk according to the position of charging seat, the robot need be close the region that the signal belongs to with the form along the wall, causes the loaded down with trivial details of the process of recharging, the slow problem of recharging speed.
Disclosure of Invention
The embodiment of the application aims to provide a recharging method based on a charging area, and the charging butt joint of a robot can be efficiently realized.
In order to solve the above technical problem, an embodiment of the present application provides a recharging method based on a charging area, including the following steps:
the method comprises the steps of continuously acquiring, namely controlling the robot to randomly move, and continuously acquiring a charging area signal and a charging connector signal sent by a charging seat, wherein the charging connector signal comprises a first signal and a second signal;
a signal capturing step, if the robot receives a charging area signal, driving the robot to execute virtual wall-following till the robot receives a first signal and a second signal;
and a docking step of driving the robot to dock with the charging seat under the guidance of the first signal and the second signal.
Further, the virtual wall specifically includes: and determining the direction of the robot for executing the virtual wall-following according to the position of the receiving pipe of the robot receiving the charging area signal on the robot, and executing the virtual wall-following.
Further, the step of determining the direction of the robot to perform the virtual wall following specifically includes:
when the receiving tube on the left side of the robot receives the charging area signal, the robot rotates clockwise, and then virtual wall-following is executed in the counterclockwise direction;
when the receiving tube on the right side of the robot receives the charging area signal, the robot rotates anticlockwise, and then virtual wall-following is executed in the clockwise direction.
Further, after the virtual wall following is executed, the method further includes:
when the time that the first signal and the second signal are not detected after the sweeping robot starts to execute the clockwise virtual wall following exceeds a preset value, executing the virtual wall following in the anticlockwise direction;
and when the time that the first signal and the second signal are not detected after the sweeping robot starts to execute the virtual wall-following in the anticlockwise direction exceeds a preset value, executing the virtual wall-following in the clockwise direction.
Further, after the continuously acquiring step, the method further comprises:
when the robot detects a first signal firstly, the robot is driven to rotate to enable the robot to face the first signal direction, the robot is driven to walk along the first signal until the robot receives the first signal and a second signal, and the butt joint step is executed;
and when the robot first detects the second signal, driving the robot to rotate to enable the robot to face the second signal direction, driving the robot to walk along the second signal until the robot receives the first signal and the second signal, and executing the docking step.
And further, the docking step specifically comprises the steps of driving the robot to be opposite to the charging seat under the guidance of the first signal and the second signal, and docking a charging pole piece on the robot with a connector on the charging seat.
Further, the step of driving the robot to face the charging seat specifically includes: and driving the robot to rotate until one group of receiving tubes corresponding to the position of the charging pole piece receives a first signal and the other group of receiving tubes corresponding to the position of the charging pole piece receives a second signal.
Further, with the butt joint of the pole piece that charges on the robot and the joint on the charging seat, specifically include: driving the robot to move towards the charging seat until impact is generated;
continuously acquiring a charging signal generated by the butt joint of the charging pole piece and the charging connector;
and when the charging signal is acquired, determining that the robot is in butt joint with the charging seat.
Further, after the step of continuously acquiring the charging signal generated by the docking of the charging pole piece and the charging connector, the method further comprises:
and when the charging signal cannot be acquired, rotating the robot clockwise and anticlockwise alternately until the charging signal is detected.
Further, after the step of continuously acquiring the charging signal generated by the docking of the charging pole piece and the charging connector, the method further comprises:
when the duration of the charging signal which cannot be acquired exceeds a preset value, driving the robot to perform a retreating action, and then performing a butt joint step;
the backward movement specifically comprises backward movement by a first preset distance, rotation by 180 degrees, forward movement by a second preset distance, and rotation by 180 degrees.
In order to solve the above technical problem, an embodiment of the present application provides a recharging device based on a charging area, which adopts the following technical scheme:
recharging device based on charging area, including:
the continuous acquisition module is used for controlling the robot to randomly move and continuously acquiring a charging area signal and a charging joint signal sent by a charging seat, wherein the charging joint signal comprises a first signal and a second signal;
and the signal capturing module is used for driving the robot to execute virtual wall-following if the robot receives the charging area signal until the robot receives the first signal and the second signal.
And the docking module is used for driving the robot to dock with the charging seat under the guidance of the first signal and the second signal.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: supply the robot to catch through setting up the regional signal that charges and the joint signal that charges, in order to judge that the robot is close the charging seat under the state of free removal, when catching the regional signal that charges, at first through the virtual wall of following, catch the joint signal that charges in the region of charging in order to find the joint that charges, and utilize the signal adjustment robot that the joint sent that charges, make the robot relative with the joint that charges, drive robot makes the pole piece that charges and the joint butt joint that charges at last, the adjustment range to the robot position is dwindled gradually to this scheme, realize the accurate butt joint of the pole piece that charges on the robot with the joint that charges at last, this scheme robot has avoided the robot to need be close the charging seat under the wall state in recharging process, it is fast to accomplish recharging.
Drawings
In order to more clearly illustrate the solution of the present application, the drawings needed for describing the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
FIG. 1 is a flow chart diagram of one embodiment of a charging zone based recharge method according to the present application;
FIG. 2 is a schematic block diagram of one embodiment of a charging zone based recharge method according to the present application;
FIG. 3 is a schematic block diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, a flow diagram of one embodiment of a charging zone based recharging method according to the present application is shown. The recharging method based on the charging area comprises the following steps:
the recharging method based on the charging area comprises the following steps:
step S100: the method comprises the steps of continuously acquiring, namely controlling the robot to randomly move, and continuously acquiring a charging area signal and a charging connector signal sent by a charging seat, wherein the charging connector signal comprises a first signal and a second signal;
step S200: a signal capturing step, if the robot receives a charging area signal, driving the robot to execute virtual wall-following till the robot receives a first signal and a second signal;
step S300: and a docking step of driving the robot to dock with the charging seat under the guidance of the first signal and the second signal.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: the robot is provided with a charging area signal and a charging joint signal for capturing, so that the robot is judged to be close to the charging seat in a free moving state, specifically, the robot and the charging seat are in any walking state before being in butt joint, in one embodiment, the robot returns to the charging seat and captures the charging area signal and the charging joint signal through random walking in the process of returning to the charging seat, and the random walking can be bow-shaped walking in the cleaning process or walking along a wall or random walking without setting a specific walking path.
The charging seat is provided with a transmitting tube capable of transmitting charging area signals and charging joint signals, wherein the radiation range of the charging area signals is set to be a large-angle-range fan-shaped area with a short radiation distance, and the angle range of the charging area signals transmitted by the transmitting tube is larger than one hundred eighty degrees under the condition that the charging area signals are not shielded.
The first signal and the second signal are respectively transmitted by the transmitting tubes beside the two charging connectors on the charging seat, the radiation range of the charging connector signals is set to be an area with a small angle range and a long radiation distance, and the distance between the first signal and the second signal can ensure that the receiving tube beside one charging pole piece on the robot can receive the first signal and the receiving tube beside the other charging pole piece can receive the second signal, therefore, the robot can be butted with the charging seat under the guidance of the first signal and the second signal, and the two charging pole pieces are butted with the two charging connectors, if the sweeping robot is provided with a plurality of charging pole pieces and the charging seat is correspondingly provided with a plurality of charging connectors, then when two pole pieces and two joints that charge realize the butt joint, other pole pieces that charge and the joint that charges also can obtain the butt joint.
The charging seat is connected with the power, and leans on the wall usually, when the robot needs to charge, optional robot of sweeping the floor can also carry out the V font walking in the middle of recharging process if the signal of recharging can not be found to certain time, because do not know the specific position of charging seat this moment, can remove near the regional area at the charging seat through the mode of V font to look for the regional signal of charging and the joint signal that charges.
During the movement of the robot, the charging area signal, the first signal or the second signal may be detected separately.
When a charging area signal is captured, firstly, the charging connector signal is captured in the charging area through the virtual edge wall to find the charging connector, the robot is adjusted by utilizing the signal sent by the charging connector, the robot is opposite to the charging connector, and finally, the robot is driven to enable the charging pole piece to be in butt joint with the charging connector.
Further, the virtual wall specifically includes: and determining the direction of the robot for executing the virtual wall-following according to the position of the receiving pipe of the robot receiving the charging area signal on the robot, and executing the virtual wall-following.
In one embodiment, for the charging area signal, because the charging seat is usually placed close to the wall and the charging area signal is a sector-shaped area signal, the charging connector signal is transmitted to the front of the charging seat, on the premise that the robot first receives the charging connector signal and then realizes recharging through a corresponding recharging mode, the robot only runs on the left side of the charging seat or the right side of the charging seat, and the position of the receiving tube receiving the charging area signal on the charging seat is fixed, so that the direction of making a virtual wall-following action along the charging area can be predicted through the position of the receiving tube receiving the charging area signal; the scheme can provide a virtual wall-following direction, the virtual wall-following direction is executed along the direction, and the virtual wall-following direction can move towards the direction of the charging connector signal at a high probability, so that the overall time required by the robot for charging for multiple times can be reduced, and the speed of the robot returning to the charging seat is improved.
Further, the step of determining the direction of the robot to perform the virtual wall following specifically includes:
step S201: when the receiving tube on the left side of the robot receives the charging area signal, the robot rotates clockwise, and then virtual wall-following is executed in the counterclockwise direction;
step S202: when the receiving tube on the right side of the robot receives the charging area signal, the robot rotates anticlockwise, and then virtual wall-following is executed in the clockwise direction.
Predicting the direction of the virtual wall according to the direction of the robot receiving the charging area signal, and particularly detecting the charging area signal when the robot runs from the left side to the right side of the charging seat, wherein the charging area signal is received by a receiving tube on the right side of the robot at a high probability; when the robot detects a charging area signal while moving from the right side to the left side of the charging stand, the charging area signal is received by a receiver tube on the left side of the robot. When the left front side and the left side of the robot receive the charging area signals, the robot is driven to rotate clockwise along the charging area, then the robot is driven to perform virtual wall-following actions in the anticlockwise direction, and conversely, when the right front side and the right side of the robot receive the charging area signals, the robot is driven to rotate anticlockwise along the charging area, and then the robot is driven to perform virtual wall-following actions in the clockwise direction. The scheme can improve the refilling speed of the robot.
Specifically, the sweeping robot is provided with a left receiving tube and a left front receiving tube to receive a charging area signal on the left side of the sweeping robot; the right receiving tube and the right front receiving tube receive signals of a charging area on the right side of the robot. The left front receiving pipe is arranged on the position close to the left in front of the sweeping robot, the right front receiving pipe is arranged on the position close to the right in front of the sweeping robot, and the distance between the left front receiving pipe and the right front receiving pipe is short. When the area recharging signal is transmitted from the front of the sweeping robot, the receiving tube which receives the charging area signal firstly is selected as the direction of the robot receiving the charging area signal according to the sequence that the left front receiving tube and the right front receiving tube receive the charging area signal.
Further, after the virtual wall following is executed, the method further includes:
step S400: and when the time that the first signal and the second signal are not detected after the sweeping robot starts to execute the clockwise virtual wall-following exceeds a preset value, executing the virtual wall-following in the anticlockwise direction.
Step S500: and when the time that the first signal and the second signal are not detected after the sweeping robot starts to execute the virtual wall-following in the anticlockwise direction exceeds a preset value, executing the virtual wall-following in the clockwise direction.
Specifically, when the robot executes the virtual wall-following action and does not find the charging connector signal, it is indicated that the robot executes the virtual wall-following direction by mistake, in an embodiment, the robot hits the wall, and at the moment, the virtual wall-following action is executed in the opposite direction to find the charging connector signal and complete the recharging action. The specific rotation angle is 20 degrees to 40 degrees, wherein during the process of performing virtual wall-following by the sweeping robot, a collision may occur, the collision may be generated by the robot and an obstacle, or may be generated by the robot and a wall, after the collision occurs, the robot tries to avoid the obstacle, specifically, the robot usually spins an angle, then continues to perform an arc-winding action, and the direction of the arc-winding action is not changed, while during the process of trying to avoid the obstacle, the timing after starting the virtual wall-following action is also accumulated, when the robot starts to perform the virtual wall-following action for more than a preset time, in the embodiment, the preset time is 17 seconds, and then, the robot is driven to perform the virtual wall-following action in the opposite direction to find the charging connector signal.
Further, after the continuously acquiring step, the method further comprises:
step S600: when the robot first detects the first signal, the robot is driven to rotate, the robot is enabled to face the first signal direction, the robot is driven to walk along the first signal until the robot receives the first signal and the second signal, and the docking step is executed.
Step S700: and when the robot first detects the second signal, driving the robot to rotate to enable the robot to face the second signal direction, driving the robot to walk along the second signal until the robot receives the first signal and the second signal, and executing the docking step.
The first signal and the second signal are respectively transmitted by the signal transmitting tubes near the two charging connectors of the charging seat, the radiation width of the first signal and the radiation distance of the second signal are narrow, but the radiation distance is long, therefore, when the distance between the robot and the charging seat exceeds a certain amount, the receiver near one charging pole piece on the robot can receive the first signal but cannot receive the second signal, and meanwhile, the receiver near the other charging pole piece can receive the second signal but cannot receive the first signal, at the moment, the charging pole piece on the robot is basically opposite to the charging connector on the charging seat.
Since the first signal and the second signal radiation area are elongated in shape, the charging stand can be accessed by moving along the first signal or the second signal, and the first signal and the second signal are detected at the same time, and then the recharging action is completed. This scheme can accomplish according to first signal and second signal and fill back, has increased the robot and has realized the mode of filling back, is favorable to the robot to accomplish fast and fills back the action, and this scheme promotes the robot and fills back the speed.
And further, the butt joint step specifically comprises the steps of driving the robot to be opposite to the charging seat under the guidance of the first signal and the second signal, and butt joint a charging pole piece on the robot with a joint on the charging seat.
In the butt joint process, when the charging pole pieces and the charging connector are close to each other, the two charging pole pieces can simultaneously receive the first signal and the second signal respectively and butt joint after the first signal and the second signal are aligned, the accuracy of the butt joint process of the robot is guaranteed, and the butt joint success rate of the robot is improved.
Further, the step of driving the robot and aligning the charging seat specifically includes: and driving the robot to rotate until one group of receiving tubes corresponding to the position of the charging pole piece receives a first signal and the other group of receiving tubes corresponding to the position of the charging pole piece receives a second signal.
The cleaning robot comprises a cleaning robot, a charging stand, a protruding part, a charging connector and a connector, wherein the charging pole piece is arranged on the bottom surface of the cleaning robot, a gap exists between the charging pole piece and the ground, the charging stand is provided with the protruding part, the charging connector is arranged at the top end of the protruding part, when the cleaning robot is in charging butt joint, the protruding part is arranged in the gap, the cleaning robot and the charging stand are buckled through the gap, the charging connector is in butt joint with the charging pole piece, in the embodiment, the connector corresponding to the charging pole piece in position is arranged on the side wall of the robot to receive signals in the horizontal direction; the launching tube is arranged on the side wall of the protruding portion and emits signals to the horizontal direction, the connector can receive first signals and second signals emitted by the launching tube, the cleaning robot is in butt joint with the charging seat under the guidance of the first signals and the second signals, and the charging pole piece at the bottom of the cleaning robot is guided to be in butt joint with the charging connector at the top of the protruding portion.
This scheme is favorable to the robot to realize adjusting well with the charging seat, has promoted the success rate of the butt joint that charges.
Further, with the butt joint of the pole piece that charges on the robot and the joint on the charging seat, specifically include:
step S301: driving the robot to move towards the charging seat until impact is generated;
step S302: continuously acquiring a charging signal generated by the butt joint of the charging pole piece and the charging connector;
step S303: and when the charging signal is acquired, determining that the robot is in butt joint with the charging seat.
After a charging pole piece on the robot is right opposite to a charging joint on a charging seat, the robot is driven to move forward, the butt joint of the charging pole piece and the charging joint can be theoretically completed, the charging butt joint of the robot is realized, however, in the running process, deviation can be generated due to navigation or wheel differential and other problems, a charging signal is detected when collision is generated, and if the charging signal can be detected within continuous preset time, the butt joint of the charging pole piece and the charging joint is realized.
Further, after the step of continuously acquiring the charging signal generated by the docking of the charging pole piece and the charging connector, the method further comprises:
step S304: and when the charging signal cannot be acquired, rotating the robot clockwise and anticlockwise alternately until the charging signal is detected.
If the charging signal cannot be continuously detected within the preset time, the robot needs to be finely adjusted, the robot is driven to alternately rotate clockwise and counterclockwise by a certain angle, and the charging signal is detected, in one embodiment, the robot rotates 3 degrees to the left, then rotates 5 degrees to the right, then rotates 10 degrees to the left … …, and then alternately rotates clockwise and counterclockwise, and if the signal is detected during the rotation, the movement of the robot is stopped.
Further, after the step of continuously acquiring the charging signal generated by the docking of the charging pole piece and the charging connector, the method further comprises:
when the duration of the charging signal which cannot be acquired exceeds a preset value, driving the robot to perform a retreating action, and then performing a butt joint step; the backward movement specifically comprises backward movement by a first preset distance, rotation by 180 degrees, forward movement by a second preset distance, and rotation by 180 degrees.
Whether the charging signal can be continuously detected within the preset time is judged, when the charging signal cannot be continuously detected within the preset time, the docking position of the charging pole piece and the charging connector is inaccurate, the charging pole piece and the charging connector are required to be docked again, and the specific operation is as follows: the robot is driven to retreat and leave the charging seat, the retreating distance is a first preset distance which can be 10cm, then the robot rotates 180 degrees and advances by a second preset distance which can be 50cm, the distance that the robot leaves the charging seat is farther at the moment, so that the robot retreats out more spaces to execute subsequent actions, then the robot rotates 180 degrees again, the machine head of the robot faces the charging seat, and the docking step is executed again. Wherein the re-executing the docking step comprises: step S300: and a docking step, namely, driving the robot to dock with the charging seat under the guidance of the first signal and the second signal, wherein the advancing distance of the robot is the sum of the first preset distance and the second preset distance, namely the advancing distance of the robot in the docking process is 60 cm.
If the distance error between the charging pole piece and the charging joint is large, the robot can not be in butt joint with the charging seat by continuously rotating for multiple times, then the robot is driven to rotate 180 degrees back to the charging seat, the robot is driven to rotate 180 degrees after walking for a certain distance, and the two charging pole pieces can receive a first signal and a second signal, so that the robot and the charging seat are ensured to be generally opposite, and then the robot is driven to move towards the charging seat, so that the robot and the charging seat are in butt joint. In this embodiment, when the distance between the robot and the charging seat is relatively close, because the signal strength near the charging connector is relatively strong, the two charging pole pieces can receive the first signal and the second signal at the same time. The success rate that robot and charging seat dock can further be promoted to this scheme.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
With further reference to fig. 2, as an implementation of the method shown in fig. 1, the present application provides an embodiment of a charging area-based recharging apparatus, which corresponds to the method shown in fig. 1, and which can be applied to various electronic devices.
Recharging device based on charging area, including:
the continuous acquisition module 100 is configured to control the robot to randomly move and continuously acquire a charging area signal and a charging connector signal sent by a charging seat, where the charging connector signal includes a first signal and a second signal;
and a signal capturing module 200 for driving the robot to perform virtual wall following if the robot receives the charging area signal until the robot receives the first signal and the second signal.
And a docking module 300 for driving the robot to dock with the charging dock under the guidance of the first signal and the second signal.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects: supply the robot to catch through setting up the regional signal that charges and the joint signal that charges to judge that the robot is close the charging seat under the state of freely removing, it is specific, be arbitrary walking state before robot and the charging seat butt joint, the charging seat passes through supply socket and installs on the wall, when the robot needs to charge, optional mode through the V font removes near the charging seat place region, with the regional signal of seeking charging and the joint signal that charges.
During the movement of the robot, the charging area signal, the first signal or the second signal may be detected separately.
When a charging area signal is captured, firstly, the charging connector signal is captured in the charging area through a virtual edge wall to find the charging connector, the robot is adjusted by utilizing the signal sent by the charging connector, so that the robot is opposite to the charging connector, and finally, the robot is driven to enable the charging pole piece to be in butt joint with the charging connector.
In order to solve the technical problem, an embodiment of the present application further provides a computer device. Referring to fig. 3, fig. 3 is a block diagram of a basic structure of a computer device according to the present embodiment.
The computer device 6 comprises a memory 61, a processor 62 and a network interface 63 which are mutually connected in communication through a system bus, wherein the memory 61 stores a computer program, and the processor 62 implements the steps of the region-based signal recharging method when executing the computer program. It is noted that only a computer device 6 having components 61-63 is shown, but it is understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead. As will be understood by those skilled in the art, the computer device is a device capable of automatically performing numerical calculation and/or information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an Application Specific Integrated Circuit (ASIC), a Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an embedded device, and the like.
The computer device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The computer equipment can carry out man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch panel or voice control equipment and the like.
The memory 61 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 61 may be an internal storage unit of the computer device 6, such as a hard disk or a memory of the computer device 6. In other embodiments, the memory 61 may also be an external storage device of the computer device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 6. Of course, the memory 61 may also comprise both an internal storage unit of the computer device 6 and an external storage device thereof. In this embodiment, the memory 61 is generally used for storing an operating system installed in the computer device 6 and various types of application software, such as program codes of a recharging method based on a charging area. Further, the memory 61 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 62 may be a Central Processing Unit (CPU), controller, microcontroller, microprocessor, or other data Processing chip in some embodiments. The processor 62 is typically used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is configured to execute the program code stored in the memory 61 or process data, for example, execute the program code of the charging area-based recharging method.
The network interface 63 may comprise a wireless network interface or a wired network interface, and the network interface 63 is typically used for establishing a communication connection between the computer device 6 and other electronic devices.
The present application further provides another embodiment, which is to provide a computer-readable storage medium storing a charging area-based recharging program, which is executable by at least one processor to cause the at least one processor to perform the steps of the charging area-based recharging method as described above.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.
Claims (11)
1. The recharging method based on the charging area is characterized by comprising the following steps of:
the method comprises the steps of continuously acquiring, namely controlling the robot to randomly move, and continuously acquiring a charging area signal and a charging connector signal sent by a charging seat, wherein the charging connector signal comprises a first signal and a second signal;
a signal capturing step, if the robot receives the charging area signal, driving the robot to execute virtual wall-following until the robot receives the first signal and the second signal;
and a docking step of driving the robot to dock with the charging dock under the guidance of the first signal and the second signal.
2. The charging area-based recharging method of claim 1, wherein the virtual wall specifically comprises: and determining the direction of the robot for executing the virtual wall-following according to the position of the receiving tube of the robot receiving the charging area signal on the robot, and executing the virtual wall-following.
3. The charging area-based recharging method according to claim 2, wherein the step of determining that the robot performs a virtual wall-following direction comprises:
when the receiving tube on the left side of the robot receives the charging area signal, the robot rotates clockwise, and then virtual wall-following is executed along the counterclockwise direction;
when the receiving tube on the right side of the robot receives the charging area signal, the robot rotates anticlockwise, and then virtual wall-following is executed in the clockwise direction.
4. The method of claim 3, wherein after the performing the virtual wall-following, the method further comprises:
when the time that the first signal and the second signal are not detected after the sweeping robot starts to execute the clockwise virtual wall-following is over a preset value, executing the virtual wall-following in the anticlockwise direction;
and when the time that the first signal and the second signal are not detected after the sweeping robot starts to execute the virtual wall-following in the anticlockwise direction exceeds a preset value, executing the virtual wall-following in the clockwise direction.
5. The charging zone-based recharging method of claim 1, wherein after said continuously acquiring step, the method further comprises:
when the robot firstly detects the first signal, the robot is driven to rotate to enable the robot to face the first signal direction, the robot is driven to walk along the first signal until the robot receives the first signal and the second signal, and the butt joint step is executed;
and when the robot firstly detects the second signal, the robot is driven to rotate to enable the robot to face the second signal direction, the robot is driven to walk along the second signal until the robot receives the first signal and the second signal, and the docking step is executed.
6. The charging area-based recharging method of claim 5, wherein the docking step comprises driving the robot to face the charging dock under the guidance of the first signal and the second signal, and docking a charging pole piece on the robot with a connector on the charging dock.
7. The recharging method based on the charging area as claimed in claim 6, wherein the step of driving the robot to face the charging seat specifically comprises: and driving the robot to rotate until one group of receiving tubes corresponding to the position of the charging pole piece receives the first signal and the other group of receiving tubes corresponding to the position of the charging pole piece receives the second signal.
8. The recharging method based on the charging area according to claim 7, wherein the docking of the charging pole piece on the robot with the connector on the charging dock specifically comprises: driving the robot to move towards the charging seat until impact is generated;
continuously acquiring a charging signal generated by the butt joint of the charging pole piece and the charging connector;
and when the charging signal is acquired, determining that the robot is in butt joint with the charging seat.
9. The charging region based recharging method of claim 8, wherein after the step of continuously acquiring the charging signal generated by the docking of the charging pole piece and the charging connector, the method further comprises:
and when the charging signal cannot be acquired, rotating the robot clockwise and anticlockwise alternately until the charging signal is detected.
10. The charging region based recharging method of claim 9, wherein after the step of continuously acquiring the charging signal generated by the docking of the charging pole piece and the charging connector, the method further comprises:
when the duration of the charging signal which cannot be acquired exceeds a preset value, driving the robot to perform a retreating action, and then performing a butt joint step;
the backward movement specifically comprises backward movement by a first preset distance, rotation by 180 degrees, forward movement by a second preset distance, and rotation by 180 degrees.
11. Recharging device based on charging area, characterized in that includes:
the continuous acquisition module is used for controlling the robot to randomly move and continuously acquiring a charging area signal and a charging joint signal sent by a charging seat, wherein the charging joint signal comprises a first signal and a second signal;
and the signal capturing module is used for driving the robot to execute virtual wall-following if the robot receives the charging area signal until the robot receives the first signal and the second signal.
And the docking module is used for driving the robot to dock with the charging seat under the guidance of the first signal and the second signal.
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