CN206775195U - Autonomous charging systems, autonomous mobile devices and charging points - Google Patents

Abstract

The disclosure relates to an autonomous charging system, an autonomous mobile device and a charging pile, wherein the autonomous mobile system comprises the charging pile and the autonomous mobile device; the charging pile comprises a near-field infrared transmitting device and a radio frequency transmitting device, wherein the near-field infrared transmitting device transmits a near-field infrared signal, and the radio frequency transmitting device transmits a radio frequency signal; the autonomous mobile equipment comprises an infrared receiving device, a radio frequency receiving device and a controller, wherein the controller can control the autonomous mobile equipment to search near-field infrared signals near corresponding emission sources according to radio frequency signals received by the radio frequency receiving device when controlling the autonomous mobile equipment to recharge; the controller can guide the autonomous mobile equipment to be in butt joint with the charging pile for charging according to the near field infrared signal when the infrared receiving device receives the near field infrared signal. Through the technical scheme of this disclosure, can realize independently mobile device and fill the accurate butt joint of electric pile, avoid independently mobile device to lead to the fact the collision to filling electric pile, be favorable to prolonging the life of independently mobile device and filling electric pile.

Description

Autonomous charging systems, autonomous mobile devices and charging points

technical field

The present disclosure relates to the technical field of robots, and in particular to an autonomous charging system, an autonomous mobile device, and a charging pile.

Background technique

At present, when the autonomous mobile device is recharging, it is guided to the near-field radiation area by the far-field infrared signal, and then the near-field infrared signal in the near-field radiation area guides the docking charging between it and the charging pile. However, because the infrared signal is easily affected by the external environment, such as dust occlusion, obstacle occlusion, etc., it is difficult to realize the precise docking of the autonomous mobile device and the charging pile, resulting in continuous collisions between the autonomous mobile device and the charging pile. Cause damage to autonomous mobile devices and charging piles, affecting service life.

Utility model content

The present disclosure provides an autonomous charging system, an autonomous mobile device, and a charging pile to solve the deficiencies in related technologies.

According to a first aspect of an embodiment of the present disclosure, an autonomous charging system is provided, including: a charging pile and an autonomous mobile device;

The charging pile includes a near-field infrared emitting device and a radio frequency emitting device, the near-field infrared emitting device is used to emit near-field infrared signals, and the radio frequency emitting device is used to emit radio frequency signals;

The autonomous mobile device includes an infrared receiving device, a radio frequency receiving device and a controller, and the controller can control the autonomous mobile device according to the radio frequency signal received by the radio frequency receiving device when controlling the recharging of the autonomous mobile device. The device searches for the near-field infrared signal near the transmission source of the radio frequency signal; and, when the infrared receiving device receives the near-field infrared signal, the controller can guide the near-field infrared signal according to the near-field infrared signal The autonomous mobile device is docked with the charging pile for charging.

Optionally, the autonomous mobile device further includes a storage device, the storage device is used to store the location information of the charging pile;

The controller may control the autonomous mobile device to recharge according to the location information when the power of the autonomous mobile device is lower than a preset power threshold.

Optionally, the location information of the charging pile includes at least one of the following:

Recording the location information of the charging pile when the autonomous mobile device left the charging pile last time;

Recording the location information of the charging pile when the autonomous mobile device docked with the charging pile for charging the last time;

The location information of the charging pile detected by the autonomous mobile device during walking.

Optionally, the charging pile further includes a far-field infrared emitting device, and the far-field infrared emitting device is used to emit far-field infrared signals;

The controller may guide the autonomous mobile device to walk towards the charging pile according to the far-field infrared signal when the infrared receiving device receives the far-field infrared signal.

Optionally, the controller controls the autonomous mobile device to make a circular motion around the source of the radio frequency signal in a preset direction with a radius of the first preset distance, so as to search for the source near the source of the radio frequency signal The near-field infrared signal; wherein, the first preset distance is not greater than the target radiation distance of the near-field infrared signal.

Optionally, the controller determines the separation distance between the autonomous mobile device and the transmission source of the radio frequency signal according to the signal strength of the radio frequency signal received by the radio frequency receiving device, and the signal strength Negatively correlated with the separation distance.

Optionally, the radio frequency transmitting device includes an active radio frequency tag; the radio frequency receiving device includes a radio frequency reader, configured to receive the radio frequency signal transmitted by the active radio frequency tag.

Optionally, the radio frequency receiving device includes a radio frequency reader; the radio frequency transmitting device includes a passive radio frequency tag, and the passive radio frequency tag can be separated from the autonomous mobile device and the charging pile by a distance smaller than the first When the distance is two preset, the radio frequency signal is transmitted in response to the excitation of radio frequency energy generated by the radio frequency reader, and the radio frequency signal emitted by the passive radio frequency tag is received by the radio frequency reader.

Optionally, the autonomous mobile device includes: an autonomous cleaning robot.

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

An infrared receiving device, a radio frequency receiving device and a controller, the infrared receiving device is used to receive the near-field infrared signal emitted by the near-field infrared emitting device on the charging pile, and the radio frequency receiving device is used to receive the radio frequency on the charging pile Radio frequency signals emitted by the transmitting device;

The controller may control the autonomous mobile device to search for the near-field infrared signal near the emission source of the radio frequency signal according to the radio frequency signal received by the radio frequency receiving device when controlling the autonomous mobile device to recharge. and, the controller may, when the infrared receiving device receives the near-field infrared signal, guide the autonomous mobile device to dock and charge with the charging pile according to the near-field infrared signal.

Optionally, the autonomous mobile device further includes a storage device, the storage device is used to store the location information of the charging pile;

The controller may control the autonomous mobile device to recharge according to the location information when the power of the autonomous mobile device is lower than a preset power threshold.

Optionally, the location information of the charging pile includes at least one of the following:

Recording the location information of the charging pile when the autonomous mobile device left the charging pile last time;

Recording the location information of the charging pile when the autonomous mobile device started docking and charging with the charging pile last time;

The autonomous mobile device detects the location information of the charging pile during walking.

Optionally, when the power of the autonomous mobile device is lower than a threshold, the controller may control the autonomous mobile device to move toward the Charging pile walking.

Optionally, the controller controls the autonomous mobile device to make a circular motion around the source of the radio frequency signal in a preset direction with a radius of the first preset distance, so as to search for the source near the source of the radio frequency signal The near-field infrared signal; wherein, the first preset distance is not greater than the target radiation distance of the near-field infrared signal.

Optionally, the controller determines the separation distance between the autonomous mobile device and the transmission source of the radio frequency signal according to the signal strength of the radio frequency signal received by the radio frequency receiving device, and the signal strength Negatively correlated with the separation distance.

Optionally, the radio frequency receiving device includes a radio frequency reader, and the radio frequency reader can generate radio frequency energy;

When the radio frequency transmitting device is an active radio frequency tag, the radio frequency reader receives the radio frequency signal transmitted by the active radio frequency tag;

When the radio frequency transmitting device is a passive radio frequency tag, the radio frequency energy is used to excite the passive radio frequency tag when the separation distance between the autonomous mobile device and the charging pile is less than a second preset distance The radio frequency signal is transmitted, and the radio frequency signal transmitted by the passive radio frequency tag is received by the radio frequency reader.

Optionally, the autonomous mobile device includes: an autonomous cleaning robot.

According to a third aspect of an embodiment of the present disclosure, a charging pile is provided, including:

A near-field infrared emitting device and a radio frequency emitting device, the near-field infrared emitting device is used to emit a near-field infrared signal, the radio frequency emitting device is used to emit a radio frequency signal, and the radio frequency signal is used to indicate that the autonomous vehicle in the recharging state The mobile device searches for the near-field infrared signal near the emission source of the radio frequency signal, so that the autonomous mobile device docks with the charging pile for charging according to the received near-field infrared signal.

Optionally, the charging pile further includes a far-field infrared emitting device, the far-field infrared emitting device is used to emit a far-field infrared signal, and the far-field infrared signal is used for autonomous movement when the electric quantity is lower than a preset electric quantity threshold. The device performs recharging guidance, so that the autonomous mobile device walks toward the charging pile.

Optionally, the radio frequency transmitting device includes an active radio frequency tag, and the active radio frequency tag actively transmits the radio frequency signal.

Optionally, the radio frequency transmitting device includes a passive radio frequency tag, and the passive radio frequency tag can respond to the autonomous movement when the separation distance between the charging pile and the autonomous mobile device is less than a preset distance. The RF signal is emitted by excitation of RF energy generated by the device.

According to a fourth aspect of the embodiments of the present disclosure, an autonomous charging system is provided, including:

A charging pile and an autonomous mobile device; the charging pile includes a radio frequency transmitting device and an infrared transmitting device, the radio frequency transmitting device is used to transmit a radio frequency signal, and the infrared transmitting device is used to transmit an infrared signal; wherein, the radio frequency signal and the Either one of the infrared signals is a far-field signal and forms a far-field target radiation range, and the other is a near-field signal and forms a near-field target radiation range;

The autonomous mobile device includes a radio frequency receiving device, an infrared receiving device, and a controller, and the controller can control the autonomous mobile device to recharge according to the received information of the autonomous mobile device within the radiation range of the far-field target. The far-field signal of the autonomous mobile device guides the autonomous mobile device to walk to the near-field target radiation range; and the controller guides the autonomous mobile device according to the near-field signal received by the autonomous mobile device within the near-field target radiation range The autonomous mobile device is docked with the charging pile for charging.

According to a fifth aspect of the embodiments of the present disclosure, an autonomous mobile device is provided, including:

A radio frequency receiving device, an infrared receiving device and a controller; the radio frequency receiving device is used to receive the radio frequency signal transmitted by the radio frequency transmitting device on the charging pile, and the infrared receiving device is used to receive the signal emitted by the infrared transmitting device on the charging pile An infrared signal; wherein, either one of the radio frequency signal and the infrared signal is a far-field signal and forms a far-field target radiation range, and the other is a near-field signal and forms a near-field target radiation range;

The controller may guide the autonomous mobile device to walk to the near field according to the far-field signal received by the autonomous mobile device within the radiation range of the far-field target when controlling the autonomous mobile device to recharge. A target radiation range; and, the controller guides the autonomous mobile device to dock with the charging pile for charging according to the near-field signal received by the autonomous mobile device within the near-field target radiation range.

According to a sixth aspect of the embodiments of the present disclosure, there is provided a charging pile, including:

A radio frequency transmitting device and an infrared transmitting device, the radio frequency transmitting device is used to transmit a radio frequency signal, and the infrared transmitting device is used to transmit an infrared signal; any one of the radio frequency signal and the infrared signal is a far field signal and forms a far field The target radiation range, the other is a near-field signal and forms a near-field target radiation range; wherein, the far-field signal is used to guide autonomous mobile devices in the recharging state within the far-field target radiation range to walk to the Near-field target radiation range, the near-field signal is used to guide the autonomous mobile device in the recharging state within the near-field target radiation range to dock with the charging pile for charging.

It can be seen from the above embodiments that the present disclosure can ensure that the autonomous mobile device receives the radio frequency signal from the charging pile during the recharging process without being affected by dust and obstacles by transmitting and receiving radio frequency signals between the charging pile and the autonomous mobile device. The occlusion or influence of objects, etc. will help improve the accuracy of docking and recharging between autonomous mobile devices and charging piles, reduce the probability of collisions, and help extend the service life of autonomous mobile devices and charging piles.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

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

Fig. 1 is a block diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 2 is an application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 3 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 4 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 5 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 6 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 7 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 8 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 9 is a block diagram of another autonomous charging system according to an exemplary embodiment.

Fig. 10 is an application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 11 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 12 is a block diagram of another autonomous charging system according to an exemplary embodiment.

Fig. 13 is an application scenario diagram of an autonomous charging system according to an exemplary embodiment.

Fig. 14 is another application scenario diagram of an autonomous charging system according to an exemplary embodiment.

detailed description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present application, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

Fig. 1 is a schematic diagram of an autonomous charging system shown according to an exemplary embodiment, as shown in Fig. Docking to charge the autonomous mobile device 1 .

Wherein, the charging pile 2 may include a near-field infrared transmitting device 21 and a radio frequency transmitting device 22; the radio frequency transmitting device 22 may be used to transmit a radio frequency signal, and the radio frequency signal may indicate that the autonomous mobile device 1 in the recharging state is in the radio frequency signal The near-field infrared signal is searched near the emission source (that is, the radio frequency emission device 22), and the near-field infrared signal is emitted by the infrared emission device 21 on the charging pile 2 to guide the autonomous mobile device 1 to connect the charging port to the charging pile. 2 charging electrodes and realize docking charging.

The autonomous mobile device 1 may include an infrared receiving device 11 , a radio frequency receiving device 12 and a controller 13 . Wherein, the controller 13 can control the autonomous mobile device 1 to recharge toward the charging pile 2; The radio frequency signal transmitted by the transmitting device 22; when the autonomous mobile device 1 receives the radio frequency signal through the radio frequency receiving device 12, it can determine the transmission source of the radio frequency signal (i.e. the radio frequency transmitting device 22, that is, the charging pile 2 itself), and Search for near-field infrared signals near the emission source under the control of controller 13; wherein, the near-field infrared signals can be received by infrared receiving device 11, and further guided by the received near-field infrared signals by controller 13 Next, the autonomous mobile device 1 is controlled to dock with the charging pile 2 for charging.

In the above-mentioned embodiment, by sending out the radio frequency signal from the charging pile 2, it is possible to avoid the dust and obstacles around the charging pile 2 from blocking the radio frequency signal, so as to ensure that the autonomous mobile device 1 can receive the radio frequency signal, and based on this Determine that you are already located near the charging pile 2, so as to realize accurate positioning marks for the location of the charging pile 2. At the same time, after receiving the radio frequency signal, the autonomous mobile device 1 can further search for the near-field infrared signal, and under the guidance of the near-field infrared signal, it can realize the docking and recharging between the autonomous mobile device 1 and the charging pile 2, which can not only improve The accuracy of docking and recharging between the autonomous mobile device 1 and the charging pile 2 and the reduction of collisions are also conducive to prolonging the service life of the autonomous mobile device 1 and the charging pile 2 .

For ease of understanding, the autonomous mobile device 1 and the charging pile 2 can be abstracted as points on the traveling plane, so as to combine the schematic diagrams shown in Figures 2-9 to describe the autonomous charging process of the autonomous charging system shown in Figure 1 above in detail .

As shown in FIG. 2 , it is assumed that the radiation radius of the radio frequency signal is R1, and the radiation area M1 of the radio frequency signal is formed accordingly; the target radiation distance of the infrared signal is assumed to be R2, and a substantially fan-shaped radiation area M2 is formed accordingly. Then, during the movement of the autonomous mobile device 1 in the recharging state, if the radio frequency receiving device 12 does not receive a radio frequency signal, it means that the distance between the autonomous mobile device 1 and the charging pile 2 is relatively long, and the autonomous mobile device 1 can Continue the movement (toward charging point 2).

Assuming that the autonomous mobile device 1 continues to move, when the radio frequency receiving device 12 receives a radio frequency signal, it indicates that the radio frequency receiving device 12 is located in the aforementioned radiation area M1, so it can be determined that the autonomous mobile device 1 has arrived near the charging pile 2 . At this time, the autonomous mobile device 1 can try to receive the near-field infrared signal through the infrared receiving device 11; if the near-field infrared signal can be received, it indicates that the autonomous mobile device 1 has entered and is located in the above-mentioned radiation area M2, and can be further based on the near-field infrared signal. The infrared signal is docked with the charging pile 2 for charging; if the near-field infrared signal cannot be received, it indicates that the autonomous mobile device 1 is not in the radiation area M2, then it can enter the radiation area M2 in the following ways:

As shown in Figure 3, the autonomous mobile device 1 is located near the charging pile 2, and the radiation area M1 of the radio frequency signal has covered the autonomous mobile device 1. At this time, the controller 13 controls the autonomous mobile device 1 with the first preset distance as the radius. Make a circular motion around the radio frequency signal transmission source (that is, the charging pile 2, or specifically the radio frequency transmission device 22 inside the charging pile 2) in a preset direction to search for near-field infrared signals; wherein, the first preset distance should not be greater than The target radiation distance R2 of the near-field infrared signal is to ensure that the autonomous mobile device 1 can search for the near-field infrared signal.

For example, the controller 13 can determine the distance L1 between the autonomous mobile device 1 and the charging pile 2 according to the signal strength of the received radio frequency signal, then, when L1≤R2, the autonomous mobile device 1 can directly use L1 as Radius, circular movement around the source of the radio frequency signal in a preset direction, so as to search for near-field infrared signals near the source of the radio frequency signal. In combination with the embodiment shown in Figures 3-5, it is assumed that the autonomous mobile device 1 starts from the position shown in Figure 3, and moves around the charging pile 2 in the counterclockwise direction A shown in Figure 4 until it reaches the position shown in Figure 5. Position, so that the autonomous mobile device 1 enters the radiation area M2 of the near-field infrared signal, so as to dock and recharge with the charging pile 2; the preset direction can also be clockwise, which is not limited in the present disclosure.

When L1>R2, as shown in Figure 6, if the autonomous mobile device 1 still moves in a circle around the source of the radio frequency signal with L1 as the radius, it cannot enter the radiation area M2 of the near-field infrared signal, so that the autonomous mobile device 1 The near-field infrared signal cannot be searched either. Therefore, the controller 13 can firstly control the autonomous mobile device 1 to continue moving towards the charging pile 2, wherein the signal strength of the radio frequency signal received by the radio frequency receiving device 12 is negatively correlated with the distance L1, that is, the distance between the autonomous mobile device 1 and the charging pile 2 is negatively correlated. The closer the distance between 2, the stronger the signal strength of the radio frequency signal.

Assume that the distance that the autonomous mobile device 1 continues to move forward is the distance L2 shown in Figure 7, so that the distance between the autonomous mobile device 1 and the charging pile 2 is shortened from L1 to (L1-L2), and the above-mentioned first preset The distance is then changed to (L1-L2); among them, it should be ensured that (L1-L2)≤R2, so that the autonomous mobile device 1 takes (L1-L2) as the radius and makes a circle around the source of the radio frequency signal along the preset direction When exercising, you can search for near-field infrared signals near the source of the radio frequency signal.

In fact, the infrared receiving device 11 and the radio frequency receiving device 12 on the autonomous mobile device 1 may not be set at the same or similar positions; similarly, the infrared transmitter 21 and the radio frequency transmitter 22 on the charging pile 2 may not be set at the same or similar location. For example, as shown in Figure 8, it is assumed that the distance between the infrared receiving device 11 and the radio frequency receiving device 12 is determined to be S1 according to the relative positional relationship; The distance is S2; and, assuming that the autonomous mobile device 1 has entered the radio frequency signal radiation area M1, the distance between the radio frequency receiving device 12 and the radio frequency transmitting device 22 can be determined according to the strength of the radio frequency signal received by the radio frequency receiving device 12 for L4.

Then, when the autonomous mobile device 1 moves in a circle around the radio frequency transmitting device 22 with the first preset distance as the radius, in order to ensure that it can search for the infrared signal transmitted by the infrared transmitting device 21, it should meet the requirements of the infrared receiving device 11 and the infrared signal. The separation distance L5≤R2 between the transmitting devices 21; and the separation distance L5 not only changes with the change of the separation distance L4, but also is affected by the separation distances S1 and S2; therefore, according to the variation law of the separation distance L5, it can be known that when the infrared When the receiving device 11, the radio frequency receiving device 12, the infrared transmitting device 21 and the radio frequency transmitting device 22 are located on the same straight line, the separation distance L5 reaches the maximum value, and L5=L4+S1+S2, so when L4+S1+S2≤R2 , that is, when the separation distance L4≤R2-S2-S2, it can be ensured that the autonomous mobile device 1 can enter the infrared signal radiation area M2 when moving around the charging pile 2 with the separation distance L4 as the first preset distance , so that the infrared receiving device 11 can receive the infrared signal in the infrared radiation area M2.

In each of the above embodiments, when the power of the autonomous mobile device 1 is lower than the preset power threshold, it can be recharged towards the charging pile 2 under the control of the controller 13, for example:

In one embodiment, the autonomous mobile device 1 further includes a storage device 14, which stores the location information of the charging pile 2, so that the controller 13 can control the autonomous mobile device 1 to walk towards the charging pile 2 according to the location information. Perform recharging. Wherein, the location information can be recorded and saved by the autonomous mobile device 1, for example, when the autonomous mobile device 1 leaves the charging pile 2 for the last time, it records the location information of the charging pile 2, or when the autonomous mobile device 1 is most recently with the charging pile 2 Record the location information of the charging pile 2 when docking and charging, or when the autonomous mobile device 1 detects the location information of the charging pile 2 during walking; of course, the location information can also be recorded by the autonomous The mobile device 1 records and saves, which is not limited in the present disclosure.

In another embodiment, as shown in FIG. 9 , the charging pile 2 further includes a far-field infrared emitting device 23, which can be used to emit far-field infrared signals, and the far-field infrared signals can be generated by The infrared receiving device 11 of the autonomous mobile device 1 receives it, so that the controller 13 can control the autonomous mobile device 1 to walk toward the charging pile 2 for recharging based on the received far-field infrared signal.

Based on the above-mentioned various embodiments, the radiation area M1 of the radio frequency signal transmitted on the charging pile 2 can be specifically formed by the radio frequency tag 221 in the radio frequency transmitting device 22; in one embodiment, when the radio frequency tag 221 can include an active radio frequency tag, Therefore, the above-mentioned radiation area M1 can be formed autonomously on the charging pile 2, and when the radiation area M1 covers the autonomous mobile device 1, the radio frequency signal can be received by the radio frequency reader 121 in the radio frequency receiving device 12 to determine the autonomous mobile device 1 Already located in the vicinity of the charging pile 2, so as to realize accurate positioning marks for the position of the charging pile 2.

In another embodiment, the radio frequency tag 221 may include a passive radio frequency tag, and the passive radio frequency tag may transmit radio frequency signals under the excitation of radio frequency energy generated by the radio frequency reader 121, and form the above radiation area M1; specifically, As shown in FIG. 10 , it is assumed that the radiation radius of the RF energy generated by the RF reader 121 is R3, and the radiation area M3 and the distance L3 between the autonomous mobile device 1 and the RF transmitter 22 on the charging pile 2 are formed accordingly.

Then, when L3>R3, the radiation area M3 will not cover the passive radio frequency tags, so the autonomous mobile device 1 can continue to move towards the charging pile 2 until L3≤R3, as shown in Figure 11, the radiation area M3 can cover To the passive radio frequency tag, at this time, the passive radio frequency tag can emit a radio frequency signal in response to the excitation of radio frequency energy, and form the radiation area M1 in the above embodiment, so as to mark the position of the charging pile 2, so as to facilitate autonomous movement When the device 1 receives the radio frequency signal, it can be determined that it is already located near the charging pile 2 .

The present disclosure also provides another technical solution of an autonomous charging system. As shown in FIG. 12 , the autonomous charging system may include an autonomous mobile device 1 and a charging pile 2, and the charging pile 2 may include a radio frequency emitting device 24 and an infrared emitting device 25 , the infrared emitting device 25 can be used to emit infrared signals, and the radio frequency emitting device 24 can be used to emit radio frequency signals; wherein, when either side of the radio frequency signal and the infrared signal is a far-field signal and forms a far-field target radiation range, the other One side is the near-field signal and forms the radiation range of the near-field target; and, the far-field signal can be used to guide the autonomous mobile device 1 in the recharging state within the radiation range of the far-field target to walk to the radiation range of the near-field target, and the near-field signal can be It is used to guide the autonomous mobile device 1 in the recharging state within the radiation range of the near-field target to dock with the charging pile 2 for charging.

In one embodiment, as shown in FIG. 13 , the radio frequency signal emitted by the radio frequency transmitting device 24 on the charging pile 2 is used as a near-field signal, and the near-field radiation range N1 is formed accordingly, and the infrared signal emitted by the infrared emitting device 25 is used as a far field signal. field signal, and correspondingly forms the far-field radiation range N2. Then, the infrared receiving device 16 on the autonomous mobile device 1 can receive the far-field signal (that is, an infrared signal) from the far-field radiation range N2, so that the controller 17 on the autonomous mobile device 1 can control its recharging. Walk to the near-field radiation range N1 according to the guidance of the received far-field signal; and, the controller 17 can receive the near-field signal (i.e. radio frequency signal) to guide the charging port of the autonomous mobile device 1 to the charging electrode on the charging pile 2 to achieve docking charging.

In another embodiment, as shown in FIG. 14 , the radio frequency signal transmitted by the radio frequency transmitting device 24 on the charging pile 2 is used as a far-field signal, and the far-field radiation range N3 is formed accordingly, and the infrared signal transmitted by the infrared transmitting device 25 is used as a far-field signal. near-field signal, and correspondingly forms the near-field radiation range N4. Then, the radio frequency receiving device 15 on the autonomous mobile device 1 can receive the far-field signal (i.e. the radio frequency signal) from the far-field radiation range N3, so that the controller 17 on the autonomous mobile device 1 can control its recharging. Walk to the near-field radiation range N4 according to the guidance of the received far-field signal; signal) to guide the charging port of the autonomous mobile device 1 to the charging electrode on the charging pile 2 to achieve docking charging.

Based on the above embodiments, the autonomous mobile device 1 in the present disclosure may include an autonomous cleaning robot, such as a sweeping robot, and the present disclosure is not limited thereto.

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

It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (24)

1. a kind of recharging system, it is characterised in that including charging pile and autonomous mobile apparatus；

The charging pile includes near field infrared launcher and RF transmitter, and the near field infrared launcher is used to launch Near field infrared signal, the RF transmitter are used to launch radiofrequency signal；

The autonomous mobile apparatus includes infrared receiving device, RF Receiving Device and controller, and the controller can controlled When making the autonomous mobile apparatus and recharging, the radiofrequency signal that is received according to the RF Receiving Device, described autonomous move is controlled Dynamic equipment searches for the near field infrared signal near the emission source of the radiofrequency signal；And the controller can be described When infrared receiving device receives the near field infrared signal, the autonomous mobile apparatus is guided according to the near field infrared signal Carry out docking charging with the charging pile.

2. recharging system according to claim 1, it is characterised in that the autonomous mobile apparatus also includes storage dress Put, the storage device is used for the positional information for storing the charging pile；

The controller can control the autonomous to set when the electricity of the autonomous mobile apparatus is less than default power threshold It is standby to be recharged according to the positional information.

3. recharging system according to claim 2, it is characterised in that the positional information of the charging pile includes following At least one：

Described autonomous mobile apparatus the last time records the positional information of the charging pile when leaving the charging pile；

The autonomous mobile apparatus is the last to dock the positional information that the charging pile is recorded during charging with the charging pile；

The positional information for the charging pile that the autonomous mobile apparatus detects in the process of walking.

4. recharging system according to claim 1, it is characterised in that the charging pile also includes far field infrared emission Device, the far field infrared launcher are used to launch far field infrared signal；

The controller can be when the infrared receiving device receives the far field infrared signal, according to the infrared letter in the far field Number guiding autonomous mobile apparatus is walked towards the charging pile.

5. recharging system according to claim 1, it is characterised in that the controller controls the autonomous to set For using the first pre-determined distance as radius, the emission source along preset direction around the radiofrequency signal moves in a circle, to be penetrated described The emission source of frequency signal nearby searches for the near field infrared signal；Wherein, first pre-determined distance is red no more than the near field The target emanation distance of external signal.

6. recharging system according to claim 5, it is characterised in that the controller fills according to the radio frequency reception Put the signal intensity of the radiofrequency signal received, determine the autonomous mobile apparatus and the radiofrequency signal emission source it Between spacing distance, and the signal intensity and the spacing distance are negatively correlated.

7. recharging system according to claim 1, it is characterised in that the RF transmitter includes active radio frequency Label；The RF Receiving Device includes radio frequency reader, for receiving the radio frequency letter of the active radio frequency label transmitting Number.

8. recharging system according to claim 1, it is characterised in that the RF Receiving Device is read including radio frequency Device；The RF transmitter includes passive RF label, and the passive RF label can be in the autonomous mobile apparatus and institute When stating the spacing distance between charging pile and being less than the second pre-determined distance, in response to RF energy caused by the radio frequency reader Encourage and launch the radiofrequency signal, and the radio frequency letter of the passive RF label transmitting is received by the radio frequency reader Number.

9. recharging system according to claim 1, it is characterised in that the autonomous mobile apparatus includes：It is autonomous clear Clean robot.

10. a kind of autonomous mobile apparatus, it is characterised in that including infrared receiving device, RF Receiving Device and controller, institute The near field infrared signal for the near field infrared launcher transmitting that infrared receiving device is used to receive on charging pile is stated, the radio frequency connects The radiofrequency signal for the RF transmitter transmitting that receiving apparatus is used to receive on the charging pile；

The controller can be when controlling the autonomous mobile apparatus to recharge, the radio frequency that is received according to the RF Receiving Device Signal, the autonomous mobile apparatus is controlled to search for the near field infrared signal near the emission source of the radiofrequency signal；And The controller can draw when the infrared receiving device receives the near field infrared signal according to the near field infrared signal The autonomous mobile apparatus is led to carry out docking charging with the charging pile.

11. autonomous mobile apparatus according to claim 10, it is characterised in that the autonomous mobile apparatus also includes storage Device, the storage device are used for the positional information for storing the charging pile；

The controller can control the autonomous to set when the electricity of the autonomous mobile apparatus is less than default power threshold It is standby to be recharged according to the positional information.

12. autonomous mobile apparatus according to claim 11, it is characterised in that the positional information of the charging pile include with It is at least one lower：

Described autonomous mobile apparatus the last time records the positional information of the charging pile when leaving the charging pile；

The autonomous mobile apparatus is the last to start to dock the position letter that the charging pile is recorded during charging with the charging pile Breath；

The autonomous mobile apparatus detects the positional information of the charging pile in the process of walking.

13. autonomous mobile apparatus according to claim 10, it is characterised in that the controller can be in the autonomous When the electricity of equipment is less than threshold value, the far field infrared signal of the charging pile transmitting received according to the infrared receiving device The autonomous mobile apparatus is controlled to be walked towards the charging pile.

14. autonomous mobile apparatus according to claim 10, it is characterised in that the controller controls the autonomous Equipment is using the first pre-determined distance as radius, and the emission source along preset direction around the radiofrequency signal moves in a circle, with described The emission source of radiofrequency signal nearby searches for the near field infrared signal；Wherein, first pre-determined distance is not more than the near field The target emanation distance of infrared signal.

15. autonomous mobile apparatus according to claim 14, it is characterised in that the controller is according to the radio frequency reception The signal intensity for the radiofrequency signal that device receives, determine the emission source of the autonomous mobile apparatus and the radiofrequency signal Between spacing distance, and the signal intensity and the spacing distance are negatively correlated.

16. autonomous mobile apparatus according to claim 10, it is characterised in that the RF Receiving Device is read including radio frequency Device is read, the radio frequency reader can produce RF energy；

When the RF transmitter is active radio frequency label, the radio frequency reader receives the active radio frequency label transmitting The radiofrequency signal；

When the RF transmitter is passive RF label, the RF energy is used in the autonomous mobile apparatus and institute When stating the spacing distance between charging pile and being less than the second pre-determined distance, the passive RF label is encouraged to launch the radio frequency letter Number, and by the radiofrequency signal of the radio frequency reader reception passive RF label transmitting.

17. autonomous mobile apparatus according to claim 10, it is characterised in that the autonomous mobile apparatus includes：Independently Clean robot.

18. a kind of charging pile, it is characterised in that including near field infrared launcher and RF transmitter, the near field is infrared Emitter is used to launch near field infrared signal, and the RF transmitter is used to launch radiofrequency signal, and the radiofrequency signal is used It is infrared in the autonomous mobile apparatus for recharging under state the near field to be searched near the emission source of the radiofrequency signal in instruction Signal, so that the autonomous mobile apparatus docks charging according to the near field infrared signal received with the charging pile.

19. charging pile according to claim 18, it is characterised in that the charging pile also includes far field infrared emission and filled Put, the far field infrared launcher is used to launch far field infrared signal, and the far field infrared signal is used for electricity less than pre- If the autonomous mobile apparatus of power threshold carries out recharging guiding, so that the autonomous mobile apparatus is walked towards the charging pile.

20. charging pile according to claim 18, it is characterised in that the RF transmitter includes active radio frequency mark Label, the active radio frequency label actively launch the radiofrequency signal.

21. charging pile according to claim 18, it is characterised in that the RF transmitter includes passive RF mark Label, the spacing distance that the passive RF label can be between the charging pile and the autonomous mobile apparatus are less than pre-determined distance When, launch the radiofrequency signal in response to the excitation of RF energy caused by the autonomous mobile apparatus.

22. a kind of recharging system, it is characterised in that including charging pile and autonomous mobile apparatus；

The charging pile includes RF transmitter and infrared launcher, and the RF transmitter is used to launch radio frequency letter Number, the infrared launcher is used to launch infrared signal；Wherein, either one in the radiofrequency signal and the infrared signal is Far-field signal simultaneously forms far field objects radiation scope, and the opposing party is near-field signals and forms near-field target radiation scope；

The autonomous mobile apparatus includes RF Receiving Device, infrared receiving device and controller, and the controller can control When the autonomous mobile apparatus recharges, received according to the autonomous mobile apparatus in the far field objects radiation scope remote Field signal, the autonomous mobile apparatus is guided to run to the near-field target radiation scope；And the controller is according to The near-field signals that autonomous mobile apparatus receives in the near-field target radiation scope, guide the autonomous mobile apparatus and institute State charging pile docking charging.

23. a kind of autonomous mobile apparatus, it is characterised in that including RF Receiving Device, infrared receiving device and controller；

The radiofrequency signal for the RF transmitter transmitting that the RF Receiving Device is used to receive on charging pile, the infrared receiver The infrared signal for the infrared launcher transmitting that device is used to receive on the charging pile；Wherein, the radiofrequency signal and described Either one in infrared signal for far-field signal and forms far field objects radiation scope, and the opposing party is near-field signals and forms near field Target emanation scope；

The controller can be when controlling the autonomous mobile apparatus to recharge, according to the autonomous mobile apparatus in the far field mesh The far-field signal received in mark radiation scope, guides the autonomous mobile apparatus to run to the near-field target radiation scope； And the near-field signals that the controller receives according to the autonomous mobile apparatus in the near-field target radiation scope, The autonomous mobile apparatus is guided to dock charging with the charging pile.

A kind of 24. charging pile, it is characterised in that including：RF transmitter and infrared launcher, the RF transmitter For launching radiofrequency signal, the infrared launcher is used to launch infrared signal；The radiofrequency signal and the infrared signal In either one is far-field signal and forms far field objects radiation scope, the opposing party is near-field signals and forms near-field target to radiate model Enclose；Wherein, the far-field signal is used to guide in the far field objects radiation scope, autonomous in the state that recharges to set Standby to run to the near-field target radiation scope, the near-field signals are used to guide in the near-field target radiation scope, place In the autonomous mobile apparatus for the state that recharges charging is docked with the charging pile.