CN109830998A - 回充装置 - Google Patents

回充装置 Download PDF

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Publication number
CN109830998A
CN109830998A CN201711182885.1A CN201711182885A CN109830998A CN 109830998 A CN109830998 A CN 109830998A CN 201711182885 A CN201711182885 A CN 201711182885A CN 109830998 A CN109830998 A CN 109830998A
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China
Prior art keywords
charged
microphone
recharging device
infrared
recharging
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CN201711182885.1A
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Inventor
刘文卷
金志勇
梁力
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Shenzhen Yuzhan Precision Technology Co ltd
Hon Hai Precision Industry Co Ltd
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Shenzhen Yuzhan Precision Technology Co ltd
Hon Hai Precision Industry Co Ltd
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Priority to CN201711182885.1A priority Critical patent/CN109830998A/zh
Priority to TW106141617A priority patent/TW201926846A/zh
Priority to US15/905,852 priority patent/US20190155297A1/en
Publication of CN109830998A publication Critical patent/CN109830998A/zh
Pending legal-status Critical Current

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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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    • 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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    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
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    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
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    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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    • B25J9/00—Programme-controlled manipulators
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    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract

一种回充装置，包括主板，所述主板上设置有麦克风模块，所述麦克风模块用于在接收到待充电装置的充电请求后，不断反馈给所述待充电装置一个指定充电区的位置信号。该回充装置采用主板上设置麦克风模块的结构，具备辨别声源位置的功能，可以使得待充电装置往特定的区域行走，最终停靠在该回充装置的指定充电区进行充电。

Description

回充装置
技术领域
本发明涉及一种充电装置，特别涉及一种回充装置。
背景技术
随着社会的进步，科技的发展，人们生活和工作的节奏越来越快，进而人们的生活越来越智能化，智能家居产品越来越受到人们的欢迎及需要，进而在机器人行业中，市场也研发出了一些适于人们生活家居的机器人，但是目前的充电装置不能和智能家居机器人有效地通信，使得智能家居机器人根据充电装置不断反馈的位置信号自动回到指定充电区进行充电。同时，目前市面上的回充装置大多只能接收充电请求的覆盖范围为180度，较为局限。
发明内容
有鉴于此，提供一种回充装置，采用主板上设置麦克风模块的结构，具备辨别声源位置的功能，可以使得待充电装置往特定的区域行走，最终停靠在该回充装置的指定充电区进行充电。
一种回充装置，包括主板，所述主板上设置有麦克风模块，所述麦克风模块用于在接收到待充电装置的充电请求后，不断反馈给所述待充电装置一个指定充电区的位置信号。
优选地，所述麦克风模块用于在接收到待充电装置的充电请求后，计算待充电装置相对指定充电区的方位信息，并根据所述方位信息反馈给所述待充电装置一个指定充电区的位置信号。
优选地，所述麦克风模块包括一麦克风阵列，所述麦克风阵列中的每一麦克风等间距的设置在所述主板上。
优选地，所述位置信号由所述麦克风阵列中的每一麦克风反馈给所述待充电装置的声波构成。
优选地，所述回充装置还包括信号采集部，所述信号采集部用于产生一个红外覆盖区，所述待充电装置避开所述红外覆盖区到指定充电区进行充电。
优选地，所述信号采集部包括红外传感器、红外镜头和传感器支架，所述红外传感器的一端嵌插在传感器支架中，所述红外传感器的另一端设置在红外镜头中。
优选地，所述红外传感器感测到所述待充电装置进入所述红外覆盖区后，所述麦克风模块可以产生一警示音。
优选地，所述回充装置还包括麦克风支架，所述主板设置在所述麦克风支架内。
优选地，所述麦克风支架为中空的圆环形，所述传感器支架的一端嵌套在所述麦克风支架中。
所述回充装置采用主板上设置麦克风模块的结构，具备辨别声源位置的功能，可以使得待充电装置往特定的区域行走，最终停靠在该回充装置的指定充电区进行充电。同时，回充装置的麦克风模块可以接收到所述待充电装置发送的来自空间360度任一角度的充电请求信号，覆盖范围较大。
附图说明
图1是本发明回充装置一实施方式的分解图。
图2是本发明回充装置的主板的示意图。
图3是本发明回充装置的麦克风模块的示意图。
图4是本发明回充装置一实施方式的示意图。
图5本发明回充装置的指定充电区和红外覆盖区的示意图。
主要元件符号说明
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，本发明一实施方式提供一种回充装置100。回充装置100可为智能机器人、吸尘器等智能装置充电。
回充装置100包括主板10、信号采集部11、麦克风支架12。显然，该回充装置还可进一步包括但不限于实现其预设功能的其他机械结构、电子组件、模组、软件。
如图2和3所示，主板10上设置有麦克风模块13。麦克风模块13用于在接收到待充电装置(图未示)的充电请求后，不断反馈给所述待充电装置一个指定充电区21的位置信号。主板10还可进一步包括但不限于实现其预设功能的电子组件、模组、软件。在本实施方式中，该主板10为一圆形主板，在其他实施方式中，该主板10可为其他形状主板，并不限于本实施方式。
麦克风模块13包括一麦克风阵列15和处理器16。麦克风阵列15中的每一麦克风131等间距的设置在主板10上。请一并参图，在本实施方式中，每一麦克风等间距的设置在主板10的边缘上。麦克风阵列15具有对远场噪声很强的抑制作用，在噪声环境中具有良好的信号采集性。所述位置信号由所述麦克风阵列15中的每一麦克风131反馈给所述待充电装置的声波构成。当回充装置100接收到所述待充电装置发出的充电请求时，在本实施例中，该充电请求以声波的方式传输，回充装置100获取所述声波抵达每个麦克风131的角度与时间，处理器16对每个麦克风131接收到的声波的角度与时间进行综合处理，进而麦克风模块13可以不断反馈给所述待充电装置一个指定充电区21的位置信号。回充装置100以声波的形式发送一个指定充电区21的位置信号给所述待充电装置，所述待充电装置接收所述位置信号。所述位置信号可以是指定充电区21的的方位信息。较佳的，本实施例中，麦克风阵列15包括六个等间距的设置在主板10上的麦克风131。可选地，处理器16可以为单片机芯片或ARM芯片。
信号采集部11包括红外传感器17、红外镜头18和传感器支架19。信号采集部11可以产生一个红外覆盖区。红外传感器17包括红外接收器和红外发射器。由于使用的是红外线，所以抗干扰能力很强,能有效避免所述待充电装置在移动过程中碰撞回充装置100和其他装置的问题。
红外传感器17包括引脚部171和本体172。红外镜头18包括突出部181。红外镜头18包括红外接收镜头和红外发射镜头。突出部181为圆形凹槽，用于收容红外传感器17的本体172。传感器支架19包括通孔191和两个孔槽192。两个孔槽192为长圆柱型。红外传感器17的引脚部171嵌插在传感器支架19的通孔191中。
如图4所示，麦克风支架12为中空的圆环形，主板10设置在麦克风支架12内。主板10包括还两个孔位14，通过两个螺丝20分别穿过主板10的两个孔位14和两个孔槽192，将主板10、麦克风支架12和传感器支架19固定连接。
如图5所示，当所述待充电装置需要充电时，所述待充电装置发出一声波形式的充电请求，通过麦克风模块13中的麦克风阵列15采集充电请求的声波，并将所述声波信息发送给处理器16进行处理，处理器16对接收到的所述声波信息进行声波模拟信号处理并通过麦克风阵列15反馈给一个指定充电区21的位置信号给所述待充电装置。当所述待充电装置发送充电请求信号后，回充装置100以声波的形式发送一个位置信号给所述待充电装置，所述待充电装置接收所述位置信号。
在本实施方式中，麦克风模块13可以实现不断反馈给所述待充电装置一个指定充电区21的位置信号。所述位置信号由所述麦克风阵列15中的每一麦克风131反馈给所述待充电装置的声波构成所述待充电装置可为智能机器人、吸尘器等智能装置。
所述待充电装置在发送所述充电请求声波信息后，麦克风阵列15中的六个麦克风131采集所述充电请求声波信息，由于六个麦克风131相对于所述待充电装置的方位是不同的，所述声波信息抵达六个麦克风131的时间及角度也是不同的。在所述待充电装置在发送所述充电请求声波信息后向着指定充电区21移动的过程中，所述待充电装置以一定的间隔时间不断的发送所述充电请求声波信息给回充装置100，使得所述回充装置100实时的更新指定充电区21的的方位信息发送给所述待充电装置。所述六个麦克风131在所述待充电装置移动到不同位置时，所述声波信息抵达每个麦克风131的时间及角度也是不同的。处理器16根据六个麦克风131收到所述待充电装置的充电请求声波信息的时间及角度，计算所述待充电装置相对回充装置100的方位信息。麦克风模块13根据所述方位信息反馈给所述待充电装置一个回充装置100的位置信号，所述待充电装置根据所述位置信号自主规划移动路径往指定充电区21移动，具体地可以在指定充电区21设置一个或者多个声波发射源，进而来进一步确定指定充电区21在回充装置100中的位置。
信号采集部11产生一个红外覆盖区。所述红外覆盖区为一个以回充装置100为中心以一预设距离为半径的圆形区域。当待充电装置在向指定充电区21移动的过程中，所述红外传感器17结合红外镜头18根据红外反射的原理，根据反射的强度来判断所述待充电装置是否进入所述红外覆盖区。当侦测到所述待充电装置进入所述红外覆盖区后，麦克风模块13可以产生一警示音。所述待充电装置上设置有红外线检测模块(图未示)，所述待充电装置可以通过判断是否检测到红外线来判断是否进入所述红外覆盖区，若所述待充电装置检测到红外线，则需要重新规划路线到指定充电区21进行充电。当所述待充电装置检测到红外线时，所述待充电装置根据红外线的强弱向着红外线覆盖强度弱的区域移动直到离开所述红外覆盖区。
本实施方式所展示的回充装置，采用主板上设置麦克风模块的结构，具备辨别声源位置的功能，可以使得待充电装置往特定的区域行走，最终停靠在该回充装置的指定充电区进行充电。同时，回充装置的麦克风模块可以接收到所述待充电装置发送的来自空间360度任一角度的充电请求信号，覆盖范围较大。
对本领域的技术人员来说，可以根据本发明的发明方案和发明构思结合生产的实际需要做出其他相应的改变或调整，而这些改变和调整都应属于本发明所公开的范围。

Claims (9)

1.一种回充装置，包括主板，其特征在于，所述主板上设置有麦克风模块，所述麦克风模块用于在接收到待充电装置的充电请求后，不断反馈给所述待充电装置一个指定充电区的位置信号。
2.如权利要求1所述的回充装置，其特征在于，所述麦克风模块用于在接收到待充电装置的充电请求后，计算待充电装置相对指定充电区的方位信息，并根据所述方位信息反馈给所述待充电装置一个指定充电区的位置信号。
3.如权利要求1所述的回充装置，其特征在于，所述麦克风模块包括一麦克风阵列，所述麦克风阵列中的每一麦克风等间距的设置在所述主板上。
4.如权利要求3所述的回充装置，其特征在于，所述位置信号由所述麦克风阵列中的每一麦克风反馈给所述待充电装置的声波构成。
5.如权利要求1所述的回充装置，其特征在于，所述回充装置还包括信号采集部，所述信号采集部用于产生一个红外覆盖区，所述待充电装置避开所述红外覆盖区到指定充电区进行充电。
6.如权利要求5所述的回充装置，其特征在于，所述信号采集部包括红外传感器、红外镜头和传感器支架，所述红外传感器的一端嵌插在传感器支架中，所述红外传感器的另一端设置在红外镜头中。
7.如权利要求6所述的回充装置，其特征在于，所述红外传感器感测到所述待充电装置进入所述红外覆盖区后，所述麦克风模块可以产生一警示音。
8.如权利要求6所述的回充装置，其特征在于，所述回充装置还包括麦克风支架，所述主板设置在所述麦克风支架内。
9.如权利要求8所述的回充装置，其特征在于，所述麦克风支架为中空的圆环形，所述传感器支架的一端嵌套在所述麦克风支架中。
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