CN110829513A - Self-moving equipment, charging docking system and charging docking method - Google Patents
Self-moving equipment, charging docking system and charging docking method Download PDFInfo
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Abstract
The invention relates to a self-moving device, a charging docking system and a charging docking method. The charging docking system comprises a charging station and self-moving equipment, wherein a guide magnetic strip is arranged on the charging station and used for generating a magnetic field signal; the self-moving equipment comprises a shell, a geomagnetic detection module, a control module and a moving module. The geomagnetic detection module comprises at least one geomagnetic detection sensor and a geomagnetic detection module, wherein the geomagnetic detection sensor is used for detecting a magnetic field signal; the control module is used for carrying out operation processing according to the geomagnetic field signal and sending out a control signal; the mobile module is used for driving the self-moving equipment to move according to the control signal so as to enable the self-moving equipment to be in butt joint with the charging station and to be charged. Above-mentioned butt joint system that charges can guide accurately to return and automatic charging from mobile device, has promoted the butt joint precision and the charging efficiency of charging from mobile device, and simultaneously, the guide magnetic stripe need not to connect the power can arouse the magnetic signal automatically, has restrained the waste of the energy.
Description
Technical Field
The invention relates to the field of self-moving equipment, in particular to self-moving equipment, a charging docking system and a charging docking method.
Background
With the development of charging technology, automatic charging technology is also widely used. Taking an automatic walking device such as an intelligent lawn mower as an example, the automatic walking device usually works in a certain working area, such as weeding or cleaning, and when the automatic walking device has a low power, the automatic walking device moves to a position of a charging station and is in butt joint with the charging station to complete charging.
In the prior art, a boundary line is usually set in a working area of the automatic traveling device and connected to a charging station, so that the automatic traveling device can be accurately butted with a charging pole piece of the charging station and complete charging, but a method for guiding the automatic traveling device to perform charging butting by the boundary line needs to enable the boundary line to be always in a power-on state, generates large power consumption and is not in accordance with the concept of energy conservation and environmental protection.
Disclosure of Invention
In view of the above, it is necessary to provide a self-moving device, a charging docking system, and a charging docking method, which can save energy and can perform docking charging accurately.
An autonomous mobile device, the autonomous mobile device comprising:
a housing;
the geomagnetic detection module comprises at least one geomagnetic detection sensor and is used for detecting a magnetic field signal;
the control module is used for carrying out operation processing according to the magnetic field signal and sending out a control signal;
and the moving module is used for driving the self-moving equipment to move according to the control signal so as to enable the self-moving equipment to approach the magnetic field signal generating device.
Above-mentioned from mobile device can detect out the magnetic field signal in the surrounding environment through the earth magnetism detection module of installing in the casing to through the guide effect of magnetic field signal drive from the accurate removal of mobile device to the position of magnetic field signal generation device, and earth magnetism detection module detectivity is high, through this kind of mode, can realize from the functions such as the auto-regress or the automatic butt joint of mobile device charges.
In one embodiment, the geomagnetic detection module includes a first geomagnetic detection sensor and a second geomagnetic detection sensor, where the first geomagnetic detection sensor and the second geomagnetic detection sensor are respectively installed at two symmetrical sides of the housing and are respectively used to detect a first magnetic field signal and a second magnetic field signal; the control module sends out a signal for controlling the self-moving equipment to move or stop according to the strength of the magnetic field signals of the first magnetic field signal and the second magnetic field signal.
In one embodiment, the moving module includes a driving motor, and the driving motor is used for driving the self-moving device to rotate left, right, go straight or stop according to a signal for controlling the self-moving device to move or stop.
A charging docking system comprises a charging station and the self-moving device in any embodiment, wherein a guide magnetic strip is arranged on the charging station and used for generating a magnetic field signal; the self-moving equipment detects the magnetic field signal of the guide magnetic stripe through a geomagnetic detection module, and drives the self-moving equipment to be in butt joint with a charging station through a control module and a moving module for charging.
Above-mentioned butt joint system that charges, through set up the guide magnetic stripe on the charging station, utilize earth magnetism detection module to detect the guide magnetic stripe from the mobile device, earth magnetism detection module's detectivity is high, can be according to the accurate position of finding the charging station of the magnetic field signal that the guide magnetic stripe arouses and rather than the butt joint charge, the butt joint precision and the charging efficiency of charging from the mobile device have been promoted, simultaneously, the guide magnetic stripe need not to connect the power can produce magnetic field signal automatically and receive environmental factor's influence less, can effectually restrain the waste of the energy and reduce the maintenance cost.
In one embodiment, the charging station further comprises a base, and the guide magnetic strip is arranged on a central axis of the base.
In one embodiment, the self-moving device further comprises a charging connector, and the charging station further comprises a charging pole piece; the charging pole piece is arranged on one side of the base, and the charging joint is used for being in butt joint with the charging pole piece and charging.
In one embodiment, the charging pole piece extends in a direction perpendicular to the guide magnetic stripe.
In one embodiment, the charging pole piece extends in a direction parallel to the guide magnetic stripe.
A charging docking method is based on the charging docking system, and comprises the following steps:
detecting a magnetic field signal in real time;
performing operation processing according to the magnetic field signal and sending out a control signal;
and controlling the mobile equipment to move according to the control signal.
In one embodiment, the magnetic field signal includes a first magnetic field signal and a second magnetic field signal, and the operation processing is performed according to the magnetic field signal and the control signal is issued, including: and sending a signal for controlling the self-moving equipment to move or stop according to the strength of the magnetic field signals of the first magnetic field signal and the second magnetic field signal.
According to the charging docking method, the magnetic field signal is detected in real time, and the control signal is sent according to the magnetic field signal, so that the self-moving equipment can be accurately controlled to rotate left, rotate right, move straight or stop, the automatic return and the automatic charging of the self-moving equipment are accurately guided, and the charging docking precision and the charging efficiency of the self-moving equipment are improved.
Drawings
FIG. 1 is a schematic diagram of a self-propelled device in one embodiment;
FIG. 2 is a schematic diagram of a charging docking system in one embodiment;
FIG. 3 is a schematic structural diagram of a charging docking system in another embodiment;
FIG. 4 is a schematic diagram of a charging docking component of the charging docking system in one embodiment;
fig. 5 is a flowchart illustrating a charging docking method according to an embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In one embodiment, as shown in fig. 1, a self-moving apparatus is provided, and the self-moving apparatus 110 includes a housing 111, a geomagnetic detection module 112, a control module 113, and a movement module 114. The geomagnetic detection module 112 of the mobile device 110 may detect a magnetic field signal in a nearby environment within a certain range, and transmit the detected magnetic field signal to the control module 113, and the control module 113 may determine a distance and a direction of the magnetic field signal generating device according to the direction and the strength of the magnetic field signal, and then send a control signal to control the mobile device to approach the magnetic field signal generating device, and finally stop at the position of the magnetic field signal generating device. In this embodiment, the self-moving device 110 may be a device that can automatically walk, such as an intelligent lawn mower, an intelligent snow remover, or a sweeping robot.
Above-mentioned from mobile device can detect out the magnetic field signal in the surrounding environment through the earth magnetism detection module of installing in the casing to on the guide effect through the magnetic field signal drives the accurate removal of mobile device to the position of magnetic field signal generation device, through this kind of mode, can realize from mobile device's functions such as auto-regress or automatic butt joint charging.
In one embodiment, as shown in fig. 1, the geomagnetic detection module 112 of the mobile device 110 includes a first geomagnetic detection sensor 1121 and a second geomagnetic detection sensor 1122. The first geomagnetic detection sensor 1121 and the second geomagnetic detection sensor 1122 may be disposed at the front side of the mobile device 110 in the walking direction, and the positions of the two geomagnetic sensors are symmetrical, and are equal in height from top to bottom. With such a design, the first geomagnetic detection sensor 1121 and the second geomagnetic detection sensor 1122 can accurately detect the deviation angle of the mobile device with respect to the magnetic field signal generating apparatus.
Specifically, if the first geomagnetic detection sensor 1121 is disposed at a position closer to the right than the front side of the mobile device 110 in the walking direction, and the second geomagnetic detection sensor 1122 is disposed at a position closer to the left than the front side of the mobile device 110 in the walking direction, when the strength of the first magnetic field signal is greater than that of the second magnetic field signal, the control module 113 may control the mobile device 110 to adjust the position to the right; when the strength of the first magnetic field signal is less than that of the second magnetic field signal, the control module 113 may control the mobile device 110 to adjust the position to the left; when the strength of the first magnetic field signal is equal to the strength of the second magnetic field signal, the control module 113 may control the mobile device 110 to move straight. In this embodiment, the self-moving device 110 detects the magnetic field signal in real time and adjusts the walking direction in real time in the process of approaching the magnetic field signal generating device, and in addition, the self-moving device 110 walks slowly and has a small rotation amplitude, so as to make a corrective action at any time.
In one embodiment, as shown in fig. 1, the moving module 114 of the self-moving device 110 further includes a driving motor, wherein the driving motor can drive the self-moving device 110 to perform actions such as turning left, turning right, going straight or stopping according to the control signal sent by the control module 113. Specifically, the driving motor may be disposed at a rear side in a traveling direction of the automatic traveling apparatus 110 and connected to a moving device such as a track, a wheel, etc. of the moving module. For example, referring to fig. 1, the driving motors may include a first driving motor 1141 for driving the right mobile device and a second driving motor 1142 for driving the left mobile device, and when the control module 113 sends a left turn signal, a right turn signal, a straight going signal or a stop signal, the first driving motor 1141 and the second driving motor 1142 may respectively drive the corresponding mobile devices to realize left turn, right turn, straight going or stop of the mobile device 110, and finally realize that the mobile device 110 may move to a target position.
In one embodiment, as shown in fig. 2 and 3, a charging docking system 100 is provided, the charging docking system 100 including a self-moving device 110 and a charging station 120. Wherein, a guiding magnetic stripe 121 is arranged on the charging station 120, and the guiding magnetic stripe 121 can cause the magnetic field to change. Specifically, after the guiding magnetic stripe 121 is disposed on the charging station 120, a magnetic field signal may be generated in the surrounding environment of the charging station 120, and the closer to the charging station 120, the stronger the magnetic field signal. Further, the geomagnetic detection module 112 of the mobile device 110 may detect the magnetic field signal of the guide magnetic stripe 121 within a certain range, and transmit the detected magnetic field signal to the control module 113, and the control module 113 may determine the distance and direction from the mobile device 110 to the charging station 120 according to the direction and strength of the magnetic field signal, and then send out a control signal to control the mobile device to approach the charging station 120, and finally, dock with the charging station for charging.
In this embodiment, the charging station 120 may be an indoor charging station or an outdoor charging station corresponding to the self-moving device 110; the guiding magnetic stripe 121 may be a bar-shaped permanent magnet, and may cause a magnetic field change to generate a magnetic field signal without an external energy source. The self-moving device can return to the vicinity of the charging station by using technologies such as a boundary line, infrared rays, ultrasonic waves, a visual image, a gyroscope, a Radio line, a GPS (Global Positioning System) or a DGPS (Differential Global Positioning System) and the like, and realize automatic docking charging, and the vicinity of the charging station can specifically refer to an environment within a range of less than 1.5 meters by using the charging station as a center of a circle.
Above-mentioned butt joint system that charges through set up the guide magnetic stripe on the charging station, makes and utilizes geomagnetic sensor to detect the guide magnetic stripe from the mobile device, can be according to the accurate position of finding the charging station of the magnetic field signal of guide magnetic stripe and rather than the butt joint charge, promoted the butt joint precision and the charging efficiency of charging from the mobile device, simultaneously, the guide magnetic stripe need not to connect the power can arouse magnetic field signal automatically and receive environmental factor's influence less, can effectually restrain the waste of the energy and reduce the maintenance cost.
In one embodiment, the geomagnetic detection module 112 of the self-mobile device 110 includes a first geomagnetic detection sensor and a second geomagnetic detection sensor. The first geomagnetic detection sensor and the second geomagnetic detection sensor may be disposed at a front side of the mobile device 110 in a walking direction, and the two geomagnetic sensors are symmetrical in position, and are equal in height from top to bottom. Through the design, the first geomagnetic detection sensor and the second geomagnetic detection sensor can accurately detect the deviation angle of the mobile equipment relative to the charging station. In this embodiment, the self-moving device 110 detects the magnetic field signal in real time and adjusts the walking direction in real time during the process of approaching the charging station 120, and in addition, the self-moving device 110 walks slowly and has a small rotation amplitude, so as to make a corrective action at any time. When moving from the mobile device 110 to the guiding magnetic stripe 121 of the charging station 120, the strength of the first magnetic field signal is equal to the strength of the second magnetic field signal, and the guiding magnetic stripe 121 is located at the position of the central axis of the mobile device. According to the embodiment, the two symmetrical geomagnetic detection sensors are arranged on the mobile equipment, so that the distance and the direction of the mobile equipment relative to the charging station can be accurately judged, and accurate regression and automatic charging of the mobile equipment are realized.
In one embodiment, as shown in fig. 2 and 3, the charging station 120 further includes a base 122 for docking from the mobile device 110, and the guiding magnetic stripe 121 is disposed on a central axis of the base 122. In the present embodiment, the extending direction of the guide magnetic stripe 121 in the horizontal direction is parallel to the walking direction from the mobile device 110. Specifically, when the self-moving device 110 is continuously close to the charging station 120 under the guiding action of the guiding magnetic stripe 121, the central axis position of the self-moving device 110 is continuously close to and finally coincides with the guiding magnetic stripe 121, and accurate docking with the charging station 120 is achieved.
In one embodiment, as shown in fig. 2 and 3, the self-moving device 110 further includes a charging connector 115, and the charging station 120 further includes a charging pole piece 123, wherein the charging pole piece 123 is disposed on one side of the base 122, and when the self-moving device 110 walks on the base 122, the charging connector 115 can be docked to the charging pole piece 123 and perform charging. Specifically, after the mobile device 110 moves to the base 122 of the charging station 120, the user still walks slowly until the charging connector 115 of the mobile device 110 touches and is in contact with the charging pole piece 123, at which time the controller 113 of the mobile device 110 can recognize the charging state of the mobile device and control the mobile device 110 to stop moving. In this embodiment, as shown in fig. 4, the charging pole piece 113 may be mounted on the charging bracket 124 on one side of the base 122 through an elastic member, and may perform a telescopic movement or a rotation, when the charging connector 115 of the mobile device 110 is in contact with the charging pole piece 123 of the charging station 120, the charging pole piece is electrically conducted, and the mobile device 110 stops moving and starts charging.
In one embodiment, as shown in fig. 2, the extension direction of the charging pole piece 123 on the charging station 120 in the horizontal direction may be perpendicular to the guiding magnetic stripe 121, and then the charging connector 115 of the mobile device 110 may be disposed on a side of the body corresponding to the charging pole piece 123. Specifically, after the mobile device 110 moves onto the base 122, the mobile device can move slowly until the charging connector 115 is in contact with the charging pole piece 123 on the side surface, and then the electrical connection is made, at this time, the mobile device 110 stops moving and starts to charge.
In one embodiment, as shown in fig. 3, the extension direction of the charging pole piece 123 on the charging station 120 in the horizontal direction may be parallel to the guiding magnetic stripe 121, and the charging connector 125 of the self-moving device 110 may be disposed on the front body. Specifically, after the mobile device 110 moves onto the base 122, the mobile device can move slowly until the charging connector 115 is in contact with the charging tab 123 in front of the mobile device, and then the charging is conducted, at which time the mobile device 110 stops moving and starts to charge.
In one embodiment, as shown in fig. 5, a charging docking method is provided, which is described by taking the method as an example applied to the control module of the self-moving device shown in fig. 1, and includes the following steps:
step 102, detecting the magnetic field signal in real time.
Specifically, in an application environment of the charging docking method, the charging docking method includes two entities, namely a charging station and a self-moving device, wherein the charging station needs to be provided with a guide magnetic stripe to cause magnetic field change and generate a magnetic field signal, and the self-moving device needs to be provided with a geomagnetic sensor to continuously detect the magnetic field signal in the surrounding environment through the geomagnetic sensor in a returning process and transmit a detection result to the control module. In this embodiment, the magnetic field signal is stronger in an environment closer to the charging station and weaker in an environment further from the charging station. Therefore, the self-moving device can return to the vicinity of the charging station by using technologies such as a boundary line, infrared rays, ultrasonic waves, a visual image, a gyroscope, a Radio line (Radio frequency spectrum), a Global Positioning System (GPS) or a Differential Global Positioning System (DGPS), and then perform real-time detection on the magnetic field signal, where the vicinity of the charging station specifically refers to an environment within a range of less than 1.5 meters around the charging station.
And 104, performing operation processing according to the magnetic field signal and sending out a control signal.
Specifically, the control module may determine the azimuth and the distance according to a magnetic field signal detected by the geomagnetic sensor in real time. For example, the control module may determine the approximate distance between the mobile device and the charging station according to the strength of the magnetic field signal, or may determine the orientation of the mobile device relative to the charging station according to the difference between different magnetic sensors detecting the magnetic field signal. Further, the control module can send out control signal according to the position and the distance of the self-moving equipment relative to the charging station, and the self-moving equipment is controlled to approach to the charging station.
And 106, controlling the mobile equipment to move according to the control signal.
Specifically, the control module may send a control signal according to the orientation and distance of the self-moving device relative to the charging station, where the control signal may be a left-turn signal, a right-turn signal, a straight-going signal, or a stop signal, and the like, which controls the self-moving device to move or stop. Furthermore, the control signal sent by the control module can directly act on the mobile module of the mobile device, and the mobile module can execute different actions according to different control signals, such as left-turning, right-turning, straight-going or stopping and the like.
In one embodiment, there may be two geomagnetic sensors respectively disposed at the left and right sides of the mobile device, and the two geomagnetic sensors are symmetrically located at left and right sides, and are equal in height. Specifically, the geomagnetic sensors arranged on the left side and the right side can simultaneously detect magnetic field signals, and can conduct detected first geomagnetic field signals and second geomagnetic field signals to the control module in real time. Furthermore, the control module can compare the signal strength of the first magnetic field signal with the signal strength of the second magnetic field signal and send out control signals such as a left-turn signal, a right-turn signal, a straight signal or a stop signal.
In one embodiment, the control signal sent by the control module may be received by a driving device of the mobile module, and the driving device may drive the mobile device to perform actions such as left-turning, right-turning, straight-moving, or stopping according to the control signal such as the left-turning signal, the right-turning signal, the straight-moving signal, or the stopping signal sent by the control module. In this embodiment, the driving device may be a driving motor connected to a moving device such as a track or a wheel, and the self-moving device may automatically approach the charging station and perform charging docking by applying a control signal to the driving device.
According to the charging docking method, the magnetic field signal of the guide magnetic stripe is detected in real time through the geomagnetic sensor, and the control signal is sent according to the magnetic field signal, so that the self-moving equipment can be accurately controlled to turn left, turn right, move straight or stop, the automatic return and automatic charging of the self-moving equipment are accurately guided, and the charging docking precision and the charging efficiency of the self-moving equipment are improved.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An autonomous device, comprising:
a housing;
the geomagnetic detection module comprises at least one geomagnetic detection sensor and is used for detecting a magnetic field signal;
the control module is used for carrying out operation processing according to the magnetic field signal and sending out a control signal;
and the moving module is used for driving the self-moving equipment to move according to the control signal so as to enable the self-moving equipment to approach the magnetic field signal generating device.
2. The self-moving device of claim 1, wherein the geomagnetic detection module comprises a first geomagnetic detection sensor and a second geomagnetic detection sensor, and the first geomagnetic detection sensor and the second geomagnetic detection sensor are respectively installed at two symmetrical sides of the housing and are respectively used for detecting a first magnetic field signal and a second magnetic field signal; the control module sends out a signal for controlling the self-moving equipment to move or stop according to the strength of the magnetic field signals of the first magnetic field signal and the second magnetic field signal.
3. The self-moving device according to claim 2, wherein the moving module comprises a driving motor, and the driving motor is configured to drive the self-moving device to turn left, turn right, go straight or stop according to the signal for controlling the self-moving device to move or stop.
4. A charging docking system comprising the self-moving device and the charging station of any one of claims 1-3,
the charging station is provided with a guide magnetic strip, and the guide magnetic strip is used for generating a magnetic field signal;
the self-moving equipment detects the magnetic field signal through the geomagnetic detection module, and drives the self-moving equipment to be in butt joint with the charging station through the control module and the moving module for charging.
5. The charging docking system of claim 4, wherein the charging station further comprises a base, the guide magnetic strip being disposed on a central axis of the base.
6. The charging docking system of claim 5, wherein the self-moving device further comprises a charging connector, the charging station further comprises a charging pole piece; the charging pole piece is arranged on one side of the base, and the charging connector is used for being in butt joint with the charging pole piece and charging.
7. The charging docking system of claim 6, wherein the direction of extension of the charging pole piece is perpendicular to the guide magnetic stripe.
8. The charging docking system of claim 6, wherein the direction of extension of the charging pole piece is parallel to the guide magnetic stripe.
9. A charging docking method based on the charging docking system of any one of claims 4 to 8, characterized in that the method comprises:
detecting a magnetic field signal in real time;
performing operation processing according to the magnetic field signal and sending out a control signal;
and controlling the self-moving equipment to move according to the control signal.
10. The charging docking method according to claim 9, wherein the magnetic field signal includes a first magnetic field signal and a second magnetic field signal, and the performing the operation processing according to the magnetic field signal and the issuing the control signal includes:
and sending a signal for controlling the self-moving equipment to move or stop according to the strength of the magnetic field signals of the first magnetic field signal and the second magnetic field signal.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111657795A (en) * | 2020-06-17 | 2020-09-15 | 江苏美的清洁电器股份有限公司 | Sweeper recharging system and method, sweeper and charging seat |
| CN112286181A (en) * | 2020-09-24 | 2021-01-29 | 南京苏美达智能技术有限公司 | Self-walking equipment detection control method based on geomagnetism and self-walking equipment |
| CN113400963A (en) * | 2021-06-30 | 2021-09-17 | 广州极飞科技股份有限公司 | Charging connection method and related device |
| CN113504775A (en) * | 2020-03-23 | 2021-10-15 | 苏州宝时得电动工具有限公司 | Automatic working system, self-moving equipment and charging process control method thereof |
| CN113904463A (en) * | 2020-06-22 | 2022-01-07 | 苏州宝时得电动工具有限公司 | Wireless charging method and device and robot |
| CN115399683A (en) * | 2021-05-27 | 2022-11-29 | 尚科宁家(中国)科技有限公司 | Method for returning self-moving robot to base station and self-moving robot |
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