CN112932334B - Robot of sweeper and wireless charging method - Google Patents

Robot of sweeper and wireless charging method Download PDF

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Publication number
CN112932334B
CN112932334B CN202110109178.XA CN202110109178A CN112932334B CN 112932334 B CN112932334 B CN 112932334B CN 202110109178 A CN202110109178 A CN 202110109178A CN 112932334 B CN112932334 B CN 112932334B
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user
sweeping robot
wireless charging
robot
sweeping
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CN112932334A (en
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赵智星
李坚
詹海峰
杨譓鹏
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Hunan Giantsun Power Electronics Co Ltd
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Hunan Giantsun Power Electronics Co Ltd
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a sweeper robot and a wireless charging method, which comprise the following steps: robot, the quick-witted station and the wireless transmitter that charges of sweeping the floor of returning of sweeping the floor, wireless transmitter that charges locates on the robot of sweeping the floor, be equipped with rechargeable battery and controller in the robot of sweeping the floor, wireless transmitter that charges is used for transmitting the electric quantity for the receiving terminal equipment that can accept wireless charging, the controller is steerable the robot of sweeping the floor removes, the machine of sweeping the floor returns and charges the station and be used for giving the robot of sweeping the floor charges. When receiving terminal equipment needs to be charged, the robot of sweeping the floor is moved to the user's side through control, place receiving terminal equipment on it, the robot of sweeping the floor detects by oneself and gets back to the machine of sweeping the floor and return to and fill the work that the station was filled and is accomplished to charge, the back of accomplishing of charging, the robot of sweeping the floor still can send receiving terminal equipment to the appointed position of user, the process of charging at whole receiving terminal equipment all need not user's removal or walking, realized for user intelligent service's function, give the better experience sense of user.

Description

Robot of sweeper and wireless charging method
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a sweeping robot and a wireless charging method.
Background
The floor sweeping robot is also called an automatic sweeper, intelligent dust collection, a robot dust collector and the like, is one of intelligent household appliances, and can automatically absorb indoor floor sundries into a garbage storage box by means of certain artificial intelligence so as to finish the function of cleaning the floor. The front of the sweeping robot is provided with a sensor which can detect obstacles, such as touching a wall or other obstacles, and can turn by itself, different routes can be set, and the sweeping robot has the function of planning a sweeping area, and is widely used nowadays due to the function and convenience of simple operation, and becomes a common household appliance for most families.
However, all sweeping robots are limited to be used for sweeping fine garbage such as household dust or hair at present, the mobility of the sweeping robots is not combined to provide more convenient and rapid intelligent life experience for users, and along with the increasing number of devices needing wireless charging in the market, the wireless charging emitter is mounted on the sweeping robot in combination with the mobility characteristic of the sweeping robot, so that a mobile phone or other receiving end devices needing wireless charging are charged, and intelligent service and convenient functions are provided for the users. Therefore, there is a need for a sweeper robot and a wireless charging method to at least partially solve the problems of the prior art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above problems, the present invention provides a sweeper robot and a wireless charging method, including: the robot of sweeping the floor, the quick-witted station and the wireless transmitter that charges of sweeping the floor of returning, the wireless transmitter that charges is located sweep the floor on the robot, be equipped with rechargeable battery and controller in the robot of sweeping the floor, rechargeable battery with the wireless transmitter electricity that charges is connected, the wireless transmitter that charges is used for giving the receiving terminal equipment transmission electric quantity that can accept wireless charging, the controller is steerable sweep the floor the robot and remove, the machine of sweeping the floor returns and charges the station and be used for giving the robot of sweeping the floor charges.
Preferably, the upper surface of robot of sweeping the floor is equipped with the standing groove, the bottom surface of standing groove is equipped with the wireless transmitter that charges, still be equipped with in the standing groove and be used for fixing the fixing device of receiving end equipment, the opening part of standing groove is equipped with mobilizable transparent cover.
Preferably, the fixing means comprises: the elastic clamping plates are arranged on two opposite sides of the placing groove and comprise first springs and laths, one ends of the first springs are fixedly connected with the side wall of the placing groove, the other ends of the first springs are fixedly connected with one sides of the laths, and two ends of the laths in the length direction are connected with the side wall of the placing groove in a sliding mode.
Preferably, the fixing device further comprises: stop device and joint spare, stop device locates on the lateral wall of standing groove, one side of joint spare be equipped with the joint pole that stop device connects, relative opposite side be equipped with the joint mouth that receiving end equipment is connected.
Preferably, the limiting device comprises: the inner side wall of one end of the shell is rotatably provided with the rotary clamping plate, the rotary clamping plate is provided with an arc-shaped notch clamped with the clamping rod, one side of the arc-shaped notch is provided with a first clamping tooth, one side of the first clamping tooth, which is far away from the arc-shaped notch, is provided with a concave notch, one side of the rotary clamping plate is provided with a first clamping strip, one end of the first clamping strip, which is close to the rotary clamping plate, is provided with a convex part corresponding to the concave notch, a second clamping strip is arranged below the first clamping strip, one end of the second clamping strip, which is close to the rotary clamping plate, is provided with a second clamping tooth corresponding to the first clamping tooth, one end of the first clamping strip, which is far away from the rotary clamping plate, is fixedly provided with a push block, and the push block is in sliding connection with the shell, one end of the second spring is fixedly connected with the inner side wall of the shell, the other end of the second spring is connected with the first clamping strip, one end of the third spring is fixedly connected with the inner side wall of the shell, and the other end of the third spring is connected with the second clamping strip.
Preferably, a limiting long hole is formed in the middle of the first clamping strip, a first limiting block corresponding to the limiting long hole is arranged on the inner side wall of the shell, a first protruding portion is arranged on the lower side of the first clamping strip, one end, far away from the rotating clamping plate, of the second spring is sleeved on the first protruding portion, and one end, close to the rotating clamping plate, of the second spring is fixedly connected with the inner side wall of the shell;
a second bulge is arranged in the middle of the second clamping strip, one end, far away from the rotating clamping plate, of the third spring is sleeved on the second bulge, one end, close to the rotating clamping plate, of the third spring is fixedly connected with the inner side wall of the shell, one end, far away from the rotating clamping plate, of the second clamping strip is provided with an inclined surface, the inclined surface is obliquely arranged towards one side of the second bulge, a second limiting block is arranged between the inclined surface and the second bulge, a third limiting block is arranged between the second bulge and the second clamping tooth, and the second limiting block and the third limiting block are both arranged on the inner side wall of the shell;
an arc-shaped limiting groove is further formed in the inner side wall of the shell, and a fourth limiting block corresponding to the arc-shaped limiting groove is arranged on one side of the rotating clamping plate.
The wireless charging method of the sweeper robot comprises the following steps:
the method comprises the following steps that a user sends a moving instruction and current position information of the user to a sweeping robot, and the sweeping robot moves to the current position of the user according to a space map of a family where the sweeping robot is located after receiving the moving instruction and the position information;
after the sweeping robot reaches the current position of a user, the user places receiving end equipment needing to be charged in a wireless charging area of the sweeping robot;
after detecting the receiving end equipment needing to be charged, a wireless charging transmitter in the wireless charging area controls the sweeping robot to move to a sweeper recharging station through the controller, and charges the receiving end equipment through the wireless charging transmitter;
and after the receiving end equipment is fully charged, the sweeping robot sends the receiving end equipment to a preset appointed position of a user.
Preferably, the user sends a moving instruction and current position information thereof to the sweeping robot, and the sweeping robot moves to the current position of the user according to the space map of the family where the sweeping robot is located after receiving the moving instruction and the position information, including:
obtaining a space map of a family where the sweeping robot is located, wherein the space map comprises a plurality of target areas where users frequently move;
acquiring position information of a plurality of target areas in the space map;
the user sends a moving instruction and current position information of the user to the sweeping robot, and the sweeping robot identifies and judges the current position information of the user to obtain the position information of a target area of the current position of the user on the space map;
and determining a walking route of the sweeping robot according to the position information of the target area of the current position of the user on the space map, and controlling the sweeping robot to walk according to the route through the controller to move to the current position of the user.
Preferably, after the wireless charging transmitter in the wireless charging area detects the receiving end device to be charged, the controller controls the sweeping robot to move to the sweeper back to the charging station, and the wireless charging transmitter charges the receiving end device, including:
the wireless charging transmitter sends an electromagnetic signal to receiving end equipment, and the receiving end equipment sends a receiving signal to the wireless charging transmitter after receiving the electromagnetic signal;
after receiving the receiving signal, the wireless charging transmitter sends a charging instruction to the controller;
the controller receives the charging instruction and then controls the sweeping robot to move to a sweeping machine recharging station for charging, and meanwhile, the wireless charging transmitter transmits electric quantity to the receiving end equipment for charging.
Preferably, the identifying and determining of the current position information of the user by the sweeping robot to obtain the position information of the target area to which the current position of the user belongs on the space map includes:
according to the position information of a plurality of target areas in the space map and the current position information of the user, the following equation is established:
setting the position coordinates of the centers of the target areas as Pi＝[Pxi,Pyi]The coordinate of the current position of the user is Q ═ Qx,Qy]，
Figure BDA0002918678180000041
Wherein i is 1,2,3 …, n, di＝d1,d2,…dn，diThe distance from the center of the ith target area to the current position of the user is calculated;
based on the above equation, the position coordinates (P) of the center of the target area closest to the current position of the user are obtained using the following formulaxi,Pyi)：
Figure BDA0002918678180000042
Wherein argmin represents P at the minimum of the right expression of the above formulaxiAnd PyiTaking the value of (A);
according to the obtained position coordinate of the center of the target area closest to the current position of the user, the current position of the user can be judged to belong to the target area, and the position information of the target area of the current position of the user on the space map can be obtained.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the sweeper robot and the wireless charging method of the invention have the advantages that when the receiving end equipment needs to be charged, a user does not need to move the position of the user, the sweeping robot is controlled to move to the user, the receiving end equipment is manually placed on the sweeping robot, the sweeping robot automatically detects and returns to the sweeper recharging station to complete the charging work, after the charging is completed, the sweeping robot can also send the receiving end equipment to the position appointed by the user, the user does not need to move or walk in the whole charging process of the receiving end equipment, the function of intelligently serving the user is realized, better experience is provided for the user, and particularly, when the user with inconvenient leg and foot movement is on an indoor sofa or on the position on the bed, the sweeping robot can be controlled to move to the user's body through a mobile phone to charge the receiving end equipment under the condition of no person at home, the convenience of charging the receiving end equipment is provided for more people.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic view of an overall structure of a sweeper robot according to the present invention.
Fig. 2 is a schematic view of an internal structure of a limiting device in the robot sweeper of the present invention.
Fig. 3 is a schematic structural view illustrating a clamping connection between a limiting device and a clamping rod in the robot sweeper.
Fig. 4 is a schematic structural diagram of a rotating chuck plate in the sweeper robot.
Fig. 5 is a schematic structural view of a clamping member in the robot sweeper of the present invention.
Fig. 6 is a flowchart of a wireless charging method of the sweeper robot according to the present invention.
1 is a placing groove, 2 is an elastic clamping plate, 21 is a first spring, 22 is a lath, 3 is a limiting device, 31 is an outer shell, 311 is a first limiting block, 312 is a second limiting block, 313 is a third limiting block, 314 is an arc-shaped limiting groove, 32 is a rotating clamping plate, 321 is an arc-shaped notch, 322 is a first clamping tooth, 323 is a concave notch, 33 is a first clamping strip, 331 is a limiting long hole, 332 is a first bulge, 34 is a second clamping strip, 341 is a second clamping tooth, 342 is a second bulge, 343 is an inclined plane, 35 is a second spring, 36 is a third spring, 37 is a push block, 4 is a clamping piece, 41 is a clamping rod, and 42 is a clamping opening.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 5, the present invention provides a sweeper robot, including: the robot of sweeping the floor, the quick-witted station and the wireless transmitter that charges of sweeping the floor of returning, the wireless transmitter that charges is located sweep the floor on the robot, be equipped with rechargeable battery and controller in the robot of sweeping the floor, rechargeable battery with the wireless transmitter electricity that charges is connected, the wireless transmitter that charges is used for giving the receiving terminal equipment transmission electric quantity that can accept wireless charging, the controller is steerable sweep the floor the robot and remove, the machine of sweeping the floor returns and charges the station and be used for giving the robot of sweeping the floor charges.
The working principle of the technical scheme is as follows: when a user needs to charge the receiving end equipment, the moving instruction and the current position information can be sent to the sweeping robot, and the appointed position information which needs to be sent after full charge can be set at the same time, the sweeping robot moves to the current position of the user according to the space map of the family where the sweeping robot is located after receiving the moving instruction and the position information, then the user places the receiving end equipment on a wireless charging emitter arranged on the sweeping robot, after the wireless charging emitter detects that the receiving end equipment needing to be charged, the controller controls the sweeping robot to move to the position of the sweeper recharging station, the sweeper recharging station charges the sweeping robot, the wireless charging transmitter is electrically connected with the rechargeable battery, when the rechargeable battery is charged, the wireless charging transmitter transmits electric quantity to the receiving end equipment so as to charge the receiving end equipment; when the receiving end equipment is fully charged, the sweeping robot sends the receiving end equipment to a position designated by a user; the wireless charging transmitter is internally provided with an annular coil and a circuit structure for wireless charging, the receiving end equipment can be equipment capable of receiving wireless charging, such as a mobile phone, and a user controls the floor sweeping robot to move to a specified position through the mobile phone.
The beneficial effects of the above technical scheme are that: when the receiving terminal equipment needs to be charged, a user does not need to move the position of the user, the receiving terminal equipment is manually placed at the sweeping robot by controlling the sweeping robot to move to the user, the sweeping robot automatically detects and returns to the sweeper recharging station to complete charging work, and after the charging is finished, the sweeping robot can also send the receiving end equipment to the position designated by the user, the whole charging process of the receiving end equipment does not need the movement or walking of the user, realizes the function of intelligent service for the user, gives better experience to the user, and, particularly, for the user who is inconvenient to move the legs and feet, when the user is on the indoor sofa or on the bed or the like, under unmanned circumstances at home, can remove to oneself and charge for receiving terminal equipment through cell-phone control robot of sweeping the floor, provide the convenience that receiving terminal equipment charges for more people.
In one embodiment, the upper surface of the floor sweeping robot is provided with a placing groove 1, the bottom surface of the placing groove 1 is provided with the wireless charging transmitter, a fixing device for fixing the receiving end equipment is further arranged in the placing groove 1, and a movable transparent cover plate is arranged at an opening of the placing groove 1.
The working principle of the technical scheme is as follows: the placing groove 1 is used for placing receiving end equipment such as mobile phones, and fixing device is used for fixing the receiving end equipment in the placing groove 1 so as to ensure that the receiving end equipment can realize stable electric quantity transmission with the wireless charging transmitter, and the movable transparent cover plate arranged at the opening of the placing groove 1 is used for preventing dust or foreign matters from entering the placing groove 1, and the size of the placing groove 1 can be set according to actual conditions, and the receiving end equipment with different sizes and shapes is fixed in the placing groove 1 through the fixing device.
The beneficial effects of the above technical scheme are that: the cooperation setting of standing groove 1 and fixing device can make receiving terminal equipment stable fix in standing groove 1, when the robot that sweeps floor removes, can prevent that receiving terminal equipment from producing the displacement and leading to wireless charger to detect the existence that has receiving terminal equipment to further guarantee that wireless charging transmitter can be stable to receiving terminal equipment transmission electric quantity.
In one embodiment, the fixing device comprises: elastic clamping plate 2, the both sides that standing groove 1 is relative all are equipped with elastic clamping plate 2, elastic clamping plate 2 includes first spring 21 and lath 22, the one end of first spring 21 with standing groove 1's lateral wall fixed connection, and its other end with one side fixed connection of lath 22, lath 22 in its length direction both ends all with standing groove 1's lateral wall sliding connection.
The working principle of the technical scheme is as follows: when the device is used, the laths 22 are pushed to the two sides of the placing groove 1 by external force, then the receiving end device is placed between the two elastic clamping plates 2, after the external force is released, the two laths 22 clamp the receiving end device under the elastic action of the first spring 21, and the surfaces of the laths 22, which are in contact with the receiving end device, are provided with rubber anti-slip layers.
The beneficial effects of the above technical scheme are that: the elastic clamping plate 2 can limit the displacement of the receiving end equipment, the batten 22 clamps the receiving end equipment tightly under the action of the elastic force of the first spring 21, the receiving end equipment is prevented from generating displacement when the sweeping robot walks, and the receiving end equipment is enabled to be more stably fixed in the placing groove 1.
In one embodiment, the fixture further comprises: stop device 3 and joint spare 4, stop device 3 locates on the lateral wall of standing groove 1, one side of joint spare 4 be equipped with the joint pole 41 that stop device 3 is connected, relative opposite side be equipped with the joint mouth 42 that receiving terminal equipment is connected.
The working principle of the technical scheme is as follows: joint interface 42 that is equipped with on joint spare 4 can be firm with receiving terminal equipment joint, be similar to the joint mode of cell-phone shell and cell-phone, joint interface 42 on joint spare 4 is equipped with multiple specification, use with the not receiving terminal equipment of equidimension of cooperation, joint spare 4 is through the joint pole 41 and the 3 joints of stop device that are equipped with on it, the realization can be dismantled and be connected, stop device 3 can be with the firm fixed of joint spare 4, further will fix in standing groove 1 with the receiving terminal equipment that joint spare 4 is connected.
The beneficial effects of the above technical scheme are that: the receiving end equipment is firmly connected with the limiting device 3 through the clamping piece 4, so that the receiving end equipment is protected from being damaged, and meanwhile, the receiving end equipment is firmly fixed in the placing groove 1.
In one embodiment, the position limiting device 3 comprises: the clamping device comprises a shell 31, a rotating clamping plate 32, a first clamping strip 33, a second clamping strip 34, a second spring 35, a third spring 36 and a pushing block 37, wherein the rotating clamping plate 32 is rotatably arranged on the inner side wall of one end of the shell 31, an arc-shaped notch 321 clamped with a clamping rod 41 is arranged on the rotating clamping plate 32, a first clamping tooth 322 is arranged on one side of the arc-shaped notch 321, a concave notch 323 is arranged on one side of the first clamping tooth 322 far away from the arc-shaped notch 321, a first clamping strip 33 is arranged on one side of the rotating clamping plate 32, a convex part corresponding to the concave notch 323 is arranged at one end of the first clamping strip 33 close to the rotating clamping plate 32, a second clamping tooth 341 corresponding to the first clamping tooth 322 is arranged at one end of the second clamping strip 34 close to the rotating clamping plate 32, and the pushing block 37 is fixedly arranged at one end of the first clamping strip 33 far away from the rotating clamping plate 32, the push block 37 is slidably connected to the housing 31, one end of the second spring 35 is fixedly connected to the inner side wall of the housing 31, the other end of the second spring is connected to the first clamping strip 33, one end of the third spring 36 is fixedly connected to the inner side wall of the housing 31, and the other end of the third spring is connected to the second clamping strip 34.
The working principle of the technical scheme is as follows: the shell 31 is fixedly connected with the side wall of the placing groove 1, and one end of the shell 31 close to the rotating clamping plate 32 is provided with an opening matched with the clamping rod 41, when a receiving end device connected with the clamping piece 4 is fixed in the placing groove 1, the clamping rod 41 on the clamping piece 4 is forced to push towards the arc-shaped notch 321 of the rotating clamping plate 32, the arc-shaped notch 321 rotates after being pressed inwards, the first clamping tooth 322 on the rotating clamping plate 32 is meshed with the second clamping tooth 341 arranged on the second clamping strip 34 to drive the second clamping strip 34 to move towards one side far away from the rotating clamping plate 32, the third spring 36 stretches to store deformation energy, meanwhile, the first clamping strip 33 is under the tensile force action of the second spring 35, one end far away from the rotating clamping plate 32 is inserted into the concave notch 323 of the rotating clamping plate 32, the pushing block 37 connected with the first clamping strip 33 moves along with the first clamping strip 33, and the clamping rod 41 is clamped in the arc-shaped notch 321, the clamping piece 4 and the receiving end equipment are further fixed in the placing groove 1 by the limiting device 3; when the receiving end equipment needs to be taken out, the pushing block 37 is pushed to one side far away from the rotating clamping plate 32 to drive the first clamping strip 33 to move, so that the first clamping strip is separated from the concave notch 323 of the rotating clamping plate 32, the third spring 36 pushes the second clamping strip 34 to move to one side close to the rotating clamping plate 32 under the action of self elastic restoring force, the rotating clamping plate 32 is pushed to be opened in a counterclockwise rotating mode, and the clamping rod 41 can be taken out at the moment.
The beneficial effects of the above technical scheme are that: arc notch 321 can block joint pole 41 completely to stop device 3 in, can not deviate from easily, and through first calorie of strip 33, second calorie of strip 34, the common cooperation of second spring 35 and third spring 36, only with external force alright with the joint pole 41 on joint spare 4 and stop device 3 firm connection, and then realize fixing receiving terminal equipment in standing groove 1, and when dismantling, only through promoting ejector pad 37 alright accomplish the breaking away from of joint spare 4 and stop device 3, dismantle and fixed all very convenient and fast, the operation is simple and practical, and it is fixed firm, guarantee the stability of receiving terminal equipment in charging process, more convenience is provided for the user.
In one embodiment, a limiting long hole 331 is formed in the middle of the first clamping strip 33, a first limiting block 311 corresponding to the limiting long hole 331 is formed on the inner side wall of the housing 31, a first protruding portion 332 is formed on the lower side of the first clamping strip 33, one end, far away from the rotating clamping plate 32, of the second spring 35 is sleeved on the first protruding portion 332, and one end, close to the rotating clamping plate 32, of the second spring 35 is fixedly connected with the inner side wall of the housing 31;
a second protrusion 342 is disposed in the middle of the second clip strip 34, one end of the third spring 36, which is far away from the rotating clip plate 32, is sleeved on the second protrusion 342, one end of the third spring 36, which is close to the rotating clip plate 32, is fixedly connected to the inner side wall of the housing 31, one end of the second clip strip 34, which is far away from the rotating clip plate 32, is provided with an inclined surface 343, the inclined surface 343 is disposed to be inclined toward one side of the second protrusion 342, a second limit block 312 is disposed between the inclined surface 343 and the second protrusion 342, a third limit block 313 is disposed between the second protrusion 342 and the second latching tooth 341, and both the second limit block 312 and the third limit block 313 are disposed on the inner side wall of the housing 31;
an arc-shaped limiting groove 314 is further formed in the inner side wall of the shell 31, and a fourth limiting block corresponding to the arc-shaped limiting groove 314 is arranged on one side of the rotating clamping plate 32.
The working principle of the technical scheme is as follows: the first limiting block 311 is inserted into the limiting long hole 331 and used for limiting displacement of the first clamping strip 33 and ensuring linear motion of the first clamping strip 33, the second spring 35 is fixedly connected with the first clamping strip 33 through the first protruding portion 332, the third spring 36 is fixedly connected with the second clamping strip 34 through the second protruding portion 342, the second limiting block 312 and the third limiting block 313 are respectively matched with the inclined surface 343 and the second clamping tooth 341 to limit displacement of the second clamping strip 34, and a fourth limiting block is inserted into the arc-shaped limiting groove 314 and used for limiting a rotation angle of the rotating clamping plate 32.
The beneficial effects of the above technical scheme are that: first stopper 311 and spacing slot hole 331 can guarantee first card strip 33 along rectilinear motion, and the displacement of restriction first card strip 33, prevent that it from deviating from, when second stopper 312 and third stopper 313 have restricted the rectilinear motion of second card strip 34, the distance that removes about it has been restricted again, prevent that it from deviating from shell 31 and influencing the use, the rotation angle of rotatory cardboard 32 has been guaranteed in the cooperation of arc spacing groove 314 and fourth stopper, it is firm to prevent that it from rotating excessively and leading to unable joint, the joint that further has guaranteed joint pole 41 can be stable is in stop device 3, and then guaranteed that stop device 3 can normally work, make the firm fixing of receiving end equipment in standing groove 1, make its charging process more stable.
As shown in fig. 6, the wireless charging method for the sweeper robot according to any one of the above aspects includes:
the method comprises the following steps that a user sends a moving instruction and current position information of the user to a sweeping robot, and the sweeping robot moves to the current position of the user according to a space map of a family where the sweeping robot is located after receiving the moving instruction and the position information;
after the sweeping robot reaches the current position of a user, the user places receiving end equipment needing to be charged in a wireless charging area of the sweeping robot;
after detecting the receiving end equipment needing to be charged, a wireless charging transmitter in the wireless charging area controls the sweeping robot to move to a sweeper recharging station through the controller, and charges the receiving end equipment through the wireless charging transmitter;
and after the receiving end equipment is fully charged, the sweeping robot sends the receiving end equipment to a preset appointed position of a user.
The working principle of the technical scheme is as follows: the method comprises the following steps that a user sends a moving instruction and current position information of the user to a sweeping robot, designated position information needing to be sent after the robot is fully charged is set, and the sweeping robot moves to the current position of the user according to a space map of a family where the robot is located after receiving the moving instruction and the position information; after the sweeping robot reaches the current position of a user, the user places receiving end equipment needing to be charged in a wireless charging area of the sweeping robot; after a wireless charging transmitter in the wireless charging area detects that the receiving end equipment needing to be charged exists, the sweeping robot is controlled to move to a sweeper recharging station through the controller, and the receiving end equipment is charged through the wireless charging transmitter; and after the receiving end equipment is fully charged, the sweeping robot sends the receiving end equipment to a preset appointed position of a user.
The beneficial effects of the above technical scheme are that: when the receiving terminal equipment needs to be charged, a user does not need to move the position of the user, the receiving terminal equipment is manually placed on the sweeping robot by controlling the sweeping robot to move to the user, the sweeping robot automatically detects and returns to the sweeper recharging station to complete charging work, and after the charging is finished, the sweeping robot can also send the receiving end equipment to a specified position preset by a user, the whole charging process of the receiving end equipment does not need the movement or walking of the user, realizes the function of intelligent service for the user, gives better experience to the user, and, particularly, for the user who is inconvenient to move the legs and feet, when the user is on the indoor sofa or on the bed or the like, under unmanned circumstances at home, can remove to oneself and charge for receiving terminal equipment through cell-phone control robot of sweeping the floor, provide the convenience that receiving terminal equipment charges for more people.
In one embodiment, the method for moving the sweeping robot to the current position of the user according to the space map of the family in which the sweeping robot is located after receiving the moving instruction and the position information includes:
obtaining a space map of a family where the sweeping robot is located, wherein the space map comprises a plurality of target areas where users frequently move;
acquiring position information of a plurality of target areas in the space map;
the user sends a moving instruction and current position information of the user to the sweeping robot, and the sweeping robot identifies and judges the current position information of the user to obtain the position information of a target area of the current position of the user on the space map;
and determining a walking route of the sweeping robot according to the position information of the target area of the current position of the user on the space map, and controlling the sweeping robot to walk according to the route through the controller to move to the current position of the user.
The working principle of the technical scheme is as follows: firstly, obtaining a space map of a family where the sweeping robot is located, wherein the space map comprises a plurality of target areas where users frequently move; secondly, acquiring position information of a plurality of target areas in the space map; then, the user sends a moving instruction and current position information of the moving instruction to the sweeping robot, and the sweeping robot identifies and judges the current position information of the user to obtain the position information of a target area of the current position of the user on the space map; and finally, determining a walking route of the sweeping robot according to the position information of the target area of the current position of the user on the space map, and controlling the sweeping robot to walk according to the route through the controller to move to the current position of the user.
The beneficial effects of the above technical scheme are that: the method comprises the steps of obtaining a household space map, obtaining position information of a plurality of target areas where a user frequently moves on the space map, determining the target areas where the user frequently moves according to the time duration and the occurrence frequency of the user at a certain position in a room, reducing the time for subsequent identification and judgment of the current position of the user, improving the efficiency of position identification, sending a moving instruction and the current position information to a sweeping robot by the user, identifying and judging the position information by the sweeping robot firstly, planning a route and then moving the sweeping robot, avoiding misjudgment of the current position of the user by the sweeping robot to arrive at a wrong position, selecting an optimal route without obstacles for the sweeping robot to walk sometimes, and being more intelligent.
In one embodiment, after the wireless charging transmitter in the wireless charging area detects that the receiving end device to be charged is present, the controller controls the sweeping robot to move to the sweeper recharging station, and the wireless charging transmitter charges the receiving end device, including:
the wireless charging transmitter sends an electromagnetic signal to receiving end equipment, and the receiving end equipment sends a receiving signal to the wireless charging transmitter after receiving the electromagnetic signal;
after receiving the receiving signal, the wireless charging transmitter sends a charging instruction to the controller;
the controller receives the charging instruction and then controls the sweeping robot to move to a sweeping machine recharging station for charging, and meanwhile, the wireless charging transmitter transmits electric quantity to the receiving end equipment for charging.
The working principle of the technical scheme is as follows: firstly, the wireless charging transmitter is used for sending electromagnetic signals to receiving end equipment, and the receiving end equipment sends receiving signals to the wireless charging transmitter after receiving the electromagnetic signals; then if the wireless charging transmitter does not receive the receiving signal, the wireless charging transmitter is in a standby state and does not perform the next operation, and if the wireless charging transmitter receives the receiving signal, the wireless charging transmitter sends a charging instruction to the controller; and finally, the controller receives the charging instruction and then controls the sweeping robot to move to a sweeping machine recharging station for charging, and meanwhile, the wireless charging transmitter transmits electric quantity to the receiving end equipment for charging.
The beneficial effects of the above technical scheme are that: the receiving end equipment is placed on the sweeping robot, after the wireless charging transmitter sends the electromagnetic signal, whether the receiving end equipment receives the receiving signal can be detected, if the receiving end equipment does not receive the receiving signal, whether the receiving end equipment is placed in the appointed wireless charging area or not is checked, and if the receiving end equipment receives the receiving signal, the step of charging is executed.
In one embodiment, the identifying and determining of the current position information of the user by the sweeping robot to obtain the position information of the target area to which the current position of the user belongs on the space map includes:
according to the position information of a plurality of target areas in the space map and the current position information of the user, the following equation is established:
setting the position coordinates of the centers of the target areas as Pi＝[Pxi,Pyi]The coordinate of the current position of the user is Q ═ Qx,Qy]，
Figure BDA0002918678180000111
Wherein i is 1,2,3 …, n, di＝d1,d2,…dn，diThe distance from the center of the ith target area to the current position of the user is calculated;
based on the above equation, the position coordinates (P) of the center of the target area closest to the current position of the user are obtained using the following formulaxi,Pyi)：
Figure BDA0002918678180000112
Wherein argmin represents P at the minimum of the right expression of the above formulaxiAnd PyiTaking the value of (A);
according to the obtained position coordinate of the center of the target area closest to the current position of the user, the current position of the user can be judged to belong to the target area, and the position information of the target area of the current position of the user on the space map can be obtained.
The working principle of the technical scheme is as follows: establishing an equation according to the position information of a plurality of target areas in the space map and the current position information of the user, and then obtaining the position coordinate (P) of the center of the target area closest to the current position of the user through calculation based on the equationxi,Pyi) According to the obtained position coordinate of the center of the target area closest to the current position of the user, the current position of the user can be judged to belong to the target area, and the position information of the target area of the current position of the user on the space map can be obtained; because the current position of the user is contained in the plurality of target areas, the distance value is calculated according to the coordinates of the current position of the user and the coordinates of the centers of all the target areas, so that the center coordinate of the target area with the minimum distance value is the target area where the user is currently located, and then the route of the sweeping robot is planned in the next step according to the obtained position information of the target area.
The beneficial effects of the above technical scheme are that: the position information is converted into the coordinates of the position to calculate the distance values between the current position of the user and the centers of a plurality of target areas, the calculation accuracy is higher, and position information of a plurality of target areas is collected in advance, the position information of each target area comprises position coordinates of the center of the target area, the coordinates of the center of the target area are taken to calculate the distance, the obtained calculation result is more accurate, because the range of each target area is different in size, the coordinate of the central point is taken as a reference, the calculation process can be simplified while the calculation accuracy is ensured, the efficiency of the sweeping robot in recognizing and judging the position information is further improved, the target area where the user is located is quickly and accurately judged, the time for recognizing and judging the current position of the user is saved, the working efficiency of the sweeping robot is further improved, and better use experience is provided for the user.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (7)

1. A sweeper robot, comprising: the sweeping robot comprises a sweeping robot, a sweeping machine recharging station and a wireless charging transmitter, wherein the wireless charging transmitter is arranged on the sweeping robot, a rechargeable battery and a controller are arranged in the sweeping robot, the rechargeable battery is electrically connected with the wireless charging transmitter, the wireless charging transmitter is used for transmitting electric quantity to receiving end equipment capable of receiving wireless charging, the controller can control the sweeping robot to move, and the sweeping machine recharging station is used for charging the sweeping robot;
the upper surface of the sweeping robot is provided with a placing groove (1), the bottom surface of the placing groove (1) is provided with the wireless charging emitter, a fixing device for fixing the receiving end equipment is further arranged in the placing groove (1), and a movable transparent cover plate is arranged at an opening of the placing groove (1);
the fixing device further includes: the positioning device comprises a limiting device (3) and a clamping piece (4), wherein the limiting device (3) is arranged on the side wall of the placing groove (1), one side of the clamping piece (4) is provided with a clamping rod (41) connected with the limiting device (3), and the other opposite side is provided with a clamping interface (42) connected with the receiving end equipment;
the limiting device (3) comprises: shell (31), rotatory cardboard (32), first calorie of strip (33), second calorie of strip (34), second spring (35), third spring (36), ejector pad (37), the inside wall of shell (31) one end is rotatory to be equipped with rotatory cardboard (32), be equipped with on rotatory cardboard (32) with arc notch (321) of joint pole (41) joint, one side of arc notch (321) is equipped with first joint tooth (322), keep away from first joint tooth (322) one side of arc notch (321) is equipped with sunken notch (323), one side of rotatory cardboard (32) is equipped with first calorie of strip (33), first calorie of strip (33) are close to the one end of rotatory cardboard (32) be equipped with the corresponding lug of sunken notch (323), the below of first calorie of strip (33) is equipped with second calorie of strip (34), second calorie of strip (34) are close to the one end of rotatory cardboard (32) be equipped with first joint tooth (322) ) The corresponding second clamping tooth (341), first card strip (33) is kept away from the fixed ejector pad (37) that is equipped with of one end of rotatory cardboard (32), ejector pad (37) with shell (31) sliding connection, the one end of second spring (35) with the inside wall fixed connection of shell (31), and its other end with first card strip (33) are connected, the one end of third spring (36) with the inside wall fixed connection of shell (31), and its other end with second card strip (34) are connected.
2. The sweeper robot of claim 1, wherein the fixture comprises: elastic clamping plate (2), the both sides that standing groove (1) is relative all are equipped with elastic clamping plate (2), elastic clamping plate (2) include first spring (21) and lath (22), the one end of first spring (21) with the lateral wall fixed connection of standing groove (1), and its other end with one side fixed connection of lath (22), lath (22) in its length direction both ends all with the lateral wall sliding connection of standing groove (1).
3. The sweeper robot according to claim 1, wherein a limiting long hole (331) is formed in the middle of the first clamping strip (33), a first limiting block (311) corresponding to the limiting long hole (331) is formed in the inner side wall of the housing (31), a first protruding portion (332) is formed on the lower side of the first clamping strip (33), one end, far away from the rotating clamping plate (32), of the second spring (35) is sleeved on the first protruding portion (332), and one end, close to the rotating clamping plate (32), of the second spring (35) is fixedly connected with the inner side wall of the housing (31);
a second bulge (342) is arranged in the middle of the second clamping strip (34), one end of the third spring (36) far away from the rotary clamping plate (32) is sleeved on the second bulge (342), one end of the third spring (36) close to the rotating catch plate (32) is fixedly connected with the inner side wall of the shell (31), an inclined surface (343) is arranged at one end of the second clamping strip (34) far away from the rotating clamping plate (32), the inclined surface (343) is inclined toward the second protrusion (342), a second limit block (312) is arranged between the inclined plane (343) and the second bulge (342), a third limit block (313) is arranged between the second convex part (342) and the second clamping tooth (341), the second limiting block (312) and the third limiting block (313) are arranged on the inner side wall of the shell (31);
an arc-shaped limiting groove (314) is further formed in the inner side wall of the shell (31), and a fourth limiting block corresponding to the arc-shaped limiting groove (314) is arranged on one side of the rotating clamping plate (32).
4. The wireless charging method of the sweeper robot as claimed in any one of claims 1 to 3, comprising:
the method comprises the following steps that a user sends a moving instruction and current position information of the user to a sweeping robot, and the sweeping robot moves to the current position of the user according to a space map of a family where the sweeping robot is located after receiving the moving instruction and the position information;
after the sweeping robot reaches the current position of a user, the user places receiving end equipment needing to be charged in a wireless charging area of the sweeping robot;
after detecting the receiving end equipment needing to be charged, a wireless charging transmitter in the wireless charging area controls the sweeping robot to move to a sweeper recharging station through the controller, and charges the receiving end equipment through the wireless charging transmitter;
and after the receiving end equipment is fully charged, the sweeping robot sends the receiving end equipment to a preset appointed position of a user.
5. The method of claim 4, wherein the user sends a movement command and current location information to the sweeping robot, and the sweeping robot moves to the current location of the user according to the space map of the family where the sweeping robot is located after receiving the movement command and the location information, and the method comprises:
obtaining a space map of a family where the sweeping robot is located, wherein the space map comprises a plurality of target areas where users frequently move;
acquiring position information of a plurality of target areas in the space map;
the user sends a moving instruction and current position information of the user to the sweeping robot, and the sweeping robot identifies and judges the current position information of the user to obtain the position information of a target area of the current position of the user on the space map;
and determining a walking route of the sweeping robot according to the position information of the target area of the current position of the user on the space map, and controlling the sweeping robot to walk according to the route through the controller to move to the current position of the user.
6. The method of claim 4, wherein after the wireless charging transmitter in the wireless charging area detects that the receiving end device to be charged is present, the controller controls the sweeping robot to move to a sweeper recharging station, and the wireless charging transmitter charges the receiving end device, and the method comprises:
the wireless charging transmitter sends an electromagnetic signal to receiving end equipment, and the receiving end equipment sends a receiving signal to the wireless charging transmitter after receiving the electromagnetic signal;
after receiving the receiving signal, the wireless charging transmitter sends a charging instruction to the controller;
the controller receives the charging instruction and then controls the sweeping robot to move to a sweeping machine recharging station for charging, and meanwhile, the wireless charging transmitter transmits electric quantity to the receiving end equipment for charging.
7. The method of claim 5, wherein the identifying and determining of the current position information of the user by the sweeping robot to obtain the position information of the target area to which the current position of the user belongs on the space map comprises:
according to the position information of a plurality of target areas in the space map and the current position information of the user, the following equation is established:
setting the position coordinates of the centers of the target areas as Pi＝[Pxi,Pyi]The coordinate of the current position of the user is Q ═ Qx,Qy]，
Figure FDA0003334919850000031
Wherein i is 1,2,3 …, n, di＝d1,d2,…dn，diThe distance from the center of the ith target area to the current position of the user is calculated;
based on the above equation, the position coordinates (P) of the center of the target area closest to the current position of the user are obtained using the following formulaxi,Pyi)：
Figure FDA0003334919850000032
Wherein argmin represents P at the minimum of the right expression of the above formulaxiAnd PyiTaking the value of (A);
according to the obtained position coordinate of the center of the target area closest to the current position of the user, the current position of the user can be judged to belong to the target area, and the position information of the target area of the current position of the user on the space map can be obtained.
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