CN114915048B - Charging device, charging method of foot type robot and foot type robot - Google Patents
Charging device, charging method of foot type robot and foot type robot Download PDFInfo
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- CN114915048B CN114915048B CN202110179557.6A CN202110179557A CN114915048B CN 114915048 B CN114915048 B CN 114915048B CN 202110179557 A CN202110179557 A CN 202110179557A CN 114915048 B CN114915048 B CN 114915048B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The disclosure provides a charging device and method, and a charging method and device for a foot robot, and relates to the technical field of wireless charging. Wherein, this charging device includes: the wireless charging transmitter is used for transmitting electromagnetic waves to the corresponding wireless charging receiver so as to perform wireless charging; the driver is used for driving the wireless charging transmitter to move; and a first controller for controlling the driver to drive the charging coil of the wireless charging transmitter to move at a plurality of positions under the foot robot, and determining a target charging position from among the plurality of positions according to signal strengths of the wireless charging transmitter detected at the plurality of positions to perform wireless charging at the target charging position. The method and the device can accurately determine the charging position of the foot robot, and are more beneficial to the foot robot to independently and quickly find the charging device for charging, so that the user experience is improved.
Description
Technical Field
The disclosure relates to the technical field of wireless charging, in particular to a charging device and method, a charging method of a foot-type robot and the foot-type robot.
Background
With the progress of society and the development of science and technology, robots are becoming more popular, and great convenience can be brought to users in various aspects.
However, for such robots of the legged robot, the legged robot is usually manually guided to charge, or the legged robot is directly guided to return to the charging device to charge by means of short-distance communication or the like, and in the two modes, the alignment rate between the charging coil of the charging device and the charging coil of the legged robot is not high, so that the charging efficiency is poor, the charging time is too long, and thus the user experience is seriously affected.
Disclosure of Invention
The embodiment of the disclosure provides a charging device, a charging method of a foot robot, and the foot robot, which can accurately determine the optimal charging position of the foot robot, improve the wireless charging speed, and simultaneously improve the wireless charging efficiency, thereby improving the user experience.
An embodiment of a first aspect of the present disclosure proposes a charging device, including: the wireless charging transmitter is used for transmitting electromagnetic waves to the corresponding wireless charging receiver so as to perform wireless charging; a driver for driving the wireless charging transmitter to move; and a first controller for controlling the driver to drive the charging coil of the wireless charging transmitter to move at a plurality of positions under the foot robot, and determining a target charging position from among the plurality of positions according to the signal strengths of the wireless charging transmitter detected at the plurality of positions to perform wireless charging at the target charging position.
In one embodiment of the present disclosure, the charging device further includes: and the proximity sensor is used for detecting the distance between the charging device and the foot-type robot, wherein the first controller controls the wireless charging transmitter to emit electromagnetic waves when the distance detected by the proximity sensor is smaller than a preset threshold value.
In one embodiment of the present disclosure, the signal strength of the wireless charging transmitter is generated by detecting the voltage of the charging coil.
In one embodiment of the present disclosure, the first controller controls the charging coil of the wireless charging transmitter to move from an initial position along a plurality of preset directions, and to move one preset step length over the plurality of preset directions as one of the positions.
In one embodiment of the present disclosure, the first controller selects a location having the greatest signal strength from among the plurality of locations as the charging location.
In one embodiment of the present disclosure, the first controller is further configured to switch the foot robot to a squat state, and determine that a distance between the foot robot and the charging device is less than the preset threshold.
Embodiments of the second aspect of the present disclosure also provide a charging method, including: controlling a charging coil of the wireless charging transmitter to move at a plurality of positions under the foot robot; detecting signal strengths of the wireless charging transmitters at the plurality of locations, respectively; a target charging location is determined from among the plurality of locations based on the signal strengths of the wireless charging transmitters detected at the plurality of locations to wirelessly charge at the target charging location.
In one embodiment of the present disclosure, further comprising: and detecting the distance between the wireless charging transmitter and the foot robot, wherein when the detected distance is smaller than a preset threshold value, the wireless charging transmitter is controlled to emit electromagnetic waves.
In one embodiment of the present disclosure, the signal strength of the wireless charging transmitter is generated by detecting the voltage of the charging coil.
In one embodiment of the present disclosure, the controlling the movement of the charging coil of the wireless charging transmitter at a plurality of positions under the foot robot comprises: and controlling the charging coil of the wireless charging transmitter to move along a plurality of preset directions from an initial position, and moving each preset step length above the preset directions as one position.
In one embodiment of the present disclosure, the determining a target charging location from among the plurality of locations includes: and selecting a position with the maximum signal intensity from the plurality of positions as the target charging position.
In one embodiment of the present disclosure, further comprising: and controlling the foot robot to switch to a squatting state so that the distance between the foot robot and the charging device is smaller than the preset threshold value.
An embodiment of a third aspect of the present disclosure further provides a charging method for a foot robot, including: in response to the charging condition being met, moving to the charging device according to the positioning information; and receiving a charging signal transmitted by a charging coil of a wireless charging transmitter in the charging device at a target charging position for charging in response to moving to the position above the charging device, wherein the target charging position is determined from a plurality of positions by the charging device according to signal intensities of the wireless charging transmitter detected by the charging coil at the plurality of positions.
In one embodiment of the present disclosure, further comprising: acquiring an image of the charging device; and acquiring the position of the charging device according to the image of the charging device, and controlling the foot robot to move to a range corresponding to the charging device.
In one embodiment of the present disclosure, after the controlling the foot robot to move within the range corresponding to the charging device, the method further includes: and controlling the foot-type robot to switch to a squatting state.
The fourth aspect of the present disclosure further provides a charging device for a foot robot, including: the mobile module is used for responding to the condition of charging and moving to the charging device according to the positioning information; and the first charging module is used for receiving a charging signal transmitted by a charging coil of a wireless charging transmitter in the charging device at a target charging position for charging in response to moving to the position above the charging device, wherein the target charging position is determined from a plurality of positions by the charging device according to the signal intensity of the wireless charging transmitter detected by the charging coil at the plurality of positions.
In one embodiment of the present disclosure, further comprising: the acquisition module is used for acquiring the image of the charging device; and the second controller is used for acquiring the position of the charging device according to the image of the charging device and controlling the foot robot to move to the range corresponding to the charging device.
Embodiments of the fifth aspect of the present disclosure also provide a charging device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to invoke and execute the executable instructions stored by the memory to implement the charging method of any one of the above or the charging method of the foot robot.
The sixth aspect of the present disclosure also proposes a non-transitory computer readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the charging method as described above or the charging method of the foot robot.
The charging device provided by the embodiment of the disclosure drives the charging coil of the wireless charging transmitter to move at a plurality of positions below the foot robot by controlling the driver, and determines a target charging position from among the plurality of positions according to the signal intensity of the wireless charging transmitter detected at the plurality of positions, so as to perform wireless charging at the target charging position. Therefore, according to the embodiment of the disclosure, the optimal charging position is found by adjusting the position of the charging coil of the wireless charging transmitter in the charging device, so that the alignment rate of the charging coil of the charging device and the charging coil of the foot-type robot can be further improved, manual intervention is not needed in the mode, the target charging position selected according to the signal strength is better than that of the manual intervention mode, the charging device is automatically and rapidly found by the foot-type robot, the charging coil is further aligned to charge, the charging rate is greatly improved, and the user experience is improved.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a block diagram of a charging device according to an embodiment of the present disclosure;
fig. 2 is a block diagram of another charging device according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a distance between a charging device and a foot robot according to an embodiment of the disclosure;
fig. 4 is a block diagram of a charging device according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a moving position of a charging coil (coil) according to an embodiment of the disclosure;
FIG. 6 is a flow chart of a charging method according to one embodiment of the present disclosure;
fig. 7 is a flowchart of a charging method of a foot robot according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a foot robot according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a charging device according to an embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.
In the related art, since the motion accuracy of the foot robot is not accurate as the wheel robot, the difficulty of alignment between the charger and the robot is great when the foot robot is charged. Therefore, the problems of low charging speed, long charging time and poor user experience are caused. For this reason, the present disclosure proposes a charging device, a charging method for a foot robot, and a charging device.
A charging device, a charging method for a foot robot, and a charging device according to embodiments of the present disclosure are described below with reference to the accompanying drawings.
As shown in fig. 1 to 4, a charging device 10 of an embodiment of the present disclosure includes: a wireless charging transmitter 11, a driver 12 and a first controller 13.
In the embodiment of the present disclosure, the driver 12 is controlled by the first controller 13, the charging coil of the wireless charging transmitter 11 is driven to move at a plurality of positions under the foot robot, and when the plurality of positions move, the charging position of the foot robot is accurately determined by detecting the signal strength of the wireless charging transmitter 11, so that the foot robot can be wirelessly charged at the charging position.
Among other things, in the embodiments of the present disclosure, the foot robot has unique advantages and higher flexibility, and can easily integrate into human life. Among other things, in one embodiment of the present disclosure, foot robots include, but are not limited to, bipedal robots, quadruped robots, hexapod robots, and the like.
Wherein, in embodiments of the present disclosure, the charging device 10 may further comprise a proximity sensor 14. The distance between the charging device 10 and the foot robot may be detected by the proximity sensor 14, and the first controller 13 controls the wireless charging transmitter 11 to transmit electromagnetic waves when the detected distance is less than a preset threshold.
Wherein the proximity sensor 14 can detect the vertical distance of the charging device 10 from the foot robot.
Wherein in one embodiment of the present disclosure, the proximity sensor 14 may be a proximity light sensor, although in other embodiments of the present disclosure, other non-contact proximity sensors may also be used.
In the embodiment of the present disclosure, in order to determine the distance between the charging device 10 and the foot robot 20, it is also necessary to adjust the position of the foot robot 20. The foot robot 20 positions the charging device 10 by means of visual recognition and moves over the charging device 10. At this time, although the foot robot 20 is located above the charging device 10, the wireless charging receiver 21 of the foot robot 20 and the wireless charging transmitter 11 of the charging device 10 are still not aligned. Therefore, it is necessary to further adjust the relative position between the wireless charging receiver 21 and the wireless charging transmitter 11.
In the embodiment of the present disclosure, in order to enable the charging device 10 to know that the foot robot 20 has moved above the charging device 10 and is ready for the charging state, it is also necessary to control the foot robot 20 to switch to the squat state after the foot robot 20 has moved above the charging device 10. After the foot robot 20 is switched to the squat state, the charging device 10 may detect the distance between the charging device 10 and the foot robot 20 through the proximity sensor, and when the distance detected by the proximity sensor is less than the preset threshold, it is indicated that the foot robot 20 has moved above the charging device 10 and is ready for wireless charging, so the charging device 10 may control the wireless charging transmitter 11 to transmit electromagnetic waves.
Among other things, in order to make the wireless charging transmitter 11 emit electromagnetic waves faster and to achieve alignment of the foot robot 20 with the wireless charging transmitter 11, the embodiment of the present disclosure also proposes a structural diagram of a charging device. As shown in fig. 2, a charging device 10 according to an embodiment of the present disclosure is configured. For example, the charging device 10 includes a wireless charging transmitter 11, a driver 12, a first controller 13, and a proximity sensor 14.
Specifically, the distance between the charging device 10 and the foot robot 20 may be detected by the proximity sensor 14, and after detecting that the distance between the charging device 10 and the foot robot 20 is less than a preset threshold, the first controller 13 controls the charging coil of the wireless charging transmitter 11 to move at a plurality of positions under the foot robot 20. In the process of moving the plurality of positions, a trigger signal is generated according to the distance detected by the proximity sensor 14, and the trigger signal is sent to the first controller 13, wherein the first controller 13 may be an MCU ((Microcontroller Unit, micro control unit)) so that the first controller 13 sends an enabling transmission signal to the transmitting chip of the wireless charging transmitter 11, and the transmitting chip transmits electromagnetic waves through the charging coil.
The signal strength of the wireless charging transmitter can also be determined by detecting the voltage of the charging coil in the wireless charging transmitter 11 during the movement of the plurality of positions. Wherein the relative positions between the charging coil of the wireless charging transmitter 11 and the charging coil of the wireless charging receiver are different, resulting in a difference in the voltage over the charging coil of the wireless charging transmitter 11.
For example, a schematic diagram for detecting the distance m between the charging device 10 and the foot robot 20 may be as shown in fig. 3. As shown in fig. 3, the foot robot 20 is in a semi-squat state, the charging device 10 performs position detection on the foot robot 20, and when the distance between the charging device 10 and the foot robot 20 reaches a distance m, the charging device 10 wirelessly charges the foot robot 20.
Wherein, in one embodiment of the present disclosure, when the proximity sensor 14 detects that the foot robot 20 is not moving above the wireless charging transmitter 11, the trigger signal in the proximity sensor 14 is a low level signal and is sent to the first controller 13, and after the first controller 13 receives the trigger signal, the transmitting chip of the wireless charging transmitter 11 is controlled not to transmit electromagnetic waves, so as to save a part of energy.
In the embodiment of the present disclosure, the charging coil of the wireless charging transmitter 11 may be controlled by the first controller 13 to move along a plurality of preset directions from an initial position, and each preset step is moved over the plurality of preset directions as one position, so as to realize a plurality of positions of the charging device under the foot robot 11.
To determine whether the foot robot 20 is present on the wireless charging transmitter 11 during the movement of the charging coil of the wireless charging transmitter 11 from the initial position along a plurality of preset directions, a PING (Packet Internet Groper, internet packet explorer) signal may be sent out every preset step of movement so that a small signal is continuously transmitted to determine whether the foot robot 20 is present on the transmitter. The PING signal is used to detect the height of the foot robot 20 by the proximity sensor 14 and determine whether the foot robot 20 is present based on the height.
Among these, the first controller 13 can select a position having the greatest signal strength from among a plurality of positions as a charging position.
For example, as shown in fig. 4, when the first controller 13 in the charging device 10 starts to enable signal transmission, the charging coil 111 in the wireless charging transmitter 11 traverses the up-down, left-right and up-down, left-right directions from the initial position, and moves according to the up-down, left-right and up-down, left-right directions, each time each direction moves by 1mm to send out a PING signal, wherein, based on once each PING, the signal intensity value of the PING can be determined according to the detected current when the wireless charging transmitter 11 transmits the signal, the signal intensity value of each PING is recorded, and the position with the maximum signal intensity is recorded, then all the moved positions are sent to the first controller 13, and then the first controller 13 controls the two direction motors to drive the charging coil to move horizontally XY two directions, so that charging can be performed when the charging coil moves to the position with the maximum signal intensity value.
The schematic diagram of the moving position of the charging coil can be shown in fig. 5.
In order to further determine the positions of the foot robot and the wireless charger, in an embodiment of the disclosure, the foot robot further includes a camera and a second controller, wherein the camera is used for acquiring an image of the charging device, and the second controller is used for acquiring the position of the charging device according to the image of the charging device and controlling the foot robot to move within a range corresponding to the charging device.
The cameras include, but are not limited to, 2D digital camera imaging, 3D sensing cameras, ultrasonic cameras, infrared cameras and the like. For example, the camera may be mounted on the head of a foot robot, which the present disclosure does not impose any limitation.
The charging device provided by the embodiment of the disclosure drives the charging coil of the wireless charging transmitter to move at a plurality of positions below the foot robot by controlling the driver, and determines a target charging position from among the plurality of positions according to the signal intensity of the wireless charging transmitter detected at the plurality of positions, so as to perform wireless charging at the target charging position. From this, the embodiment of the disclosure can accurately confirm the charging position of foot robot, has improved wireless charging speed, has improved wireless charging efficiency simultaneously, and then has improved user experience.
For easier understanding of the present disclosure by those skilled in the art, fig. 6 is a flowchart of a charging method of one embodiment of the present disclosure. The method comprises the following steps:
s601, controlling the charging coil of the wireless charging transmitter to move at a plurality of positions under the foot robot.
In an embodiment of the disclosure, a distance between the charging device and the foot robot may be detected by the proximity sensor, and after detecting that the distance between the charging device and the foot robot is less than a preset threshold, a charging coil of the wireless charging transmitter may be controlled to move at a plurality of positions under the foot robot.
The charging coil of the wireless charging transmitter is controlled to move at a plurality of positions below the foot-type robot, so that the charging coil can be understood to move on the horizontal plane of the area range of the charging device, the charging coil of the charging device can be accurately aligned with the charging coil of the robot, and the maximum charging efficiency is realized.
Wherein the proximity sensor may be a proximity light sensor, although other non-contact proximity sensors may be used in other embodiments of the present disclosure.
In order to determine the distance between the charging device and the foot robot, it is also necessary to adjust the position of the foot robot. The foot robot can position the charging device in a visual identification mode and move to the range corresponding to the charging device. At this time, although the foot robot is located within the range corresponding to the charging device, the wireless charging receiver of the foot robot and the wireless charging transmitter of the charging device still cannot be aligned. Thus, there is a need for further adjustment of the relative position between the wireless charging receiver and the wireless charging transmitter.
As another possible implementation manner, the camera in the foot robot may be used to acquire an image of the charging device, and then, according to the acquired image, acquire the position of the charging device, and control the foot robot to move to a range corresponding to the charging device.
The cameras in the foot robot comprise, but are not limited to, a 2D digital camera imaging, a 3D sensing camera, an ultrasonic camera, an infrared camera and the like. For example, the camera may be mounted on the head of a foot robot, which the present disclosure does not impose any limitation.
For example, the camera in the foot robot may collect the image of the charging device in real time, then extract the feature points of the collected image of the charging device, and then find the position points matched with the feature points of the image in the pre-stored position information base, so as to determine the position of the charging device, and control the foot robot to move to the range corresponding to the charging device through the controller.
In one embodiment of the present disclosure, after the foot robot is controlled to move within a range corresponding to the charging device, the foot robot may be further controlled to switch to a squat state, after the foot robot is switched to the squat state, the charging device may detect a distance between the charging device and the foot robot through the proximity sensor, and when the distance detected by the proximity sensor is less than a preset threshold, it is indicated that the foot robot has moved within the range corresponding to the charging device and is ready to perform wireless charging.
In an embodiment of the disclosure, after determining that the charging device is located under the foot robot, the charging coil of the wireless charging transmitter may be controlled to move from an initial position along a plurality of preset directions, wherein each preset step length of the charging device is moved above the plurality of preset directions as one position.
In the process of moving the plurality of positions, a trigger signal is generated according to the distance detected by the proximity sensor, and the trigger signal is sent to the first controller, so that the first controller sends an enabling transmission signal to the transmission chip of the wire charging transmitter, and the transmission chip transmits electromagnetic waves through the charging coil.
In one embodiment of the present disclosure, to determine whether a foot robot is present on the wireless charging transmitter during movement of the charging device from the initial position along a plurality of preset directions, a PING (Packet Internet Groper, internet packet explorer) signal may be issued at each preset step of movement so that small signals are continuously transmitted to determine whether a foot robot is present on the transmitter. The PING signal is used for detecting the height of the foot robot through the proximity sensor and judging whether the foot robot exists according to the height.
S602, detecting signal intensity of the wireless charging transmitter at a plurality of positions respectively.
In embodiments of the present disclosure, the signal strength of the wireless charging transmitter may be generated by detecting the voltage of the charging coil.
That is, after the charging coil of the wireless charging transmitter is controlled to move at a plurality of positions under the foot robot, the signal intensity of the wireless charging transmitter can be determined at the plurality of positions by detecting the voltage of the charging coil in the wireless charging transmitter, respectively.
S603, determining a target charging position from among the plurality of positions according to signal strengths of the wireless charging transmitters detected at the plurality of positions to perform wireless charging at the target charging position.
Wherein the position with the greatest signal strength can be selected from a plurality of positions as the target charging position.
For example, when the first controller in the charging device starts to enable signal transmission, the charging coil in the wireless charging transmitter traverses the four directions from the initial position, moves according to the four directions, each time each direction moves by 1mm to send out a PING signal, wherein based on the detected current when the wireless charging transmitter 11 transmits a signal once for each PING, the signal intensity value of the PING is determined, the signal intensity value of each PING is recorded, and the position with the maximum signal intensity is recorded, then all the moved positions are sent to the first controller, and then the charging coil is driven by the two direction motors to move horizontally XY in two directions, so that the charging coil can be charged when moving to the position with the maximum signal intensity value.
According to the charging method provided by the embodiment of the disclosure, the charging coil of the wireless charging transmitter is controlled to move at a plurality of positions below the foot robot, then the signal intensity of the wireless charging transmitter is detected at the plurality of positions, and then the target charging position is determined from the plurality of positions according to the signal intensity of the wireless charging transmitter detected at the plurality of positions, so that wireless charging is performed at the target charging position. The method and the device can accurately determine the charging position of the foot robot, are more beneficial to the foot robot to independently and quickly find the charging device for charging, improve the wireless charging speed, improve the wireless charging efficiency and further improve the user experience.
For easier understanding of the present disclosure by those skilled in the art, fig. 7 is a flowchart of a charging method of the foot robot according to one embodiment of the present disclosure. The method comprises the following steps:
s701, in response to the charging condition being satisfied, moving to the charging device according to the positioning information.
In an embodiment of the present disclosure, the charging condition includes that the remaining capacity is smaller than a charging threshold or that a charging period has arrived. The charging threshold may be preset, for example: the charge threshold is 10% of the battery capacity of the foot robot. The charging period may also be preset, such as: the charging period is 24 hours, i.e. the control robot is charged once every 24 hours without considering the remaining power of the foot robot. That is, in the case where the charging condition includes the remaining power being smaller than the charging threshold, it is determined whether the charging condition is satisfied by monitoring the remaining power. In the case where the charging condition includes a charging period, it is determined whether the charging condition is satisfied by the charging period.
In embodiments of the present disclosure, in response to a charging condition being met, the foot robot may position the charging device and move toward the charging device by way of visual recognition.
And S702, receiving a charging signal transmitted by a charging coil of a wireless charging transmitter in the charging device at a target charging position for charging in response to moving to the upper side of the charging device, wherein the target charging position is determined from a plurality of positions by the charging device according to the signal intensity of the wireless charging transmitter detected by the charging coil at the plurality of positions.
In the embodiment of the disclosure, the image of the charging device can be acquired through the camera in the foot robot, and then the position of the charging device is acquired according to the acquired image, and the foot robot is controlled to move to be within the range corresponding to the charging device.
The cameras in the foot robot comprise, but are not limited to, a 2D digital camera imaging, a 3D sensing camera, an ultrasonic camera, an infrared camera and the like. For example, the camera may be mounted on the head of a foot robot, which the present disclosure does not impose any limitation.
For example, the camera in the foot robot may collect the image of the charging device in real time, then extract the feature points of the collected image of the charging device, and then find the position points matched with the feature points of the image in the pre-stored position information base, so as to determine the position of the charging device, and control the foot robot to move to the range corresponding to the charging device through the controller.
In one embodiment of the present disclosure, after the foot robot is controlled to move within a range corresponding to the charging device, the foot robot may be further controlled to switch to a squat state, after the foot robot is switched to the squat state, the charging device may detect a distance between the charging device and the foot robot through the proximity sensor, and when the distance detected by the proximity sensor is less than a preset threshold, it is indicated that the foot robot has moved within the range corresponding to the charging device and is ready to perform wireless charging.
According to the charging method of the foot robot, in response to the condition that the charging condition is met, the foot robot moves to the charging device according to the positioning information, then receives a charging signal transmitted by the charging device at a charging position to charge the charging device in response to the condition that the foot robot moves to the upper side of the charging device, wherein the charging position is determined from a plurality of positions according to signal strengths of wireless charging transmitters detected by the charging device at the plurality of positions. According to the wireless charging device, the position of the charging coil of the wireless charging transmitter in the charging device is adjusted to find the optimal charging position, the alignment rate of the charging coil of the charging device and the charging coil of the foot type robot can be further improved, manual intervention is not needed in the mode, the target charging position selected according to the signal strength is better than that of the manual intervention mode, the charging device is automatically and rapidly found through the foot type robot, the charging coil is further aligned to charge, the charging rate is greatly improved, and therefore user experience is improved.
Fig. 8 is a schematic structural view of a charging device of a foot robot according to an embodiment of the present disclosure.
As shown in fig. 8, the foot robot 800 includes: a mobile module 810 and a first charging module 820, wherein:
a moving module 810 for moving to the charging device according to the positioning information in response to the charging condition being satisfied;
and a first charging module 820 for receiving a charging signal transmitted by a charging coil of a wireless charging transmitter in the charging device at a target charging position for charging in response to moving above the charging device, wherein the target charging position is determined from among a plurality of positions by the charging device according to signal strengths of the wireless charging transmitter detected by the charging coil at the plurality of positions.
In an embodiment of the present disclosure, further comprising: the acquisition module is used for acquiring the image of the charging device; and the second controller is used for acquiring the position of the charging device according to the image of the charging device and controlling the foot robot to move to the range corresponding to the charging device.
In an embodiment of the disclosure, the second controller is further configured to control the foot robot to switch to a squat state.
In order to achieve the above embodiment, the present invention also proposes a charging device.
Fig. 9 is a schematic structural view of a charging device according to an embodiment of the present invention. As shown in fig. 9, the charging device 900 may include: a processor 910; a memory 920 for storing executable instructions of the processor 910; wherein the processor 910 is configured to invoke and execute the executable instructions 930 stored in the memory 920 to implement the charging method of any one of the above or the charging method of any one of the above.
In order to achieve the above embodiments, the present invention also proposes a computer program which, when executed by a processor, implements the charging method of any one of the above or the charging method of any one of the above-described foot robots.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
Furthermore, each functional unit in the embodiments of the present disclosure may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present disclosure have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the present disclosure, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the present disclosure.
Claims (10)
1. A charging device, characterized in that the charging device comprises:
the wireless charging transmitter is used for transmitting electromagnetic waves to the corresponding wireless charging receiver so as to perform wireless charging;
a driver for driving the wireless charging transmitter to move;
the proximity sensor is used for detecting the distance between the charging device and the foot-type robot;
a first controller for:
after the foot type robot positions the charging device in a visual identification mode and moves above the charging device, the foot type robot is controlled to be switched to a squatting state;
when the distance detected by the proximity sensor is smaller than a preset threshold value, controlling the wireless charging transmitter to emit electromagnetic waves;
the method includes controlling the driver to drive a charging coil of the wireless charging transmitter to move in a plurality of preset directions from an initial position under a foot robot, moving each preset step over the plurality of preset directions as one position, and determining a target charging position from among the plurality of positions according to signal strengths of the wireless charging transmitter detected at the plurality of positions to perform wireless charging at the target charging position.
2. The apparatus of claim 1, wherein a signal strength of the wireless charging transmitter is generated by detecting a voltage of the charging coil.
3. The apparatus of claim 1, wherein the first controller selects a location of greatest signal strength from among the plurality of locations as the charging location.
4. A charging method, characterized in that the charging method comprises:
after the foot type robot positions the charging device in a visual identification mode and moves above the charging device, the foot type robot is controlled to be switched to a squatting state;
detecting the distance between the wireless charging transmitter and the foot robot, wherein when the detected distance is smaller than a preset threshold value, the wireless charging transmitter is controlled to emit electromagnetic waves;
controlling a charging coil of the wireless charging transmitter to move along a plurality of preset directions from an initial position under the foot-type robot, and moving a preset step length as a position every time over the plurality of preset directions;
detecting signal strengths of the wireless charging transmitters at a plurality of positions respectively;
a target charging location is determined from among the plurality of locations based on the signal strengths of the wireless charging transmitters detected at the plurality of locations to wirelessly charge at the target charging location.
5. The method of claim 4, wherein the signal strength of the wireless charging transmitter is generated by detecting a voltage of the charging coil.
6. The method of claim 4, wherein said determining a target charging location from among said plurality of locations comprises:
and selecting a position with the maximum signal intensity from the plurality of positions as the target charging position.
7. A method of charging a foot robot, comprising:
acquiring an image of a charging device;
acquiring the position of the charging device according to the image of the charging device, and controlling the foot robot to move to the position above the charging device;
controlling the foot robot to switch to a squatting state;
in response to the charging condition being met, moving to the charging device according to the positioning information;
and receiving a charging signal transmitted by a charging coil of a wireless charging transmitter in the charging device at a target charging position for charging after the distance between the charging device and the foot robot is smaller than a preset distance in response to moving to the upper part of the charging device, wherein the target charging position is determined from a plurality of positions by the charging device according to the signal intensity of the wireless charging transmitter detected by the charging coil at the plurality of positions, and the plurality of positions are obtained by moving the charging coil of the wireless charging transmitter from an initial position along a plurality of preset directions and each preset step length moving above the plurality of preset directions as one position.
8. A foot robot, comprising:
the acquisition module is used for acquiring an image of the charging device;
a second controller for:
acquiring the position of the charging device according to the image of the charging device, and controlling the foot robot to move to the position above the charging device;
controlling the foot robot to switch to a squatting state;
the mobile module is used for responding to the condition of charging and moving to the charging device according to the positioning information;
and the first charging module is used for responding to the movement to the upper part of the charging device, receiving a charging signal transmitted by a charging coil of a wireless charging transmitter in the charging device at a target charging position for charging after the distance between the charging device and the foot robot is smaller than a preset distance, wherein the target charging position is determined from a plurality of positions according to the signal intensity of the wireless charging transmitter detected by the charging coil at the plurality of positions by the charging device, and the plurality of positions are obtained by moving the charging coil of the wireless charging transmitter along a plurality of preset directions from an initial position and each preset step length above the plurality of preset directions as one position.
9. A charging device, characterized by comprising:
a processor;
a memory for storing executable instructions of the processor;
wherein the processor is configured to invoke and execute the executable instructions stored by the memory to implement the charging method of any one of claims 4-6 or the charging method of the foot robot of claim 7.
10. A non-transitory computer readable storage medium, which when executed by a processor of an electronic device, causes the electronic device to perform the charging method of any one of claims 4-6 or the charging method of the foot robot of claim 7.
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| CN205969124U (en) * | 2016-08-25 | 2017-02-22 | 北京创想智控科技有限公司 | Mobile robot and charging system thereof |
| CN109491382A (en) * | 2018-11-07 | 2019-03-19 | 深圳乐动机器人有限公司 | A kind of robot charging method, device, storage medium and robot |
| CN109755976A (en) * | 2017-11-03 | 2019-05-14 | 北京小米移动软件有限公司 | wireless charging method, device and storage medium |
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| US20140222271A1 (en) * | 2013-02-07 | 2014-08-07 | MetraLabs Automation, Inc. | Autonomous mobile robot inductive charging system |
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| CN205969124U (en) * | 2016-08-25 | 2017-02-22 | 北京创想智控科技有限公司 | Mobile robot and charging system thereof |
| CN109755976A (en) * | 2017-11-03 | 2019-05-14 | 北京小米移动软件有限公司 | wireless charging method, device and storage medium |
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