Pile return guide device, pile entry guide device, system, method and medium

Abstract

The present disclosure provides a charging pile return guide device, a charging pile entry guide device, a charging system for a smart mobile device, a method and a storage medium, wherein the method comprises: a charging pile return guide device arranged at the charging pile side emits a guiding light signal, a charging pile entry guide device arranged at the smart mobile device side determines whether the smart mobile device has entered a predetermined area based on the guiding light signal, emits a scanning light beam to the charging pile return guide device in the predetermined area, determines the charging pile return direction according to the reflected light beam and performs a charging pile entry operation. The device, system, method and storage medium disclosed in the present disclosure can automatically guide the smart mobile device to charge at the charging pile, improve the success rate of charging pile return, avoid the failure of charging pile return caused by insufficient rotation angle or deviation of the route during the backward process, and improve work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent mobile devices, and in particular to a pile return guide device, a pile entry guide device, an intelligent mobile device charging system, a method and a storage medium. Background Art

[0002] Smart mobile devices include a variety of robots, such as handling robots, machine room inspection robots, shopping mall service robots, etc. Current robots are generally powered by batteries. When the battery is low, they need to return to the charging pile autonomously. The robot's charging pole piece contacts the charging pile pole piece to charge the robot. The robot radar and charging pole piece are on both sides of the robot. When the robot returns to the pile, it needs to rely on the radar to guide it to the front of the charging pile, then rotate 180 degrees, and move backward to make the robot pole piece contact the charging pile pole piece. In the case where the robot radar and charging pole piece are on both sides of the robot, when the robot reaches the front of the charging pile and enters the pile to charge in a backward manner, due to the lack of guidance, if the rotation angle is not in place, or the route is offset during the backward process, it is easy to cause the robot to fail to return to the pile, and the robot needs to re-enter the pile. Summary of the invention

[0003] In view of this, a technical problem to be solved by the present invention is to provide a pile return guide device, a pile entry guide device, a smart mobile device charging system, method and storage medium.

[0004] According to a first aspect of the present disclosure, a return-to-pile guiding device is provided, which is arranged at the side of the charging pile, and includes: a first optical signal guiding device, which is used to emit a guiding optical signal when receiving a return-to-pile charging start signal sent by a smart mobile device, so that the smart mobile device can judge whether the smart mobile device enters a predetermined area based on the guiding optical signal; a first reflecting light guiding device, which is used to reflect the scanning light emitted by the smart mobile device in the predetermined area, so that the smart mobile device determines the return direction according to the reflected light, and controls the smart mobile device to perform a charging operation based on the return direction.

[0005] Optionally, the first optical signal guiding device includes: a signal receiving unit, a first light-emitting unit and a second light-emitting unit; the signal receiving unit is used to receive the return-to-pile charging start signal; the first light-emitting unit and the second light-emitting unit are arranged on both sides of the first reflective light guiding device, and are used to respectively emit a first guiding light signal and a second guiding light signal after the signal receiving unit receives the return-to-pile charging start signal.

[0006] Optionally, the first light-emitting unit includes: a first infrared light-emitting diode; the second light-emitting unit includes: a second infrared light-emitting diode; the first guide light signal includes: a first infrared pulse signal; and the second guide light signal includes: a second infrared pulse signal.

[0007] Optionally, the first reflected light guiding device comprises: a reflective tape; the reflective tape is used to reflect the scanning light.

[0008] Optionally, the reflective tape has a high reflectivity at the center and a low reflectivity at both sides; the center of the reflective tape is arranged corresponding to the center of the charging electrode on the charging pile side.

[0009] According to a second aspect of the present disclosure, there is provided a charging pile guiding device, which is arranged on the side of an intelligent mobile device, and includes: a second optical signal guiding device, used to receive a guiding optical signal sent by a charging pile returning guiding device arranged on the charging pile side; a controller, used to determine whether the intelligent mobile device has entered a predetermined area based on the guiding optical signal; a second reflecting optical guiding device, used to emit a scanning light to the charging pile returning guiding device within the predetermined area; the controller, used to determine a charging pile returning direction based on the reflected light of the charging pile returning guiding device for the scanning light, and control the intelligent mobile device to perform a charging pile entering operation based on the returning direction.

[0010] Optionally, the guiding light signal includes: a first guiding light signal and a second guiding light signal; the second light signal guiding device includes: a guiding light receiving unit; the guiding light receiving unit is used to receive the first guiding light signal and / or the second guiding light signal; the controller is used to control the smart mobile device to enter a predetermined area based on the first guiding light signal and / or the second guiding light signal.

[0011] Optionally, the guide light receiving unit includes: a photosensitive diode; the photosensitive diode is used to receive the first guide light signal and / or the second guide light signal; and the predetermined area includes: an overlapping area of ​​the first guide light signal and the second guide light signal.

[0012] Optionally, the return-to-pile guiding device includes: a reflective tape; the reflective tape has a high central reflectivity and a low reflectivity on both sides; the second reflected light guiding device includes: a scanning light sending unit and a reflected light intensity detection unit; the scanning light sending unit is used to emit the scanning light to the reflective tape for scanning the reflective tape; the reflected light intensity detection unit is used to obtain light intensity information of the reflected light; the controller is used to determine the direction of the strongest light intensity based on the light intensity information, determine the return-to-pile direction information according to the direction of the strongest light intensity, and control the smart mobile device to perform corresponding return-to-pile operations based on the return-to-pile direction information.

[0013] Optionally, the scanning light sending unit includes: a laser emitter and a bandpass filter; the scanning light includes: a laser; the reflected light intensity detection unit includes: a light intensity sensor; the light intensity sensor is used to obtain the light intensity information.

[0014] Optionally, the controller is used to determine a return direction based on the return direction information, and control the smart mobile device to align with the return direction to enter the pile.

[0015] Optionally, the controller is used to control the smart mobile device to stop running if the light intensity of the reflected light in the direction of returning to the pile is reduced based on the light intensity information during the process of the smart mobile device entering the pile; the scanning light sending unit is used to emit the scanning light to the reflective tape to re-scan the reflective tape; the controller is also used to re-determine the direction of the strongest light intensity based on the light intensity information obtained by the reflected light intensity detection unit, determine this direction of the strongest light intensity as the return-to-pile correction direction, and control the smart mobile device to perform corresponding pile entry operations based on the return-to-pile correction direction information.

[0016] Optionally, the smart mobile device includes: a navigation device and a charging electrode; the navigation device and the charging electrode are respectively located on both sides of the smart mobile device; the pile-entry guiding device and the charging electrode are located on the same side of the smart mobile device.

[0017] Optionally, the smart mobile device includes: a wireless communication module; the wireless communication module is used to send back a charging start signal to the charging pile when the smart mobile device needs to be charged.

[0018] According to a third aspect of the present disclosure, a smart mobile device charging system is provided, comprising: the above-mentioned pile return guiding device and the above-mentioned pile entry guiding device.

[0019] According to a fourth aspect of the present disclosure, a method for charging a smart mobile device is provided, comprising: a return-to-pile guiding device arranged on the charging pile side emits a guiding light signal upon receiving a return-to-pile charging start signal sent by the smart mobile device; a pile entry guiding device arranged on the smart mobile device side receives the guiding light signal, and determines whether the smart mobile device enters a predetermined area based on the guiding light signal; the pile entry guiding device emits a scanning light to the return-to-pile guiding device within the predetermined area, determines a return-to-pile direction according to a reflected light of the return-to-pile guiding device to the scanning light, and controls the smart mobile device to perform a pile entry operation based on the return-to-pile direction.

[0020] Optionally, the return-to-pile guiding device includes: a signal receiving unit, a first light-emitting unit, and a second light-emitting unit; the method also includes: the signal receiving unit receives the return-to-pile charging start signal; the first light-emitting unit and the second light-emitting unit respectively emit a first guiding light signal and a second guiding light signal after the signal receiving unit receives the return-to-pile charging start signal; wherein, the first light-emitting unit includes: a first infrared light-emitting diode; the second light-emitting unit includes: a second infrared light-emitting diode; the first guiding light signal includes: a first infrared pulse; the second guiding light signal includes: a second infrared pulse.

[0021] Optionally, the return-to-pile guiding device includes: a reflective tape; the first light-emitting unit and the second light-emitting unit are arranged on both sides of the reflective tape; the reflective tape reflects the scanning light; wherein the reflective tape has a high reflectivity at the center and a low reflectivity at both sides; the center of the reflective tape is arranged corresponding to the center of the charging electrode on the charging pile side.

[0022] Optionally, the pile-entering guiding device includes: a guiding light receiving unit and a controller; the method also includes: the guiding light receiving unit receives the first guiding light signal and / or the second guiding light signal; the controller controls the smart mobile device to enter a predetermined area based on the first guiding light signal and / or the second guiding light signal; wherein, the guiding light receiving unit includes: a photosensitive diode; the photosensitive diode is used to receive the first guiding light signal and / or the second guiding light signal; the predetermined area includes: an overlapping area of ​​the first guiding light signal and the second guiding light signal.

[0023] Optionally, the pile-entering guiding device includes: a scanning light sending unit and a reflected light intensity detection unit; the method includes: the scanning light sending unit transmits the scanning light to the reflective tape to scan the reflective tape; the reflected light intensity detection unit obtains light intensity information of the reflected light; the controller determines the direction of the strongest light intensity based on the light intensity information, determines the return direction information according to the direction of the strongest light intensity, and controls the intelligent mobile device to perform corresponding pile-entering operation based on the return direction information; wherein, the scanning light sending unit includes: a laser emitter and a bandpass filter; the scanning light includes: a laser; the reflected light intensity detection unit includes: a light intensity sensor; the light intensity sensor is used to obtain the light intensity information.

[0024] Optionally, the controlling the smart mobile device to perform a corresponding entry operation based on the return direction information includes: the controller determines a return direction based on the return direction information, and controls the smart mobile device to align with the return direction to enter the pile; during the entry operation of the smart mobile device, if the controller determines based on the light intensity information that the intensity of reflected light in the return direction is reduced, the smart mobile device is controlled to stop running; the scanning light sending unit transmits the scanning light to the reflective tape to re-scan the reflective tape; the controller re-determines the direction with the strongest light intensity based on the light intensity information obtained by the reflected light intensity detection unit, determines this direction with the strongest light intensity as the return correction direction, and controls the smart mobile device to perform a corresponding entry operation based on the return correction direction information.

[0025] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor as described above.

[0026] The present invention discloses a charging pile return guiding device, a charging pile entry guiding device, a charging system, a method and a storage medium. The charging pile return guiding device arranged at the charging pile side emits a guiding light signal. The charging pile entry guiding device arranged at the charging pile side determines whether the intelligent mobile device has entered a predetermined area based on the guiding light signal, emits a scanning light to the charging pile return guiding device within the predetermined area, determines the charging pile return direction based on the reflected light and performs a charging pile entry operation. The charging pile return guiding device can automatically guide the intelligent mobile device to charge at the charging pile, thereby improving the success rate of charging pile return, avoiding charging pile return failures caused by insufficient rotation angles or route deviations during the backward process, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1A It is a deployment schematic diagram of an embodiment of a pile return guide device according to the present disclosure;

[0029] Figure 1B It is a schematic diagram of a module of an embodiment of a pile return guide device according to the present disclosure;

[0030] Figure 2A It is a deployment schematic diagram of an embodiment of a pile driving guide device according to the present disclosure;

[0031] Figure 2B It is a schematic diagram of a module of an embodiment of a pile driving guide device according to the present disclosure;

[0032] Figure 3A This is a schematic diagram of a robot charging by a charging station in one embodiment of a smart mobile device charging system according to the present disclosure;

[0033] Figure 3B This is a module schematic diagram of another embodiment of a smart mobile device charging system according to the present disclosure;

[0034] Figure 3C and Figure 3D This is a schematic diagram of the deployment of reflective tape;

[0035] Figure 4 This is a schematic diagram of the application of a pile return guide device and a pile entry guide device in one embodiment of a charging system for a smart mobile device according to the present disclosure;

[0036] Figure 5 It is a schematic diagram of the principle of a pile return guide device and a pile entry guide device in one embodiment of the intelligent mobile device charging system according to the present disclosure;

[0037] Figure 6 This is a schematic diagram of the infrared emission timing of a charging system for a smart mobile device according to an embodiment of the present disclosure;

[0038] Figure 7 This is a schematic diagram of the infrared receiving timing of a charging system for a smart mobile device according to an embodiment of the present disclosure;

[0039] Figure 8 A schematic diagram of charging guide for charging a smart mobile device according to an embodiment of the present disclosure;

[0040] Fig. 9 A schematic diagram of a route for guiding a charging process of returning to a charging pile in another embodiment of a charging system for a smart mobile device according to the present disclosure;

[0041] Fig. 10A It is a schematic diagram of the correction principle of the backward charging process in one embodiment of the intelligent mobile device charging system according to the present disclosure; Fig. 10B A schematic diagram of backward pile entry correction in one embodiment of a charging system for a smart mobile device according to the present disclosure;

[0042] Fig.11 A schematic diagram of a flow chart of an embodiment of a method for charging a smart mobile device according to the present disclosure;

[0043] Fig.12 The present invention is a schematic diagram of a process of performing backward charging correction according to an embodiment of a charging method for a smart mobile device disclosed in the present invention. DETAILED DESCRIPTION

[0044] The present disclosure is described more fully below with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are described. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0045] The terms "first" and "second" below are only used to describe the difference and have no other special meanings.

[0046] like Figure 1A and 1B As shown, the present disclosure provides a charging pile return guiding device 11, which is arranged at the side of the charging pile 10, and the charging pile return guiding device 11 includes a first optical signal guiding device 12 and a first reflecting light guiding device 13. When the first optical signal guiding device 12 receives a charging pile return start signal sent by a smart mobile device, it emits a guiding light signal, so that the smart mobile device determines whether the smart mobile device enters a predetermined area based on the guiding light signal.

[0047] The first reflected light guiding device 13 performs reflection processing on the scanning light emitted by the smart mobile device in the predetermined area, so that the smart mobile device determines the direction of returning to the pile according to the reflected light, and controls the smart mobile device to perform the operation of entering the pile based on the direction of returning to the pile.

[0048] like Figure 2A and 2B As shown, the present disclosure provides a charging pile guiding device 21, which is arranged at the side of the intelligent mobile device 20, and the charging pile guiding device 21 includes a second optical signal guiding device 25, a second reflecting light guiding device 23 and a controller 24. The second optical signal guiding device 25 receives a guiding light signal sent by a charging pile return guiding device arranged at the charging pile side, and the controller 24 determines whether the intelligent mobile device enters a predetermined area based on the guiding light signal.

[0049] The second reflected light guiding device 23 emits a scanning light to the pile-returning guiding device in a predetermined area, and the controller 24 determines the pile-returning direction according to the reflected light of the pile-returning guiding device for the scanning light, and controls the intelligent mobile device to perform a pile-entering operation based on the pile-returning direction.

[0050] In one embodiment, the smart mobile device includes a wireless communication module, and the wireless communication module is used to send a charging start signal back to the charging pile when the smart mobile device needs to be charged. The wireless communication module can use 4G, 5G, Bluetooth and other signals to send the charging start signal back to the charging pile.

[0051] like Figure 3A As shown, the intelligent mobile device may be a handling robot, a machine room inspection robot, a shopping mall service robot, etc., such as a robot 22. The robot 22 includes a navigation device and a charging electrode 30, which are respectively located on both sides of the robot 22. The navigation device may be a variety of navigation devices, such as a laser radar 40, etc. The pile entry guide device and the charging electrode 30 are located on the same side of the intelligent mobile device.

[0052] like Figure 3A As shown, the radar 40 and the charging electrode 30 of the robot 22 are separated on both sides. When returning to the charging pile, the robot 22 runs to a position facing the charging pile, then rotates 180 degrees on the spot, and moves back into the charging pile 10, so that the charging electrode 30 of the robot 22 contacts the charging electrode of the charging pile 10 for charging.

[0053] In one embodiment, Figure 3B As shown, the first optical signal guiding device 12 includes a signal receiving unit (not shown in the figure), a first light-emitting unit 111, and a second light-emitting unit 112. The signal receiving unit receives a charging start signal. The first light-emitting unit 111 and the second light-emitting unit 112 are arranged on both sides of the reflective tape 113. After the signal receiving unit receives the charging start signal, the first light-emitting unit 111 and the second light-emitting unit 112 emit a first guiding light signal and a second guiding light signal respectively. The reflective tape 113 reflects the scanning light emitted by the smart mobile device.

[0054] For example, the first light-emitting unit 111 may be a first infrared light-emitting diode, etc., the first guide light signal may be a first infrared pulse signal, etc., the second light-emitting unit 112 may be a second infrared light-emitting diode, etc., the second guide light signal may be a second infrared pulse signal, etc.

[0055] The first reflected light guiding device 13 includes a reflective tape 113. The reflective tape 113 reflects the scanning light emitted by the intelligent mobile device. The reflective tape 113 has a high reflectivity at the center and low reflectivity at both sides. The center of the reflective tape 113 is set corresponding to the center of the charging electrode on the charging pile side.

[0056] For example, Figure 3C As shown, two charging electrodes 301 , 302 are arranged on the charging pile side. The two charging electrodes 301 , 302 are arranged side by side, and the center of the reflective tape 113 is located at the midpoint of the lateral distance between the charging electrode 301 and the charging electrode 302 .

[0057] like Figure 3DAs shown, the two charging electrodes 301 and 302 arranged on the charging pile side are arranged in parallel up and down, and the center of the reflective tape 113 is located at the midpoint of the longitudinal distance between the charging electrode 301 and the charging electrode 302 .

[0058] The second light signal guiding device 25 includes a guiding light receiving unit 211, which receives the first guiding light signal and the second guiding light signal. The controller 24 determines and controls the intelligent mobile device to enter the predetermined area based on the first guiding light signal and the second guiding light signal. The guiding light receiving unit 211 can be a photodiode, etc., which is used to receive the first guiding light signal and the second guiding light signal. The predetermined area includes the overlapping area of ​​the first guiding light signal and the second guiding light signal.

[0059] The reflective tape 113 has a high reflectivity in the center and a low reflectivity on both sides. The pile-entering guide device includes a scanning light sending unit 212 and a reflected light intensity detection unit 213. The scanning light sending unit 212 can be a laser sensor, a laser transmitter, etc., the scanning light can be a laser, etc., and the reflected light intensity detection unit 213 can be a light intensity sensor, etc., and the light intensity sensor is used to obtain light intensity information.

[0060] The scanning light sending unit 212 emits scanning light to the reflective tape 113 to perform a scanning operation on the reflective tape 113. The reflected light intensity detection unit 213 obtains the light intensity information of the reflected light, and the controller 24 determines the direction of the strongest light intensity based on the light intensity information, and determines the direction information of the return to the pile based on the direction of the strongest light intensity. The controller 24 controls the intelligent mobile device to perform the corresponding pile entry operation based on the direction information of the return to the pile.

[0061] For example, the center of the reflective tape 113 is located at the midpoint of the lateral distance between the charging electrode 301 and the charging electrode 302, or the center of the reflective tape 113 is located at the midpoint of the longitudinal distance between the charging electrode 301 and the charging electrode 302. The controller 24 determines the return direction based on the return direction information, and controls the intelligent mobile device 20 to align with the return direction to enter the pile, so that the charging electrode 30 of the robot 22 contacts the charging electrode 301 and the charging electrode 302 of the charging pile 10 for charging.

[0062] In one embodiment, Figure 4 As shown, the first light-emitting unit 111 and the second light-emitting unit 112 are infrared light-emitting diodes Q1 and Q2 installed on the charging pile, respectively, and their infrared light emission angles are γ. The infrared pulses emitted by Q1 and Q2 divide the space into Q1 coverage area, Q2 coverage area, Q1 and Q2 overlapping area, and blind area.

[0063] At the same height as the infrared light-emitting diodes Q1 and Q2, a gradient reflective tape is installed, the reflective tape has a high reflectivity in the center and a low reflectivity on both sides. A pile-entering guide device 21 is installed on one side of the charging electrode of the robot 22, and the pile-entering guide device 21 includes a photosensitive diode Q3, a laser transmitter Q4, a light intensity sensor Q5, etc.

[0064] like Figure 5 As shown, the charging pile 10 side return guide device includes a controller 114, a modulation circuit 1, a modulation circuit 2, a light emitting diode Q1, a light emitting diode Q2, a wireless communication module 115 and a power supply. The controller 114 can communicate with the robot 22 in a short distance through the wireless communication module 115, and can adopt a communication method such as Bluetooth. The IO1 and IO2 signals output by the controller 114 pass through the modulation circuit 1 and the modulation circuit 2 respectively, and drive the light emitting diodes Q1 and Q2 to emit modulated infrared pulse signals.

[0065] The pile-entry guiding device of the robot 22 includes a controller 24, a demodulation circuit 1, an operational amplifier 1, a photodiode Q3, a driving circuit, a laser transmitter Q4, a band-pass shading sheet, an AD analog-to-digital conversion circuit, an amplification circuit, a light intensity sensor Q5, a wireless communication module 215, a navigation system, a power system, etc. The navigation system can provide map and positioning services for the robot 22, and the power system can be a variety of existing power systems, which can enable the robot 22 to move freely.

[0066] The photodiode Q3 can receive the infrared pulses emitted by the charging pile 10, generate current, and convert it into voltage after passing through the resistor R1. The operational amplifier 1 amplifies the generated voltage signal, and outputs the signal to the controller 24 after passing through the demodulation circuit 1. The bandpass filter filters the frequency band of the light emitted by the laser transmitter Q4, allowing the light frequency band emitted by the laser transmitter Q4 to be transmitted and absorbing the light of other frequency bands.

[0067] The light emitted by the laser transmitter Q4 is reflected by the gradient reflective tape on the charging pile 10, passes through the bandpass filter, is received by the light intensity sensor Q5, and is input to the controller 24 through the amplifier circuit and the AD analog-to-digital conversion circuit.

[0068] like Figure 6 As shown, when the robot 22 needs to return to the charging pile, it will send a charging start signal to the charging pile 10 through its own wireless communication module. The charging pile return guidance device located on the side of the charging pile 10 enters the charging pile return guidance stage after receiving the charging start signal. The controller of the charging pile return guidance device outputs two pulse signals IO1 and IO2 coded signals. The two pulse signals IO1 and IO2 coded signals can be sent simultaneously or alternately in time division.

[0069] The adjustment circuit 1 and the modulation circuit 2 modulate the pulse signal IO1 and the IO2 coded signal respectively and output the driving signal. The two driving signals modulated by the adjustment circuit 1 and the modulation circuit 2 drive the photodiodes Q1 and Q2 to output as shown in FIG. Figure 6 Infrared pulse signal shown.

[0070] like Figure 7 As shown, photodiodes Q1 and Q2 output infrared pulse signals. The infrared light emission angles of photodiodes Q1 and Q2 and the intensity of the output infrared pulse signals can be adjusted so that the infrared pulses emitted by Q1 and Q2 divide the space into a Q1 coverage area, a Q2 coverage area, an Q1 and Q2 overlap area, and a blind area.

[0071] When the robot 22 is in the overlapping area of ​​the light-emitting diodes Q1 and Q2, the photodiode Q3 generates a current after receiving the infrared pulse, which flows through the resistor R1 and generates a voltage difference across R1. The operational amplifier 1 amplifies the voltage across R1 and restores it to a level signal that can be recognized by the controller through the demodulation circuit 1.

[0072] If the infrared pulse sent by the light-emitting diode Q1 or Q2 is received, the voltage across R1 is greater than the voltage threshold. If the infrared pulse sent by the light-emitting diode Q1 or Q2 is not received, the voltage across R1 is less than or equal to the voltage threshold. The voltage value across R1 can be used to determine whether the robot is currently located in the Q1 coverage area, Q2 coverage area, Q1 and Q2 overlap area, or blind area.

[0073] like Figure 8 As shown, the infrared light emission angle of the infrared light emitting diodes Q1 and Q2 installed on the charging pile is γ, and the infrared pulses emitted by the infrared light emitting diodes Q1 and Q2 divide the space into Q1 coverage area, Q2 coverage area, Q1 and Q2 overlap area and blind area.

[0074] At the same height as the infrared light-emitting diodes Q1 and Q2, a gradient reflective tape is installed, with a high reflectivity at the center and a low reflectivity at both sides. The center of the reflective tape 113 is located at the midpoint of the lateral distance between the two charging electrodes on the charging pile side, or at the midpoint of the longitudinal distance between the two charging electrodes on the charging pile side.

[0075] The charging pile guide device on the robot 22 side includes a wireless communication module, a laser radar 40, a photosensitive diode, a laser transmitter, a light intensity sensor, etc. When the robot 22 needs to return to the charging pile, the robot 22 starts the charging pile return guidance program through the wireless communication of the charging pile guide device, sends a charging pile start signal to the charging pile side through its own wireless communication module, and the infrared light emitting diodes Q1 and Q2 emit infrared pulses alternately or simultaneously.

[0076] After the photodiode of the pile-entering guide device of the robot 22 receives the infrared pulse, it determines whether the infrared pulse emitted by the infrared light-emitting diode Q1 or Q2 is received based on the different frequencies of the infrared pulses emitted by the infrared light-emitting diodes Q1 and Q2, and the pressure difference or other characteristic information generated at both ends of R1.

[0077] In the first stage, it is determined that the photosensitive diode receives the infrared pulse emitted by the infrared light emitting diode Q1, that is, the robot 22 is located in the coverage area of ​​Q1, and the robot 22 navigates by the laser radar 40. In the second stage, it is determined that the photosensitive diode can receive the infrared pulses emitted by the infrared light emitting diodes Q1 and Q2, that is, the robot 22 is located in the overlapping area of ​​Q1 and Q2.

[0078] In stage three, the robot 22 emits a scanning light to the pile return guide device, determines the pile return direction according to the reflected light of the scanning light by the pile return guide device, and controls the intelligent mobile device to enter the pile based on the pile return direction. In stage four, the robot 22 adjusts its direction to align with the strongest reflective point, that is, the center of the reflective tape, and moves backward into the pile, so that the charging electrode of the robot 22 contacts the electrode and electrode on the charging pile side for charging.

[0079] In one embodiment, when the smart mobile device is entering the pile, if the controller 24 of the pile-entering guiding device determines based on the light intensity information that the intensity of the reflected light in the direction back to the pile decreases, the controller 24 controls the smart mobile device to stop running.

[0080] The scanning light sending unit 212 emits scanning light to the reflective tape 113 to re-scan the reflective tape. The controller 24 re-determines the direction of the strongest light intensity based on the light intensity information obtained by the reflected light intensity detection unit 213, and determines this direction of the strongest light intensity as the direction of the return to pile correction. The controller 24 controls the intelligent mobile device to perform the corresponding pile entry operation based on the information of the direction of the return to pile correction.

[0081] like Fig. 9 As shown in the figure, as the distance between the robot and the charging pile shortens, the intensity of the laser received by the light intensity sensor increases. When the route deviates during the journey, the light intensity of Q5 will decrease. At this time, the robot detects the change in the light intensity trend, re-scans the charging pile in situ, finds the direction of the strongest reflective point, and corrects the direction back to the pile.

[0082] like Fig. 10A and Fig. 10BAs shown, the robot 22 has low battery and autonomously moves to the charging pile area. The robot 22 sends a charging start signal back to the charging pile 10 through the wireless communication module. The infrared light-emitting diodes Q1 and Q2 set on the side of the charging pile 10 emit infrared coded pulses alternately in time. The robot 22 enters the overlapping coverage area of ​​Q1 and Q2 through the laser radar and the pile entry guide device, rotates in place, and scans the gradient reflective tape through the laser sensor Q4 to obtain the reflective point with the highest reflected light intensity.

[0083] The robot 22 adjusts its direction and moves back into the charging pile facing the reflective point with the highest reflected light intensity. The route deviates during the retreat process, causing the light intensity of Q5 to decrease. At this time, the robot 22 detects that the light intensity change trend has changed. The robot 22 scans the charging pile 10 again in situ, looking for the direction of the reflective point with the strongest reflected light intensity, realigns itself with the direction of the reflective point with the strongest reflected light intensity, and moves back into the charging pile.

[0084] In one embodiment, the present disclosure provides a charging system for a smart mobile device, comprising: a pile return guiding device as in any of the above embodiments and a pile entry guiding device as in any of the above embodiments.

[0085] Fig.11 FIG. 1 is a flow chart of an embodiment of a method for charging a smart mobile device according to the present disclosure, as shown in FIG. Fig.11 As shown:

[0086] Step 111, upon receiving a charging start signal sent by a smart mobile device, a charging pile return guiding device disposed at the charging pile side emits a guiding light signal.

[0087] Step 112: The pile entry guiding device provided on the smart mobile device side receives the guiding light signal, and determines whether the smart mobile device enters the predetermined area based on the guiding light signal.

[0088] Step 113, the pile-entering guiding device emits a scanning light to the pile-returning guiding device in a predetermined area, determines a pile-returning direction according to the reflected light of the scanning light by the pile-returning guiding device, and controls the intelligent mobile device to perform a pile-entering operation based on the pile-returning direction.

[0089] In one embodiment, the signal receiving unit receives a charging start signal. After the signal receiving unit receives the charging start signal, the first light emitting unit and the second light emitting unit emit a first guiding light signal and a second guiding light signal respectively. The reflective tape reflects the scanning light.

[0090] The guide light receiving unit receives the first guide light signal and the second guide light signal. The controller controls the intelligent mobile device to enter the predetermined area based on the first guide light signal and the second guide light signal. The scanning light sending unit emits scanning light to the reflective tape to scan the reflective tape; the reflected light intensity detection unit obtains the light intensity information of the reflected light. The controller determines the direction with the strongest light intensity based on the light intensity information, determines the direction with the strongest light intensity as the direction information of returning to the pile, and controls the intelligent mobile device to perform the corresponding operation of entering the pile based on the direction information of returning to the pile.

[0091] Fig.12 FIG. 1 is a flow chart of performing backward charging correction according to an embodiment of the charging method for a smart mobile device disclosed in the present invention. Fig.12 As shown:

[0092] Step 121 , the controller determines the direction of returning to the pile based on the direction information of returning to the pile, and controls the smart mobile device to align with the direction of returning to the pile to enter the pile.

[0093] Step 122: During the process of the smart mobile device entering the pile, if the controller determines based on the light intensity information that the intensity of the reflected light in the direction of the pile is reduced, the smart mobile device is controlled to stop running.

[0094] Step 123: The scanning light sending unit sends the scanning light to the reflective tape to re-scan the reflective tape.

[0095] Step 124, the controller re-determines the direction of the strongest light intensity based on the light intensity information obtained by the reflected light intensity detection unit, determines this direction of the strongest light intensity as the return-to-pile correction direction, and controls the intelligent mobile device to perform corresponding pile entry operations based on the return-to-pile correction direction information.

[0096] In one embodiment, the present disclosure provides a computer-readable storage medium storing computer instructions, which implement the method in any of the above embodiments when the instructions are executed by a processor.

[0097] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive enumeration) of readable storage media can include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0098] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. must be possessed by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, rather than limitation, and the above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0099] The return-to-pile guiding device, pile entry guiding device, intelligent mobile device charging system, method and storage medium in the above-mentioned embodiments, the return-to-pile guiding device arranged on the charging pile side emits a guiding light signal, and the pile entry guiding device arranged on the intelligent mobile device side determines whether the intelligent mobile device enters a predetermined area based on the guiding light signal, emits scanning light to the return-to-pile guiding device within the predetermined area, determines the return direction according to the reflected light and performs the pile entry operation; it can automatically guide the intelligent mobile device to return to the pile for charging, improve the success rate of returning to the pile, avoid the failure of returning to the pile caused by insufficient rotation angle or route deviation during the retreat process, and improve work efficiency.

[0100] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0101] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present disclosure are intended only as illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems may be connected, arranged, and configured in any manner. Words such as "include," "comprise," "have," and the like are open words, meaning "including but not limited to," and may be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and may be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and may be used interchangeably therewith.

[0102] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0103] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0104] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects, etc., will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0105] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A charging pile return guiding device, arranged at the charging pile side, comprising: A first optical signal guiding device, configured to emit a guiding optical signal upon receiving a charging start signal sent by a smart mobile device, so that the smart mobile device determines whether the smart mobile device has entered a predetermined area based on the guiding optical signal; A first reflected light guiding device is used to reflect the scanning light emitted by the smart mobile device in the predetermined area, so that the smart mobile device determines the direction of returning to the pile according to the reflected light, and controls the smart mobile device to perform a pile entry operation based on the direction of returning to the pile; Among them, the first reflected light guiding device includes a reflective tape, which is used to reflect the scanning light. The reflective tape has a high center reflectivity and a low reflectivity on both sides. The center of the reflective tape is set corresponding to the center of the charging electrode on the charging pile side.

2. The device according to claim 1, wherein: The first optical signal guiding device comprises: a signal receiving unit, a first light emitting unit and a second light emitting unit; The signal receiving unit is used to receive the charging starting signal; The first light emitting unit and the second light emitting unit are arranged on both sides of the first reflective light guiding device, and are used to respectively emit a first guiding light signal and a second guiding light signal after the signal receiving unit receives the charging starting signal.

3. The device as claimed in claim 2, wherein: The first light-emitting unit includes: a first infrared light-emitting diode; the second light-emitting unit includes: a second infrared light-emitting diode; the first guiding light signal includes: a first infrared pulse signal; the second guiding light signal includes: a second infrared pulse signal.

4. A pile-entry guiding device, arranged on the side of a smart mobile device, comprising: A second optical signal guiding device, used to receive a guiding optical signal sent by a charging pile return guiding device arranged at the charging pile side; A controller, configured to determine whether the intelligent mobile device has entered a predetermined area based on the guide light signal; A second reflected light guiding device is used to emit scanning light to the pile return guiding device in the predetermined area; The controller is used to determine a return direction according to the reflected light of the scanning light by the return-to-pile guiding device, and control the intelligent mobile device to perform a pile entry operation based on the return direction; Wherein, the return-to-pile guiding device comprises a reflective tape, the reflective tape is used to reflect the scanning light, the reflective tape has a high reflectivity at the center and a low reflectivity at both sides; the center of the reflective tape is arranged corresponding to the center of the charging electrode on the charging pile side; the second reflected light guiding device comprises: a scanning light sending unit and a reflected light intensity detection unit; The scanning light sending unit is used to send the scanning light to the reflective tape to perform a scanning operation on the reflective tape; The reflected light intensity detection unit is used to obtain the light intensity information of the reflected light; The controller is used to determine the direction with the strongest light intensity based on the light intensity information, determine the direction information of returning to the pile according to the direction with the strongest light intensity, and control the smart mobile device to perform corresponding pile entry operation based on the direction information of returning to the pile.

5. The device according to claim 4, wherein: The guiding light signal comprises: a first guiding light signal and a second guiding light signal; the second light signal guiding device comprises: a guiding light receiving unit; The guide light receiving unit is used to receive the first guide light signal and / or the second guide light signal; The controller is used to control the smart mobile device to enter a predetermined area based on the first guide light signal and / or the second guide light signal.

6. The device according to claim 5, wherein: The guide light receiving unit comprises: a photosensitive diode; the photosensitive diode is used to receive the first guide light signal and / or the second guide light signal; The predetermined area includes an overlapping area of ​​the first guide light signal and the second guide light signal.

7. The device of claim 4, wherein: The scanning light sending unit includes: a laser emitter and a bandpass filter; the scanning light includes: a laser; the reflected light intensity detection unit includes: a light intensity sensor; the light intensity sensor is used to obtain the light intensity information.

8. The device of claim 4, wherein: The controller is used to determine the return direction based on the return direction information, and control the smart mobile device to align with the return direction to perform pile entry operation.

9. The device of claim 8, wherein: The controller is used for controlling the smart mobile device to stop running if it is determined based on the light intensity information that the light intensity of the reflected light in the direction of returning to the pile is reduced during the process of the smart mobile device entering the pile; The scanning light sending unit is used to send the scanning light to the reflective tape to re-scan the reflective tape; The controller is also used to re-determine the direction of the strongest light intensity based on the light intensity information obtained by the reflected light intensity detection unit, determine this direction of the strongest light intensity as the return-to-pile correction direction, and control the intelligent mobile device to perform corresponding pile-entering operations based on the return-to-pile correction direction information.

10. The device of claim 4, wherein: The intelligent mobile device comprises: a navigation device and a charging electrode; the navigation device and the charging electrode are respectively located on two sides of the intelligent mobile device; the pile-entry guiding device and the charging electrode are located on the same side of the intelligent mobile device.

11. The device of claim 4, wherein: The smart mobile device comprises: a wireless communication module; the wireless communication module is used to send back a charging start signal when the smart mobile device needs to be charged.

12. A charging system for a smart mobile device, comprising: A pile return guide device as claimed in any one of claims 1 to 3 and a pile advancement guide device as claimed in any one of claims 4 to 11.

13. A method for charging a smart mobile device, comprising: The charging pile return guiding device arranged at the charging pile side emits a guiding light signal when receiving a charging pile return start signal sent by the smart mobile device; The pile entry guiding device arranged at the side of the smart mobile device receives the guiding light signal, and determines whether the smart mobile device enters a predetermined area based on the guiding light signal; The pile-entry guiding device emits a scanning light beam to the pile-returning guiding device in the predetermined area, determines a pile-returning direction according to the reflected light beam of the scanning light beam by the pile-returning guiding device, and controls the intelligent mobile device to perform a pile-entry operation based on the pile-returning direction; Wherein, the return-to-pile guiding device comprises: a reflective tape; the reflective tape is used to reflect the scanning light, the reflective tape has a high reflectivity at the center and a low reflectivity at both sides; the center of the reflective tape is arranged corresponding to the center of the charging electrode on the charging pile side; the pile entry guiding device comprises: a scanning light sending unit and a reflected light intensity detection unit; the method comprises: The scanning light sending unit sends the scanning light to the reflective tape to scan the reflective tape; The reflected light intensity detection unit obtains light intensity information of the line; The controller determines the direction of the strongest light intensity based on the light intensity information, determines the return direction information according to the direction of the strongest light intensity, and controls the smart mobile device to perform corresponding pile entry operation based on the return direction information.

14. The method of claim 13, wherein: The pile return guiding device comprises: a signal receiving unit, a first light emitting unit, and a second light emitting unit; the method further comprises: The signal receiving unit receives the charging starting signal; The first light emitting unit and the second light emitting unit emit a first guiding light signal and a second guiding light signal respectively after the signal receiving unit receives the charging starting signal; Wherein, the first light-emitting unit includes: a first infrared light-emitting diode; the second light-emitting unit includes: a second infrared light-emitting diode; the first guiding light signal includes: a first infrared pulse; and the second guiding light signal includes: a second infrared pulse.

15. The method of claim 14, wherein: The first light emitting unit and the second light emitting unit are arranged on both sides of the reflective tape.

16. The method of claim 15, wherein: The pile-entry guiding device comprises: a guiding light receiving unit and a controller; the method further comprises: The guide light receiving unit receives the first guide light signal and / or the second guide light signal; The controller controls the smart mobile device to enter a predetermined area based on the first guide light signal and / or the second guide light signal; Wherein, the guide light receiving unit includes: a photosensitive diode; the photosensitive diode is used to receive the first guide light signal and / or the second guide light signal; the predetermined area includes: an overlapping area of ​​the first guide light signal and the second guide light signal.

17. The method of claim 16, wherein: The scanning light sending unit includes: a laser emitter and a bandpass filter; the scanning light includes: a laser; the reflected light intensity detection unit includes: a light intensity sensor; the light intensity sensor is used to obtain the light intensity information.

18. The method according to claim 17, wherein the controlling the smart mobile device to perform a corresponding pile entry operation based on the pile return direction information comprises: The controller determines a return direction based on the return direction information, and controls the smart mobile device to align with the return direction to perform a pile entry operation; During the process of the intelligent mobile device entering the pile, if the controller determines based on the light intensity information that the light intensity of the reflected light in the direction of returning to the pile is reduced, then the intelligent mobile device is controlled to stop running; The scanning light sending unit sends the scanning light to the reflective tape to re-scan the reflective tape; The controller re-determines the direction of the strongest light intensity based on the light intensity information obtained by the reflected light intensity detection unit, determines this direction of the strongest light intensity as the return-to-pile correction direction, and controls the smart mobile device to perform corresponding pile-entering operations based on the return-to-pile correction direction information.

19. A computer-readable storage medium storing computer instructions, wherein the instructions are executed by a processor to perform the method according to any one of claims 13 to 18.

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