A self-moving device, a charging pile and an autonomous charging system

Abstract

The embodiment of the application discloses a self-moving device, a charging pile and an autonomous charging system, the self-moving device comprises a main body, and a light receiving assembly is arranged on the main body; the light receiving assembly comprises a light receiving component and a polarizer, the polarizer is arranged on a receiving light path of the light receiving component, and the polarizer is used for only allowing target light to pass through to be received by the light receiving component, wherein the target light is polarized light emitted by a light emitting assembly arranged on the charging pile and not changing a polarization state, so that the light receiving component of the self-moving device only receives the target light, so that other interference light in the environment and deflected light changing the polarization state are avoided, for example, interference of reflected polarized light on the light receiving component, the anti-interference performance of the light receiving component is improved, and the accuracy of the self-moving device and the charging pile in docking and charging is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a self-moving device, a charging pile and an autonomous charging system. BACKGROUND

[0002] Currently, in order to facilitate the automatic pile returning and charging of the self-moving device, an infrared receiver is arranged on the self-moving device, and an infrared emitter is arranged on the charging pile. When the self-moving device returns to charge, the infrared signal emitted by the infrared emitter on the charging pile is received by the infrared receiver on the self-moving device, so as to guide the self-moving device to dock with the charging pile for charging. However, the infrared signal is easy to be reflected by the reflecting objects (such as walls and ground) during the propagation process, so that the infrared receiver can also receive the infrared signal emitted by the corresponding infrared emitter when the self-moving device deviates from the charging pile, which leads to the inaccuracy of the docking between the self-moving device and the charging pile. In addition, there are light rays with the same or similar wavelength as the infrared signal in the environment. When the self-moving device or the charging pile is located in a position with strong light, the working reliability of the infrared receiver is affected, which also leads to the inaccuracy of the docking between the self-moving device and the charging pile. SUMMARY

[0003] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the detailed description section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solutions, nor to determine the protection scope of the claimed technical solutions.

[0004] In a first aspect, an embodiment of the present application provides a self-moving device, comprising a main body, wherein a light receiving assembly is arranged on the main body.

[0005] The light receiving assembly comprises a light receiving component and a polarizer, the polarizer is arranged on the receiving light path of the light receiving component, and the polarizer is used to only pass the target light to be received by the light receiving component, wherein the target light is polarized light emitted by a light emitting assembly arranged on a charging pile and has not changed the polarization state.

[0006] Optionally, the number of the light receiving assemblies is at least two, and the at least two light receiving assemblies are arranged at intervals on the front side of the main body; the number of the light emitting assemblies is the same as that of the light receiving assemblies, and each light emitting assembly corresponds to one light receiving assembly.

[0007] Optionally, the self-moving device further comprises a control module; the control module is used to control the walking track of the self-moving device according to the state of whether the light receiving component receives the target light during the pile returning and charging process of the self-moving device, so as to dock with the charging pile for charging.

[0008] Optionally, the control module is specifically configured to control the self-moving device to move towards the charging pile when each of the light receiving components receives the corresponding target light during the self-moving device returning to the charging pile for charging.

[0009] In the case that part of the light receiving components do not receive the corresponding target light, the posture of the self-moving device is adjusted until each of the light receiving components receives the corresponding target light, and then the self-moving device is controlled to move towards the charging pile.

[0010] In the case that all of the light receiving components do not receive the corresponding target light, the position of the self-moving device is adjusted until each of the light receiving components receives the corresponding target light, and then the self-moving device is controlled to move towards the charging pile.

[0011] Optionally, the light emitting assembly comprises a light emitting component and a polarizer, and the polarizer is arranged on the emitting light path of the light emitting component.

[0012] Optionally, the light receiving component is an infrared receiver, and the light emitting component is an infrared emitter.

[0013] Optionally, the central wavelength of the infrared light received by the infrared receiver is the same as the central wavelength of the infrared light emitted by the infrared emitter.

[0014] Optionally, the receiving distance of the infrared receiver is greater than or equal to 14 meters.

[0015] In a second aspect, an embodiment of the present application provides a charging pile, comprising a shell, and a light emitting assembly arranged on the shell, wherein the light emitting assembly comprises a light emitting component and a polarizer, and the polarizer is arranged on the emitting light path of the light emitting component, and the polarizer is used to convert the light emitted by the light emitting component into polarized light, so that the polarized light can be received by a light receiving assembly arranged on a self-moving device without changing the polarization state.

[0016] Optionally, the horizontal field of view angle of the light emitting component is 30°-90°.

[0017] Optionally, the polarizer comprises a polarizing film, and the light emitted by the light emitting component is incident on the polarizing film at Brewster angle.

[0018] Optionally, the number of the light emitting assemblies is at least two, and the two light emitting assemblies are arranged at the front side of the shell with a spacing; the number of the light receiving assemblies is the same as the number of the light emitting assemblies, and each of the light receiving assemblies corresponds to one of the light emitting assemblies.

[0019] Optionally, the light receiving assembly comprises a light receiving component and a polarizer, and the polarizer is arranged on a light receiving path of the light receiving component.

[0020] Optionally, the light emitting component is an infrared emitter, and the light receiving component is an infrared receiver.

[0021] Optionally, the infrared receiver receives infrared light having a same central wavelength as that of the infrared light emitted by the infrared emitter.

[0022] Optionally, the infrared emitter comprises an infrared emission driving circuit and an infrared emission unit, the infrared emission driving circuit is connected to the infrared emission unit, and a driving current of the infrared emission driving circuit is positively correlated to an intensity of the infrared light emitted by the infrared emission unit.

[0023] In a third aspect, an embodiment of the present application provides a self-charging system, comprising the self-moving device according to any one of the above-mentioned schemes and the charging pile according to any one of the above-mentioned schemes.

[0024] According to the self-moving device, the charging pile and the self-charging system provided by the embodiment of the present application, the polarizer on the self-moving device only allows the polarized light emitted by the light emitting component arranged on the charging pile and having an unchanged polarization state to pass through, so that the light receiving component of the self-moving device only receives the polarized light, which avoids other interference light in the environment and the deflected light having a changed polarization state, such as the reflected polarized light, from interfering with the light receiving component, improves the anti-interference performance of the light receiving component, and improves the accuracy of the self-moving device and the charging pile in docking for charging. BRIEF DESCRIPTION OF DRAWINGS

[0025] The following drawings of the present application are used herein as a part of the embodiments of the present application for understanding the present application. The embodiments of the present application and the description thereof shown in the drawings are used to explain the principles of the present application.

[0026] In the drawings:

[0027] Figure 1 It is a perspective view of the self-moving device according to an optional embodiment of the present application;

[0028] Figure 2 It is a bottom view of the self-moving device according to an optional embodiment of the present application;

[0029] Figure 3 It is a position schematic view of the self-moving device and the charging pile according to an optional embodiment of the present application;

[0030] Figure 4 It is a position schematic view of the self-moving device and the charging pile according to another optional embodiment of the present application;

[0031] Figure 5 A schematic view of the position of the self-moving device and the charging pile according to yet another alternative embodiment of the present application;

[0032] Figure 6 A schematic view of the position of the self-moving device and the charging pile according to yet another alternative embodiment of the present application;

[0033] Figure 7 A schematic view of the position of the self-moving device and the charging pile according to yet another alternative embodiment of the present application.

[0034] BRIEF DESCRIPTION OF DRAWINGS

[0035] 10 - cleaning robot; 110 - main body; 111 - front part; 112 - rear part; 120 - perception system; 121 - position determining device; 122 - bumper; 130 - control module; 140 - walking mechanism; 150 - cleaning system; 151 - dry cleaning system; 152 - side brush; 153 - wet cleaning system; 160 - energy system; 170 - human-machine interaction system; 20 - charging pile; 210 - housing; 30 - reflector; 40 - light receiving assembly; 401 - polarizer; 402 - light receiving component; 410 - first light receiving assembly; 411 - first polarizer; 412 - first light receiving component; 420 - second light receiving assembly; 421 - second polarizer; 422 - second light receiving component; 50 - light emitting assembly; 501 - light emitting component; 502 - polarizer; 510 - first light emitting assembly; 511 - first light emitting component; 512 - first polarizer; 520 - second light emitting assembly; 521 - second light emitting component; 522 - second polarizer. DETAILED DESCRIPTION

[0036] In the following description, numerous specific details are given to provide a thorough understanding of the application. However, it will be apparent that the application can be practiced without one or more of the specific details. In other instances, well-known features are not described in detail in order to avoid obscuring the application. Accordingly, the specification and drawings are to be regarded in an illustrative, rather than a restrictive, sense.

[0037] It should be noted that the foregoing terms are used herein only to describe specific embodiments and are not intended to limit the example embodiments according to the present application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0038] Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be implemented in many different ways and should not be construed as limited to the embodiments set forth herein. It should be understood that these embodiments have been provided merely for the purposes of clarity and that the concepts of these embodiments are fully conveyed to one of ordinary skill in the art.

[0039] In a first aspect, as Figures 3 to 7 shown, an embodiment of the present application provides a self-moving device, comprising a main body 110, wherein the main body 110 is provided with a light receiving assembly 40; the light receiving assembly 40 comprises a light receiving component 402 and a polarizer 401, the polarizer 401 is arranged on a light receiving path of the light receiving component 402, the polarizer 401 is arranged on the light receiving component 402, and the polarizer 401 is used to only pass target light to be received by the light receiving component 402, wherein the target light is polarized light emitted by a light emitting assembly 50 arranged on a charging pile 20 and has not changed a polarization state.

[0040] In the embodiments of the present disclosure, the self-moving device can be a cleaning robot 10, such as a sweeping robot, a mopping robot, a floor polishing robot, a weeding robot, etc. In addition, the self-moving device can also be an automatic food delivery robot, a warehouse robot, etc. As Figure 1 and Figure 2 shown, the embodiments of the present disclosure take the cleaning robot 10 as an example to introduce the technical solutions involved in the present disclosure. The cleaning robot 10 in the embodiments of the present disclosure can include a main body 110, a perception system 120, a control module 130, a driving mechanism, a cleaning system 150, an energy system 160, and a human-computer interaction system 170. It can be understood that the cleaning robot 10 can be a self-moving cleaning robot or other cleaning robot that meets the requirements. The self-moving cleaning robot is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation.

[0041] As Figure 1 shown, the main body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (circular in both front and rear), or other shapes, including but not limited to an approximately D-shaped shape with a circular rear and a rectangular or square shape with a circular front and rear.

[0042] As Figure 2As shown, the perception system 120 includes a position determining device 121 located on the main body 110, a collision sensor, a proximity sensor, a cliff sensor and a drop sensor disposed on the bumper 122 of the front portion 111 of the main body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer and other sensing devices disposed inside the main body 110 for providing various position information and motion state information of the machine to the control module 130. The position determining device 121 includes but is not limited to a camera, a laser distance sensor (LDS).

[0043] As shown in FIG. 1, the main body 110 includes a front portion 111, a rear portion 112, a left portion 113 and a right portion 114. The front portion 111 is configured to carry a bumper 122. The rear portion 112 is configured to carry a dust box 123. The left portion 113 is configured to carry a left wheel 115. The right portion 114 is configured to carry a right wheel 116. Figure 1 and Figure 2 As shown, the front portion 111 of the main body 110 can carry the bumper 122. When the cleaning robot 10 is propelled by the driving mechanism to walk on the ground during the cleaning process, if the bumper 122 detects one or more events in the travel path of the cleaning robot 10, such as detecting an obstacle, a wall, etc., the driving mechanism is controlled by the control module 130 to cause the cleaning robot 10 to respond to the event, such as moving away from the obstacle or crossing the obstacle.

[0044] The control module is disposed on a circuit board inside the main body 110 and includes a computing processor, such as a central processing unit, an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory. The application processor uses a positioning algorithm, such as simultaneous localization and mapping (SLAM), to draw an instant map of the environment in which the cleaning robot 10 is located based on the obstacle information fed back by the laser distance sensor. In combination with the distance information, speed information, etc. fed back by the cliff sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices disposed on the cleaning robot 10, the control module comprehensively determines the current working state of the cleaning robot 10, the location of the cleaning robot 10, and the current pose of the cleaning robot 10, such as crossing a threshold, being on a carpet, being at a cliff, being stuck above or below, being full of dust, being picked up, etc. The control module also gives specific next action strategies for different situations to make the cleaning robot 10 have better cleaning performance and user experience.

[0045] As shown in FIG. 1, the main body 110 includes a front portion 111, a rear portion 112, a left portion 113 and a right portion 114. The front portion 111 is configured to carry a bumper 122. The rear portion 112 is configured to carry a dust box 123. The left portion 113 is configured to carry a left wheel 115. The right portion 114 is configured to carry a right wheel 116. Figure 2As shown, the cleaning system 150 can be a dry cleaning system 151 and / or a wet cleaning system 153. As the dry cleaning system 151, the main cleaning function is derived from the sweeping system composed of the rolling brush, the dust box, the fan, the air outlet, and the connecting components therebetween. The rolling brush with certain interference with the ground sweeps the garbage on the ground and brings it to the front of the dust suction port between the rolling brush and the dust box, and then the garbage is sucked into the dust box by the gas generated by the fan and passing through the dust box. The dry cleaning system 151 can also include a side brush 152 having a rotating shaft at an angle relative to the ground for moving the debris into the rolling brush area of the cleaning system 150.

[0046] The energy system 160 includes a rechargeable battery, such as a hydrogen-retaining battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, which are connected with the single-chip microcomputer control circuit. The host is connected with the charging pile 20 through the charging electrode arranged on the side or the lower side of the machine body for charging.

[0047] As shown in Figure 1 The human-computer interaction system 170 includes the keys on the main body panel for the user to select the functions, and can also include the display screen and / or the indicator light and / or the loudspeaker for showing the current state of the machine or the function selection items to the user, and can also include the mobile phone client program. For the path navigation type self-moving device, the mobile phone client can show the user the map of the environment where the device is located and the current position, and can provide more rich and humanized function items to the user.

[0048] As shown in Figure 2 The driving mechanism is arranged in the main body 110, and includes the driving motor and the control circuit for controlling the driving motor. The driving motor can drive the walking wheels in the walking mechanism 140 to rotate, so as to realize the walking purpose of the self-moving device 10.

[0049] In the embodiment, the main body 110 is further provided with the light receiving component 402, and the light receiving component 402 is provided with the polarizer 401 for allowing only the target light to pass through to be received by the light receiving component 402, wherein the target light is the polarized light emitted by the light emitting assembly 50 arranged on the charging pile 20 and not changed in polarization state.

[0050] Specifically, the charging pile 20 includes a roughly L-shaped housing 210, which is disposed on the ground, wall, etc. The outer peripheral wall of the housing 210 is provided with a light emitting component 50, which emits polarized light. This polarized light can pass through the analyzer 401 and reach the light receiving component 402 without changing its polarization state, and is thus received by the light receiving component 402. That is, only the light emitted by the light emitting component 501 through the polarizer 502 and directly enters the analyzer 401 can pass through the analyzer 401 and be received by the light receiving component 402. Other interfering light in the environment and deflected light whose polarization state has changed, such as polarized light reflected by the reflector 30, cannot pass through the analyzer 401. In this way, during the process of the mobile device searching for a charging pile, the position of the mobile device can be determined by whether the light receiving component 402 receives the target light. Then, the control module on the mobile device controls the mobile device to dock with the charging pile 20 for charging.

[0051] The number of optical transmitting components 50 and the number of optical receiving components 40 can be one or more. For example... Figure 3 and Figure 4 As shown, in some embodiments, the number of light emitting components 50 and the number of light receiving components 40 are one. The light emitting component 50 is set on the center line M1 of the housing 210 of the charging pile 20, and the light receiving component 40 is set on the center line M1 of the main body 110 of the self-moving device. During the process of the self-moving device searching for a charging pile, if the light receiving component 402 receives the target light, that is, receives the polarized light emitted by the light emitting component 50 without changing the polarization state, it is determined that the center line M1 of the main body 110 of the self-moving device is aligned with the center line M2 of the housing 210 of the charging pile 20. The control module controls the self-moving device to walk towards the charging pile 20, and the charging docking can be completed. If the light receiving component 402 does not receive the target light, that is, it does not receive the polarized light emitted by the light emitting component 50 without changing its polarization state, it is determined that the centerline of the main body 110 of the self-moving device is not aligned with the centerline of the housing 210 of the charging pile 20. The control module then controls the self-moving device to adjust its position to search for the target light until the light receiving component 402 receives it. Finally, the control module controls the self-moving device to move towards the charging pile 20, thus completing the charging docking. In this embodiment, the number of light emitting components 50 and light receiving components 40 is reduced, lowering the implementation cost.

[0052] The situation where there are two or more optical transmitting components 50 and optical receiving components 40 will be discussed in detail later.

[0053] Furthermore, for shorter self-moving devices, such as robotic vacuum cleaners, a wider horizontal response range and a narrower vertical response range are required. Therefore, the horizontal field of view of the light receiving component 402 is greater than its vertical field of view; for example, the horizontal field of view of the light receiving component 402 is 35°, and its vertical field of view is 25°. For larger self-moving devices, such as large robotic vacuum cleaners, the vertical field of view can be adaptively increased to improve the vertical response range of the light receiving component 402.

[0054] According to an embodiment of the present invention, a self-moving device is provided, wherein the analyzer 401 on the device allows only polarized light emitted by the light emitting component 501 disposed on the charging pile 20 via the polarizer 502 without changing its polarization state to pass through, so that the light receiving component 402 of the self-moving device can only receive the polarized light. This avoids interference from other interfering light in the environment and deflected light that changes its polarization state, such as reflected polarized light, to the light receiving component 402, thereby improving the anti-interference capability of the light receiving component 402 and improving the accuracy of the self-moving device docking and recharging with the charging pile 20.

[0055] In one optional embodiment, the number of light receiving components 40 is at least two, and the at least two light receiving components 40 are spaced apart on the front side of the main body 110; the number of light emitting components 50 is the same as the number of light receiving components 40, and they correspond one-to-one with the light receiving components 40.

[0056] The front side of the main body 110 refers to the front end of the forward portion 111 of the main body 110.

[0057] Specifically, for example, such as Figures 4 to 7 As shown, taking two optical receiving components 40 as an example, the two optical receiving components 40 include a first optical receiving component 410 and a second optical receiving component 420. The first optical receiving component 410 includes a first optical receiving part 412 and a first polarizer 411 disposed on the receiving optical path of the first optical receiving part 412. The second optical receiving component 420 includes a second optical receiving part 422 and a second polarizer 421 disposed on the receiving optical path of the second optical receiving part 422. In some preferred implementations, in order to improve the accuracy of docking between the self-mobile device and the charging pile 20, the first optical receiving part 412 and the second optical receiving part 422 are symmetrical about the center line M1 extending in the front-rear direction of the main body 110.

[0058] Correspondingly, the housing 210 of the charging pile 20 is also provided with two light emitting components 50, including a first light emitting component 510 and a second light emitting component 520. The first light emitting component 510 corresponds to the first light receiving component 410, that is, the first light emitting component 510 is arranged on the housing 210 corresponding to the position of the first light receiving component 410 when the self-moving device is in the docking state with the charging pile 20. Similarly, the second light emitting component 520 corresponds to the second light receiving component 420, that is, the second light emitting component 520 is arranged on the housing 210 corresponding to the position of the second light receiving component 420 when the self-moving device is in the docking state with the charging pile 20. That is, when the first light receiving component 410 and the second light receiving component 420 are symmetrical about the center line M1 of the main body 110, the first light receiving component 410 and the second light receiving component 420 are symmetrical about the center line M2 of the housing 210. In this way, when the first light receiving component 412 stably receives the polarized light emitted by the first light emitting component 511 through the first polarizer without changing the polarization state for a certain period of time, and the second light receiving component 422 stably receives the polarized light emitted by the second light emitting component 521 through the second polarizer without changing the polarization state for a certain period of time, it is determined that the center line M1 of the main body 110 of the self-moving device is aligned with the center line M2 of the housing 210 of the charging pile 20, thereby ensuring accurate alignment of the self-moving device and the charging pile 20.

[0059] The following will be described in detail Figure 4 and Figure 7 , and the self-moving device adopts two light receiving components 402, and the charging pile 20 adopts two light emitting components 501 as an example to describe the pile searching process of the self-moving device in detail.

[0060] The self-moving device further comprises a control module; the control module is used to control the walking track of the self-moving device to dock and charge with the charging pile 20 according to the state of whether the light receiving component 402 receives the target light during the self-moving device returns to the pile and charges.

[0061] Specifically, the charging pile 20 is provided with an encoding control module, which encodes the light emitted by the first light emitting component 511 and the second light emitting component 521, and the light emitted by the first light emitting component 511 and the second light emitting component 521 has different encodings. In this way, the first light receiving component 412 and the second light receiving component 422 convert the received target light into an electrical signal and determine the source of the target light by recognizing the encoding, thereby judging the position of the self-moving device, and then the control module controls the walking track of the self-moving device according to the position of the self-moving device to dock and charge with the charging pile 20.

[0062] Specifically, the control module is used to control the self-moving device to move toward the charging pile 20 when each light receiving component 402 receives the corresponding target light during the self-moving device's return to the charging pile.

[0063] Specifically, taking two light receiving components 40 and light emitting components 50 as examples, when the first light receiving component 412 converts the received target light into an electrical signal and identifies the target light as polarized light emitted by the first light emitting component 511 via the first polarizer 512 without changing its polarization state, and the second light receiving component converts the received target light into an electrical signal and identifies the target light as polarized light emitted by the second light emitting component 521 via the second polarizer 522 without changing its polarization state, it can be determined that the main body 110 of the self-moving device is aligned with the housing 210 of the charging pile 20. In this way, the control module controls the self-moving device to move towards the charging pile 20, and the self-moving device can be docked and charged with the charging pile 20.

[0064] If some light receiving components 402 do not receive the corresponding target light, adjust the posture of the self-moving device until each light receiving component 402 receives the corresponding target light, and then control the self-moving device to walk towards the charging pile 20.

[0065] like Figure 7 As shown, when the first light receiving unit 412 converts the received target light into an electrical signal and identifies the target light as polarized light emitted by the first light emitting unit 511 via the first polarizer 512 without changing its polarization state, and the second light receiving unit converts the received target light into an electrical signal, it does not identify the target light as polarized light emitted by the second light emitting unit 521 via the second polarizer 522 without changing its polarization state. In other words, when the second light receiving unit 422 does not receive polarized light emitted by the second light emitting unit 521 via the second polarizer 522 without changing its polarization state, the control module controls the self-moving device to adjust its direction. That is, the main body 110 rotates and moves towards the direction of the second light emitting unit 521, that is, towards the left side of the charging pile 20, until it is adjusted to the desired position. Figure 5 The position shown indicates that the first light receiving component 412 receives polarized light emitted by the first light emitting component 511 via the first polarizer 512 without changing its polarization state, and the second light receiving component 422 receives polarized light emitted by the second light emitting component 521 via the second polarizer 522 without changing its polarization state. This allows it to determine that the main body 110 of the self-moving device is aligned with the housing 210 of the charging pile 20. In this way, the control module controls the self-moving device to continue moving towards the charging pile 20 in the adjusted direction, thus enabling the self-moving device to dock and charge with the charging pile 20.

[0066] like Figure 6As shown, the second light receiving component 521 converts the received target light into an electrical signal and identifies the target light as polarized light emitted by the second light emitting component 521 via the second polarizer 522 without changing its polarization state. However, the first light receiving component 412 converts the received target light into an electrical signal and does not identify the target light as polarized light emitted by the first light emitting component 511 via the first polarizer 512 without changing its polarization state. In other words, when the first light receiving component 412 does not receive polarized light emitted by the first light emitting component 511 via the first polarizer 512 without changing its polarization state, the control module controls the self-moving device to adjust its direction. Specifically, the main body 110 rotates and moves towards the direction of the first light emitting component 511, that is, towards the right side of the charging pile 20, until it is adjusted to the desired position. Figure 5 The position shown indicates that the first light receiving component 412 receives polarized light emitted by the first light emitting component 511 via the first polarizer 512 without changing its polarization state, and the second light receiving component 422 receives polarized light emitted by the second light emitting component 521 via the second polarizer 522 without changing its polarization state. This allows it to determine that the main body 110 of the self-moving device is aligned with the housing 210 of the charging pile 20. In this way, the control module controls the self-moving device to continue moving towards the charging pile 20 in the adjusted direction, thus enabling the self-moving device to dock and charge with the charging pile 20.

[0067] If none of the light receiving components 402 receive the corresponding target light, adjust the position of the self-moving device until each light receiving component 402 receives the corresponding target light, and then control the self-moving device to move towards the charging pile 20.

[0068] Specifically, if neither the first light receiving component 412 nor the second light receiving component 422 receives the target light, then the self-moving device needs to be controlled to continue moving to search for the area radiated by the target light, until it moves to such an area. Figure 5 The position shown indicates that the first light receiving component 412 receives polarized light emitted by the first light emitting component 511 via the first polarizer 512 without changing its polarization state, and the second light receiving component 422 receives polarized light emitted by the second light emitting component 521 via the second polarizer 522 without changing its polarization state. This allows it to be determined that the main body 110 of the self-moving device is aligned with the housing 210 of the charging pile 20. In this way, the control module controls the self-moving device to continue moving towards the charging pile 20 in the adjusted direction, thus enabling the self-moving device to dock and charge with the charging pile 20.

[0069] In this embodiment, no additional stakeout settings are required for the self-moving device, nor is the self-moving device required to have the ability to create stakeout maps, thus making stakeout implementation simple and cost-effective.

[0070] Further, as shown in Figures 3 to 7 The light emitting assembly 50 includes a light emitting component 501 and a polarizer 502, which is arranged on the light emitting path of the light emitting component 501.

[0071] In a specific application, the polarizer 502 converts the polarization state of the polarized light to be the same as the polarization state of the polarized light that can be detected by the polarimeter 401, so that the polarimeter 401 can pass the polarized light converted by the polarizer 502 without changing the polarization state.

[0072] Specifically, the light receiving component 402 is an infrared receiver, and the light emitting component 501 is an infrared emitter.

[0073] Infrared light has good stability, and infrared receivers and infrared emitters have low cost. In addition, infrared light is invisible, and the user experience is good.

[0074] Specifically, the infrared receiver includes an infrared receiving unit and a signal processing unit connected to the infrared receiving unit. The infrared receiving unit is used to receive the target light passing through the polarimeter 401, and the signal processing unit is used to convert the target light into an electrical signal and perform coding recognition, thereby determining the source of the target light.

[0075] Further, the center wavelength of the infrared light received by the infrared receiver is the same as the center wavelength of the infrared light emitted by the infrared emitter, thereby ensuring the best response efficiency between the infrared receiver and the infrared emitter, and further realizing the farthest response distance of the infrared receiver and the infrared emitter, so as to improve the range of receiving the target light. For example, the center wavelength of the infrared light received by the infrared receiver is 900 nm, and the center wavelength of the infrared light emitted by the infrared emitter is also 900 nm.

[0076] Further, the receiving distance of the infrared receiver is greater than or equal to 14 meters. The use of an infrared receiver with a longer receiving distance can further improve the sensitivity of the infrared receiver.

[0077] The second aspect, as shown in Figures 3 to 7 The present embodiment provides a charging pile. The shell 210 is provided with a light emitting assembly 50. The light emitting assembly 50 includes an emitting component and a polarizer 502. The polarizer 502 is arranged on the light emitting path of the light emitting component 501. The polarizer 502 is used to convert the light emitted by the light emitting component 501 into polarized light. The polarized light can be received by the light receiving assembly 40 arranged on the self-moving device without changing the polarization state.

[0078] In a specific application, the charging pile 20 includes a substantially L-shaped shell 210 which is arranged on a fixed object such as the ground or a wall. The shell 210 of the charging pile 20 is further provided with a charging interface and a charging circuit connected with the charging interface. The charging circuit is further connected with a power supply, so that after the charging pile 20 is connected with the self-moving device, the charging interface is connected with the electrode of the self-moving device to charge the battery of the self-moving device through the charging circuit. The self-moving device can adopt the structure in the above embodiments, and details are not described herein.

[0079] In the embodiment, the outer peripheral wall of the shell 210 is provided with a light emitting component 501, and a polarizer 502 is arranged on the light emitting path of the light emitting component 501. In this way, the light emitted by the light emitting component 501 is converted into polarized light after passing through the polarizer 502. The main body 110 of the self-moving device is further provided with a light receiving assembly 40. The light receiving assembly 40 can only receive the polarized light emitted by the light emitting component 501 provided on the charging pile 20 through the polarizer 502 without changing the polarization state. Other interfering light in the environment and deflected light changing the polarization state, such as the reflected polarized light by the reflecting object 30, cannot be received by the light receiving assembly 40. In this way, during the self-moving device searching for the charging pile, the light receiving assembly 40 can determine the position of the self-moving device by whether the polarized light emitted by the light emitting component 501 through the polarizer 502 is received, and then control the walking track of the self-moving device through the control module on the self-moving device to perform the charging connection with the charging pile 20.

[0080] The number of the light emitting assembly 50 and the number of the light receiving assembly 40 can be one or more than one. The specific principle and setting mode can refer to the embodiment of the self-moving device, and details are not described herein.

[0081] According to the charging pile provided in the embodiment of the present application, the light receiving assembly 40 on the self-moving device can only receive the polarized light emitted by the light emitting component 501 provided on the charging pile 20 through the polarizer 502 without changing the polarization state. In this way, the interference of other interfering light in the environment and deflected light changing the polarization state, such as the reflected polarized light, to the light receiving assembly 402 is avoided, the anti-interference performance of the light receiving assembly 402 is improved, and the accuracy of the self-moving device and the charging pile 20 in the charging connection is also improved.

[0082] Further, the horizontal field of view angle of the light emitting component 501 is 30°-90°. The specific angle of the horizontal field of view angle can be set by the staff according to the actual environment. In some implementations, when the number of the light emitting component 501 is two, the horizontal field of view angle of the light emitting component 501 is 90°. In this way, the total horizontal field of view angle of the two light emitting components is 180°, so that the entire front area of the charging pile 20 can be covered.

[0083] Further, the polarizer 502 comprises a polarized film, and the light emitted by the light emitting component 501 is incident on the polarized film at the Brewster angle, so as to facilitate the formation of high-quality polarized light. The light emitted by the light emitting component 501 is polarized light having a high-transmission p component and a high-reflection s component after passing through the polarized film.

[0084] In some embodiments, as shown in Figures 5 to 7 The number of the light emitting assemblies 50 is at least two, and the two light emitting assemblies 50 are arranged at the front side of the housing 210. The number of the light receiving assemblies 40 is the same as that of the light emitting assemblies 50, and each light receiving assembly 40 corresponds to one light emitting assembly 50. The arrangement and principle of the light emitting assemblies 50 can refer to the embodiments of the self-moving device, which will not be described here.

[0085] It can be understood that the front side of the housing refers to the side of the housing facing the self-moving device when the charging pile is used.

[0086] In specific applications, as shown in Figure 5 and Figure 7 The light receiving assembly 40 comprises a light receiving component 402 and a polarizing detector 401, and the polarizing detector 401 is arranged on the light receiving path of the light receiving component 402.

[0087] In specific applications, the polarization state of the polarized light converted by the polarizer 502 is the same as the polarization state of the polarized light that can be detected by the polarizing detector 401. In this way, the polarizing detector 401 can make the polarized light converted by the polarizer 502 and having the same polarization state pass through, so that the light receiving component 402 can receive the polarized light converted by the polarizer 502 and having the same polarization state.

[0088] Further, the light emitting component 501 is an infrared emitter, and the light receiving component 402 is an infrared receiver.

[0089] Infrared light has good stability, and the cost of the infrared receiver and the infrared emitter is relatively low. In addition, infrared light is invisible, and the user experience is good.

[0090] Further, the center wavelength of the infrared light received by the infrared receiver is the same as the center wavelength of the infrared light emitted by the infrared emitter, so as to ensure the best response efficiency between the infrared receiver and the infrared emitter, and further to realize the farthest response distance of the infrared receiver and the infrared emitter, so as to improve the range of the received target light. For example, the center wavelength of the infrared light received by the infrared receiver is 900 nm, and the center wavelength of the infrared light emitted by the infrared emitter is also 900 nm.

[0091] Further, the infrared emitter comprises an infrared emission driving circuit and an infrared emission unit, the infrared emission driving circuit is connected with the infrared emission unit, and the driving current of the infrared emission driving circuit is positively correlated with the intensity of the infrared light emitted by the infrared emission unit.

[0092] The positive correlation between the driving current and the intensity of the emitted infrared light means that the greater the driving current, the greater the intensity of the emitted infrared light, and the smaller the driving current, the smaller the intensity of the emitted infrared light. By adjusting the size of the driving current, the intensity of the emitted infrared light can be adjusted, so that when a plurality of infrared emitters are arranged, the light intensity emitted by each infrared light emission unit is set to be different, so that the light receiving assembly 40 can determine the source of the received polarized light by the intensity of the received polarized light.

[0093] In a third aspect, the embodiments of the present application provide a self-charging system, comprising the self-moving device according to any one of the above schemes and the charging pile 20 according to any one of the above schemes.

[0094] According to the self-charging system provided by the embodiments of the present application, the polarizer 401 on the self-moving device only allows the polarized light emitted by the light emission component 501 arranged on the charging pile 20 via the polarizer 502 and without changing the polarization state to pass through, so that the light receiving component 402 of the self-moving device only receives the polarized light, which avoids the interference of other ambient light and deflected light changing the polarization state, such as the interference of the reflected polarized light on the light receiving component 402, improves the anti-interference performance of the light receiving component 402, and improves the accuracy of the self-moving device and the charging pile 20 in docking and charging.

[0095] The present application has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. In addition, those skilled in the art can understand that the present application is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present application, which all fall within the scope of the present application. The protection scope of the present application is defined by the attached claims and their equivalent scope.

Claims

1. A self-moving device, characterized in that, The device includes a main body on which at least two light receiving components are provided; the number of light emitting components provided on the charging pile is the same as the number of light receiving components, and they correspond one-to-one with the light receiving components. Each light emitting component is provided on the housing of the self-moving device in the state of being connected to the charging pile, corresponding to the position of the light receiving component. For each set of optical emitting components and optical receiving components: the optical receiving component includes an optical receiving element and an analyzer. The analyzer is disposed in the receiving optical path of the optical receiving element. The analyzer is used to allow only the target light to pass through so that it can be received by the optical receiving element. The target light is polarized light emitted by the optical emitting component and whose polarization state has not been changed. The optical emitting component includes an optical emitting element and a polarizer. The polarizer is disposed in the emitting optical path of the optical emitting component. The polarization state of the polarized light converted by the polarizer is the same as the polarization state of the polarized light that the analyzer can detect.

2. The self-moving device according to claim 1, characterized in that, At least two of the optical receiving components are spaced apart on the front side of the main body.

3. The self-moving device according to claim 1 or 2, characterized in that, The self-moving device also includes a control module; the control module is used to control the walking trajectory of the self-moving device according to whether the light receiving component receives the target light during the self-moving device's return to the charging pile, so as to dock and charge with the charging pile.

4. The self-moving device according to claim 3, characterized in that, The control module is specifically used to control the self-moving device to move toward the charging pile during the process of the self-moving device returning to the charging pile, provided that each of the light receiving components receives the corresponding target light. If some of the light receiving components do not receive the corresponding target light, the posture of the self-moving device is adjusted until each of the light receiving components receives the corresponding target light, and then the self-moving device is controlled to walk toward the charging pile. If none of the light receiving components receive the corresponding target light, adjust the position of the self-moving device until each of the light receiving components receives the corresponding target light, and then control the self-moving device to move towards the charging pile.

5. The self-moving device according to claim 1, characterized in that, The light receiving component is an infrared receiver, and the light emitting component is an infrared transmitter.

6. The self-moving device according to claim 5, characterized in that, The center wavelength of the infrared light received by the infrared receiver is the same as the center wavelength of the infrared light emitted by the infrared transmitter.

7. The self-moving device according to claim 5, characterized in that, The infrared receiver has a receiving distance of 14 meters or more.

8. A charging pile, characterized in that, The device includes a housing, on which at least two light emitting components are provided. The number of light receiving components provided on the self-moving device is the same as the number of light emitting components, and they correspond one-to-one with the light emitting components. Each light emitting component is located on the housing in the state where the self-moving device is connected to the charging pile, corresponding to the position of the light receiving component. For each set of optical emitting components and optical receiving components: the optical emitting component includes an optical emitting element and a polarizer. The polarizer is disposed in the emission optical path of the optical emitting element and is used to convert the light emitted by the optical emitting element into polarized light so that the polarized light can be received by the optical receiving component disposed on the self-moving device without changing the polarization state. The optical receiving component includes an optical receiving element and an analyzer. The analyzer is disposed in the receiving optical path of the optical receiving component. The polarization state of the polarized light converted by the polarizer is the same as the polarization state of the polarized light that the analyzer can detect.

9. The charging pile according to claim 8, characterized in that, The horizontal field of view of the light emitting component is 30°-90°.

10. The charging pile according to claim 8, characterized in that, The polarizer includes a polarizing film, and the light emitted by the light emitting component is incident on the polarizing film at a Brewster angle.

11. The charging pile according to claim 8, characterized in that, The two light-emitting components are spaced apart on the front side of the housing.

12. The charging pile according to claim 11, characterized in that, The light emitting component is an infrared transmitter, and the light receiving component is an infrared receiver.

13. The charging pile according to claim 12, characterized in that, The center wavelength of the infrared light received by the infrared receiver is the same as the center wavelength of the infrared light emitted by the infrared transmitter.

14. The charging pile according to claim 12, characterized in that, The infrared emitter includes an infrared emission driving circuit and an infrared emission unit. The infrared emission driving circuit is connected to the infrared emission unit, and the driving current of the infrared emission driving circuit is positively correlated with the intensity of the infrared light emitted by the infrared emission unit.

15. An autonomous charging system, characterized in that, This includes the self-moving device as described in any one of claims 1-7 and the charging station as described in any one of claims 8-14.

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