Intelligent chair and automatic alignment charging method and system thereof

Abstract

The application provides a kind of intelligent chair and its automatic alignment charging method and system, through the interaction of the positioner on the intelligent chair and the positioner on the intelligent table, first calculate the steering angle required by the intelligent chair in the initial state, complete the first steering, then linear travel to the target position, then carry out the second steering again, thereby complete the adjustment of the angle and attitude of the intelligent chair and the intelligent table, linear travel again, so that the intelligent chair travels to the charging position from the predetermined direction with the predetermined attitude, thereby it can ensure that the charging output end of the intelligent table is aligned with the charging input end of the intelligent chair, and then the two automatically complete connection to charge, the whole process does not need manual intervention, improve the convenience of charging operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of smart home, in particular to a smart chair and an automatic alignment charging method and system thereof. BACKGROUND

[0002] Smart home refers to home devices connected through the Internet of Things technology, which has a variety of functions and improves the convenience of people's life and work. Some existing smart office desks and chairs have media expansion functions and comfort adjustment functions, such as an office desk capable of automatic lifting and an office chair having a massage function, etc. These functions obviously require the use of power. Generally, the position of the desk is fixed, so the user can connect the power supply through the line, but the chair often needs to be moved to a new position, which will bring inconvenience to the user if the power supply is connected through the line.

[0003] Patent document CN105686419A discloses a self-homing intelligent desk and chair system. The position sensor under the seat of the chair in the system receives the position information from the position signal emitting device of the desk and sends the information to the control chip. The four universal wheels at the bottom of the seat are driven by the DC motor to move the seat. During the movement, the position sensor under the seat continuously receives the position information from the position signal emitting device of the desk. After processing by the control chip, the movement of the seat is adjusted until the seat stops moving when the seat is again located directly below the position signal emitting device of the desk. The power consumption parts of the seat are powered by the battery of the seat. When not in use, the first charging plug of the seat can be connected to the corresponding charging socket on the desk base for charging. When not charging, the charging cord can be retracted into the seat.

[0004] The system can automatically walk under the desk when it is identified that the chair is not in use. However, only the position information of the position signal emitting device is recorded, and the chair can return to the expected position. According to the conventional homing method, the system provided by the patent document can only realize the alignment in the vertical direction, i.e. the sensor on the chair is located directly below the emitting device on the desk, but cannot take into account the relative attitude between the desk and the chair, i.e. the alignment between the sensors does not mean the alignment between the charging plug and the interface. Therefore, after homing, the user or administrator needs to manually complete the charging connection, and the convenience still needs to be improved. SUMMARY

[0005] Therefore, the present application provides an automatic alignment charging method for a smart chair. The smart chair comprises a rechargeable power supply, an electric energy receiving unit, a first positioner for positioning the electric energy receiving unit, and a movement unit for moving and turning the smart chair. The method comprises:

[0006] determining orientation data of the first locators relative to second locators on the charging device for locating the power output units by interaction between the first locators and the second locators;

[0007] calculating a turning angle according to the orientation data;

[0008] rotating the smart chair to a first advancing direction by the movement unit according to the turning angle;

[0009] advancing in the first advancing direction by the movement unit and interacting between the first locators and the second locators during the advancing to reach a first target position;

[0010] rotating the smart chair to a second advancing direction by the movement unit according to a preset angle;

[0011] advancing in the second advancing direction by the movement unit and interacting between the first locators and the second locators during the advancing to stop after reaching a second target position, so that the power output units can be aligned to charge the power receiving units.

[0012] Optionally, the power receiving units include at least one input end arranged on the upper surface of the armrests of the smart chair; the first locators are two and arranged on the two armrests of the smart chair respectively, and the first locators are configured with identification information for marking left and right.

[0013] Optionally, the orientation data of the first locators relative to second locators on the charging device for locating the power output units is determined by interaction between the first locators and the second locators, and specifically includes:

[0014] obtaining the straight-line distance between the two first locators and the second locators;

[0015] calculating the distance between the two first locators and a baseline according to the straight-line distance, the baseline being the bottom boundary line of the sensing area of the second locators.

[0016] Optionally, the turning angle is calculated according to the orientation data, and specifically, the turning angle is calculated according to the distance between the two first locators and the baseline, the turning angle being the angle between the straight line where the two first locators are located and the virtual line perpendicular to the baseline.

[0017] Optionally, the movement unit includes a first rotating unit, a second rotating unit and an advancing unit, wherein the first rotating unit is used to drive the seat part of the smart chair to rotate relative to the chassis part, the second rotating unit is used to drive the chassis part to rotate itself, and the advancing unit is used to drive the chassis to advance or retreat.

[0018] The seat part and the chassis part are provided with third and fourth positioners for determining the positional relationship with each other;

[0019] The movement unit turns the smart chair in the following way:

[0020] The seat part is driven to rotate by the first rotation unit, towards the first or second travel direction;

[0021] The chassis part is driven to rotate by the second rotation unit, towards the first or second travel direction, through the interaction of the third and fourth positioners.

[0022] Optionally, the first target position refers to the position where the first positioner is closest to the second positioner in the first travel direction.

[0023] Optionally, the preset angle is 90 degrees; in the step of turning the first positioner to the second travel direction by the movement unit at the preset angle, the left or right turn of 90 degrees is determined according to the first travel direction.

[0024] Optionally, the second target position refers to the position where the first positioner reaches the preset distance from the second positioner in the second travel direction.

[0025] Optionally, before calculating the turning angle according to the orientation data, the method further comprises:

[0026] judging whether the distance between the smart chair and the second positioner is less than a distance threshold value;

[0027] If the distance between the smart chair and the second positioner is less than the distance threshold value, the smart chair is moved by the movement unit, so as to increase the distance between the smart chair and the second positioner.

[0028] Optionally, before calculating the turning angle according to the orientation data, the method further comprises:

[0029] The smart chair is rotated 360° in place by the movement unit, so as to detect whether the smart chair can complete the rotating action.

[0030] Optionally, the electric energy receiving unit is an electric energy input coil or an electric connection contact.

[0031] The application provides a smart chair with automatic alignment charging function, comprising a processor, a chargeable power supply, an electric energy receiving unit, a first positioner for positioning the electric energy receiving unit, a movement unit for moving and steering the smart chair, the processor executes the automatic alignment charging method, thereby connecting an external charging device and charging the chargeable power supply.

[0032] The application also provides a smart table and chair system, comprising a smart chair and a smart table, the smart chair executes the automatic alignment charging method, and the smart table serves as a charging device for charging the smart chair.

[0033] Optionally, the electric energy output unit and the second positioner are arranged on the lower surface of the tabletop of the smart table, and the smart table is provided with a lifting unit for driving the tabletop to rise and fall.

[0034] After the smart chair stops moving to the second target position, the lifting unit drives the tabletop to fall, so that the electric energy output unit is connected to the electric energy receiving unit.

[0035] Optionally, the electric energy output unit comprises at least one output end, and the distance between the output end and the second positioner is equal to the distance between the first positioner and the center of the smart chair.

[0036] Optionally, the electric energy output unit is an electric energy output coil or an electric connection contact.

[0037] According to the automatic alignment charging method and system of the smart chair provided by the application, the positioner on the smart chair and the positioner on the smart table are interacted, the steering angle of the smart chair in the initial state is calculated first, the first steering is completed, then the smart chair moves straight to the target position, and the second steering is performed, thereby adjusting the angle and posture of the smart chair and the smart table, and the smart chair moves straight again to the charging position from the predetermined direction and in the predetermined posture, so that the charging output end of the smart table and the charging input end of the smart chair are aligned, and the two are automatically connected for charging, the whole process does not need manual participation, and the convenience of charging operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0039] Figure 1 It is a schematic view of the smart table and chair system.

[0040] Figure 2 is a structural schematic view of a first intelligent table and intelligent chair;

[0041] Figure 3 is a position schematic view of the intelligent chair in an initial state;

[0042] Figure 4 is a schematic view of the intelligent chair after first turning;

[0043] Figure 5 is a schematic view of the intelligent chair running to a first target position;

[0044] Figure 6 is a schematic view of the intelligent chair after second turning;

[0045] Figure 7 is a schematic view of the intelligent chair running to a second target position;

[0046] Figure 8 is a schematic view of the position relationship of the intelligent table and intelligent chair in a special case;

[0047] Figure 9 is a structural schematic view of an intelligent chair;

[0048] Figure 10 is a structural schematic view of a second intelligent table and intelligent chair;

[0049] Figure 11 is a structural schematic view of a third intelligent table and intelligent chair;

[0050] Figure 12 is a structural schematic view of a fourth intelligent table and intelligent chair. DETAILED DESCRIPTION

[0051] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0052] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and "fourth" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0053] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements inside, it can be wireless connection, or it can be wired connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0054] In addition, the technical features involved in the different embodiments of the application described below can be combined with each other as long as there is no conflict between them.

[0055] Figure 1 An intelligent table and chair system is shown, in which the intelligent table 1 is a charging device and the intelligent chair 2 is a charged object. The intelligent table 1 can be connected to a household power supply through a wired connection, and when it is not charging the intelligent chair 2, there is no contact between the two, and the user can freely use the intelligent chair 2.

[0056] The intelligent table 1 at least includes an electric energy output unit, and multiple optional positions can be provided, as long as the positions that can facilitate the connection with the intelligent chair 2 are feasible, such as table legs, upper surface, lower surface of the table top, embedded in the table top, etc. As a preferred embodiment, the electric energy output unit is arranged on the lower surface of the table top of the intelligent table 1. This structure has good concealment and does not affect the normal use of the table top by the user. More importantly, the intelligent chair 2 needs to enter under the table top to receive charging, which not only facilitates the connection, but also saves space.

[0057] Correspondingly, the electric energy receiving unit of the intelligent chair 2 also has multiple optional positions, as long as it can be connected with the electric energy output unit of the intelligent table 1. The input end of the electric energy receiving unit can be arranged on the armrest of the chair, the side or back of the chair back, etc.

[0058] In an optional embodiment, the smart table is provided with a lifting unit for driving the table top to ascend and descend, and the height of the table top can be adjusted according to the requirement when the user normally uses the table top, and the height can be automatically or manually adjusted to match the height of the power input end when the smart chair 2 needs to be charged. In the system, the position of the smart table 1 is fixed, and the smart chair 2 can walk to automatically complete the electrical connection with the smart table 1 to achieve the purpose of automatic alignment charging. Therefore, a positioning device needs to be set to determine the positions of each other, and the assembly position of the positioning device needs to be adapted to the power output unit and the power receiving unit.

[0059] For example, in the embodiment, the second positioning device of the smart table 1 is arranged on the lower surface of the table top, because the power output unit is arranged on the lower surface of the table top of the smart table 1. If the power output unit is arranged at other positions, such as the table leg, the second positioning device can also be arranged on the table leg.

[0060] Since the relative position of the power output unit of the smart table 1 and the second positioning device is fixed, the second positioning device can be used as a reference for the position of the power output unit, that is, the smart chair 2 can make the power receiving unit connect to the power output unit by positioning the second positioning device.

[0061] The smart chair 2 in the embodiment is provided with a first positioning device for marking the position of the power receiving unit and the posture of the chair, which can be arranged at any position on the chair, and the distance and angle (the orientation of the chair) between the chair and the first positioning device are determined by interacting with the second positioning device.

[0062] The smart chair 2 in the embodiment further includes a processor, a rechargeable power supply, a movement unit for making the smart chair move and turn, and an automatic alignment charging method executed by the processor of the smart chair 2. In other embodiments, the automatic alignment charging method can also be executed by the processor configured by the smart table 1 or the mobile terminal of the user, and the corresponding actions are completed by sending control instructions to the smart chair 2.

[0063] The above-mentioned key components such as the processor, the rechargeable power supply, the movement unit, the first positioning device and the power receiving unit can be detachable accessories, which can be added to ordinary chairs.

[0064] The operation of the automatic alignment charging method will be described below. Figures 2-12 The automatic alignment charging method specifically includes the following steps:

[0065] S1, the first positioning device 22 interacts with the second positioning device 12 on the charging device for positioning the power output unit, so as to determine the orientation data of the first positioning device 22 relative to the second positioning device 12.

[0066] In the embodiment, the first positioner 22 and the second positioner 12 are infrared distance measuring devices, which measure the distance by transmitting and receiving infrared rays.

[0067] Figure 2 In the system structure shown, the power receiving unit includes two input terminals 21, which are arranged on the upper surfaces of the two armrests of the intelligent chair; the first positioner 22 has two, which are arranged on the armrests corresponding to the two input terminals 21, and the first positioner is configured with identification information for marking left and right. Correspondingly, the power output unit includes two output terminals 11, which have the same spacing as the two input terminals 21 of the intelligent chair, and the second positioner 12 has only one, which is located between the two output terminals 11.

[0068] Figure 10 Another optional system structure is shown, in which the input terminals 21 of the power receiving unit are arranged on the two side edges of the chair back, and the first positioner can be arranged on the side edge of the chair back close to the input terminal 21 or on the armrest. The second positioner of the table and the output terminal 11 of the power output unit of the table are arranged under the table top.

[0069] Figure 11 A third optional system structure is shown, and it is emphasized that the input terminal 21 of the power receiving unit can be arranged on one side edge of the chair, not necessarily on both sides. Correspondingly, the output terminal 11 of the power output unit of the table has only one. When charging, only the side of the chair with the input terminal 21 needs to be electrically connected with the output terminal of the table.

[0070] Figure 12 A fourth optional system structure is shown, in which the input terminal 21 of the power receiving unit can be arranged on the back of the chair back, and can be one or more. When charging, the back of the chair back of the chair needs to be electrically connected with the output terminal of the table.

[0071] In the above various optional system structures, the number of input terminals 21 can be one or more, and can be symmetrically or asymmetrically arranged on the chair. For example, Figure 3 As shown, in order to clearly illustrate the positioning and advancing process, other components are omitted in the figure, and only the positioners are shown, which are assumed to be in the initial position. First, the intelligent table 1 provides a baseline 30 based on the second positioner 12. In the embodiment, the second positioner 12 emits and receives infrared signals in the forward direction, and the sensing angle is 180 degrees, so its sensing area can be regarded as a semicircular area, and the straight boundary of the area, i.e., the bottom edge, is the baseline 30.

[0072] Then, the distance between the second locator 12 and the two first locators 22 can be directly measured. After measuring these two distances, as well as the angle between the two first locators 22 and the second locator 12, the distance H between the two first locators 22 and the baseline 30 can be calculated based on trigonometric relationships. L and H R That is, directional data.

[0073] Regarding the aforementioned included angle, it specifically refers to the angle between the line connecting the first locator 22 and the second locator 12 and the baseline 30, such as... Figure 3 As shown, the angle between the first positioner 22 and the second positioner 12 on the right armrest is α. R The angle between the first positioner 22 and the second positioner 12 on the left armrest is α. L .

[0074] When using a locator based on an infrared ranging principle, at least two first locators 22 are required to calculate the angle of the chair relative to the table (or the chair's posture). Using more first locators 22 is also feasible and can further improve positioning accuracy. If a locator based on other principles is used, only one first locator may be needed. For example, the first locator itself has a ranging function and includes a gyroscope, and the second locator 12 also has a ranging function and includes a gyroscope. The angle of the chair relative to the table can be determined through communication between the two.

[0075] In other embodiments, the first locator and the second locator can also be a computer vision-based positioning system. For example, the first locator can be a binocular camera, and the second locator can be multiple spherical objects. By capturing the position of the spherical objects with the binocular camera and establishing a spatial coordinate system, the operation of measuring orientation data can also be realized.

[0076] S2, calculate the turning angle based on the orientation data. In this embodiment, the turning angle refers to the angle α between the straight line 31 where the two first locators 22 are located and the virtual line 32 perpendicular to the baseline 30. First, the left and right are distinguished based on the identification information of the two first locators 22, that is, H is distinguished. L and H R For example, when H L Greater than H R In this case, it can be determined that what needs to be calculated is the angle α in the figure, rather than the supplementary angle of α.

[0077] According to the theory of similar triangles, the distances H from the two sensors to the baseline 30 are known. L and H R The value of α can be calculated using trigonometric functions.

[0078] S3, through the motion unit, rotates the smart chair to the first direction of travel according to the steering angle. FromFigures 3 to 4 , assuming that a = 60°, then Figure 3 is the angle of turning left by 60 degrees to reach Figure 4 , the orientation of the seat in this embodiment is consistent with the first direction of travel. Figure 4 Thus, the first direction of travel in this embodiment is parallel to the baseline 30, and approaches the second positioner 12, as shown by the arrow in

[0079] There are various ways of rotating the motion unit, such as rotating all or part of the support wheels (omni wheels) of the intelligent chair by a motor to steer and turn the entire chair, or steering by an additional driving component.

[0080] S4, travel in the first direction of travel by the motion unit, and interact with the first positioner 22 and the second positioner 12 during the travel, so as to travel to the first target position. Specifically, as shown in Figure 5 , the distance value between the two first positioners 22 and the first positioner 12 will become smaller and smaller during the travel, and there is a minimum distance value, and when the travel continues to the position of the minimum distance value, the distance value will become larger.

[0081] Thus, the first target position refers to the position closest to the second positioner 12 in the first direction of travel, as shown in Figure 5 , the straight-line trajectory of the travel from the initial position to the first target position is L1.

[0082] S5, rotate the intelligent chair to the second direction of travel by the motion unit according to a preset angle. For the system result shown in Figure 2 , the preset angle is 90°, as shown in the case in Figure 5 , the intelligent chair needs to turn right by 90°, so that the seat is oriented in the direction of the table, i.e., when the first positioner on the right armrest is closer to the second positioner, the intelligent chair turns right by 90°, and when the first positioner on the left armrest is closer to the second positioner, the intelligent chair turns left by 90°. In this embodiment, the orientation of the seat is consistent with the second direction of travel.

[0083] In other embodiments, such as for the system result shown in Figure 12 , in this step, as shown in the case in Figure 5 , the intelligent chair turns left by 90°, and the backrest is oriented in the direction of the table, i.e., the orientation of the backrest is consistent with the second direction of travel; for the system result shown in Figure 11 , the orientation of the seat forms an angle with the direction of travel. Therefore, the preset angle and the specific steering direction in this step need to be set according to the positions of the charging output and input.

[0084] S6, moving by the motion unit in the second direction of travel and interacting with the second locator 12 by the first locator 22 during the movement, so as to stop after moving to the second target position, so that the power output unit can connect the power receiving unit. Specifically, as shown in Figure 6 the distance value between the two first locators 22 and the second locator 12 will become smaller and smaller during the movement, and the second target position can be the position when the distance value reaches a threshold value, or the position with the shortest distance. The straight line trajectory L2 is traveled from the first target position to the second target position.

[0085] As shown in Figure 7 at this time, the front end of the armrest is below the tabletop, and the distance value H L , H R between the two first locators 22 and the second locator 12 is equal and equal to the preset threshold value (within a certain error range).

[0086] During the above two walking processes, the direction of travel may deviate slightly due to uneven ground or mechanical precision problems, etc. Therefore, during the movement, the two first locators 22 and the second locator 12 are interacted, and whether the direction of travel of the intelligent chair deviates is judged according to the change of the distance value, and the route is corrected by fine tuning (small turning) when the deviation occurs.

[0087] Return Figure 2 , after reaching the second target position, the output end 11 connects the input end 21 in multiple ways, for example, the tabletop is lowered in height, so that the output end 11 is close to the input end 21, and for this purpose, the intelligent table needs to be provided with a lifting unit for driving the tabletop to rise and fall. Specifically, after the intelligent chair 2 moves to the second target position and stops, the lifting unit of the intelligent table 1 drives the tabletop to fall, and stops falling after detecting contact, so that the output end 11 connects the input end 21.

[0088] In other embodiments, the intelligent chair 2 can raise the armrest to make the input end 21 close to the output end 11, and for this purpose, the intelligent chair needs to be provided with a lifting unit for driving the armrest or the entire seat part to rise and fall; The intelligent table 1 can also be provided with a telescopic mechanism for extending and retracting the output end 11, so as to connect the input end 21.

[0089] The power receiving unit and the power output unit can be a coil or an electrical connection contact, that is, a wireless charging coil or a metal contact is embedded in the armrest of the intelligent chair 2, and a wireless charging coil or a metal contact is provided on the lower surface of the intelligent table 1.

[0090] The automatic alignment and charging method for a smart chair provided by the present invention interacts with a locator on the smart chair and a locator on the smart table. First, the required turning angle of the smart chair in its initial state is calculated, and the first turning is completed. Then, the chair travels in a straight line to the target position, and then performs a second turning. This completes the adjustment of the angle and posture of the smart chair and the smart table. The chair then travels in a straight line again, so that the smart chair travels from the predetermined direction and in the predetermined posture to the charging position. This ensures that the charging output end of the smart table is aligned with the charging input end of the smart chair, thereby enabling the two to automatically connect and charge. The entire process does not require manual intervention, improving the convenience of the charging operation.

[0091] In actual use, the following may occur: Figure 8 As shown, in the initial state, the smart chair 2 is too close to the baseline 30. In this case, the tabletop will block the smart chair, preventing it from moving to the first target position as described above. To avoid this situation, the following operation can be performed before step S2:

[0092] S01, determine whether the distance between the smart chair and the second locator 12 is less than a distance threshold, for example, determine the distance H. L and H R Is it less than the safety threshold H? min Or based on H L and H R Estimate the distance from the center of the chair to the baseline or the second locator 12.

[0093] S02, if the distance between the smart chair and the second locator 12 is less than the distance threshold, the smart chair is moved away from the second locator 12 by the motion unit, thus reaching the safety threshold H. min That's it. This movement away from the smart table only requires determining the general direction of movement; for example, collision detection can be used to move the smart chair away from the smart table.

[0094] In actual use, there may be objects around the smart chair interfering with its rotation in the initial state, or there may be obstacles between the smart chair and the smart table. Therefore, in a preferred embodiment, before step S2, the motion unit can be used to rotate the smart chair 360° in place (that is, to make the two first locators 22 rotate one full turn) to detect whether the smart chair can complete the rotation. If the rotation can be completed, the subsequent steps are continued; if the rotation cannot be completed, the alignment operation is paused and a prompt is given to the user.

[0095] During the alignment process described above, the smart chair needs to rotate and move twice. The following section will explain... Figure 9A rotating and advancing scheme is introduced. In the embodiment, the intelligent chair can be regarded as a seat part 281 and a chassis part 282, which are separately provided with a third positioner 23 and a fourth positioner 24 for determining the positional relationship with each other; the movement unit includes a first rotating unit, a second rotating unit and an advancing unit, wherein the first rotating unit is used to drive the seat part 281 of the intelligent chair to rotate relative to the chassis part 282, the second rotating unit is used to drive the chassis part 282 to rotate by itself, and the advancing unit is used to drive the chassis part 282 to advance or retreat.

[0096] In the optional embodiment, the advancing unit has only one driving wheel 283, and the advancing direction is a straight line where the driving wheel 283 and the fourth positioner 24 are located. Based on the structure, the turning in steps S3 and S5 is specifically that the seat part 281 is first driven to rotate by the first rotating unit according to the turning angle, for example, the seat part 281 is rotated by 60 degrees in step S3. Then the third positioner 23 and the fourth positioner 24 are interacted, the chassis part is driven to rotate in place by the second rotating unit, so that the distance between the two positioners is the shortest (is aligned in the vertical direction), and then the chassis part is directed to the first advancing direction. In other embodiments, at least one universal wheel of the chair bottom is directly driven by a motor, that is, the universal wheel is used as a driving wheel, and the rotating in place and the advancing action can also be realized.

[0097] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system) and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The means for realizing the functions specified in one block or multiple blocks.

[0099] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 The flow or flows and / or blocks Figure 1 The flow or flows and / or blocks

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 The flow or flows and / or blocks Figure 1 The flow or flows and / or blocks

[0101] Obviously, the above-described embodiments are only examples and are not intended to limit the present application. Other variations and modifications can be made based on the above description and illustrations, and such variations and modifications are also within the scope of the present application. It is not necessary to recite all the embodiments of the present application. The obvious variations and modifications that are derived from the present application are also within the scope of the present application.

Claims

1. A method for automatic alignment and charging of a smart chair, characterized in that, The smart chair includes a rechargeable power supply, a power receiving unit, a first locator for positioning the power receiving unit, and a motion unit for moving and turning the smart chair. There are two first locators, each equipped with marking information for left and right orientation. The method includes: The first locator interacts with a second locator on the charging device used to locate the power output unit, thereby determining the orientation data of the first locator relative to the second locator. The orientation data includes the distance H between the two first locators and the baseline. L and distance H R The baseline refers to the straight boundary of the sensing area of ​​the second locator; The turning angle is calculated based on the identification information and the orientation data, including the distance H. L and distance H R Calculate the angle α by comparing the distance H. L and distance H R The size of the angle α or the supplement of angle α is used to determine the steering angle, where angle α is the angle between the straight line where the two first positioners are located and the virtual line perpendicular to the baseline. The smart chair is rotated to the first direction of travel by the motion unit according to the steering angle. The motion unit moves in the first direction of travel and interacts with the second locator through the first locator during the journey, thereby reaching the first target position. The smart chair is rotated to the second direction of travel at a preset angle by the motion unit. The motion unit moves in the second direction of travel and interacts with the first and second locators during the journey, thereby stopping after reaching the second target position, so that the power output unit can be aligned with the power receiving unit to charge.

2. The method according to claim 1, characterized in that, The power receiving unit includes at least one input terminal, which is disposed on the upper surface of the armrest of the smart chair; the two first locators are respectively disposed on the two armrests of the smart chair.

3. The method according to claim 1 or 2, characterized in that, The motion unit includes a first rotation unit, a second rotation unit, and a traveling unit, wherein the first rotation unit is used to drive the seat part of the smart chair to rotate relative to the chassis part, the second rotation unit is used to drive the chassis part to rotate itself, and the traveling unit is used to drive the chassis to move forward or backward. The seat portion and the chassis portion are provided with a third locator and a fourth locator for determining their positional relationship with each other; The motion unit turns the smart chair in the following manner: The seat portion is driven to rotate by the first rotating unit, facing either the first direction of travel or the second direction of travel; The chassis portion is rotated by the second rotating unit through interaction with the third and fourth locators, so that the chassis portion faces the first or second direction of travel.

4. The method according to claim 1 or 2, characterized in that, The first target position refers to the position where the first locator and the second locator are closest in the first direction of travel.

5. The method according to claim 2, characterized in that, The preset angle is 90 degrees; in the step of rotating the first locator to the second direction of travel by the motion unit according to the preset angle, the left or right turn is determined according to the first direction of travel.

6. The method according to claim 1 or 2, characterized in that, The second target position refers to the position where the first locator and the second locator reach a preset distance in the second direction of travel.

7. The method according to claim 1 or 2, characterized in that, Before calculating the steering angle based on the azimuth data, the process also includes: Determine whether the distance between the smart chair and the second locator is less than a distance threshold; If the distance between the smart chair and the second locator is less than a distance threshold, the smart chair is moved by the motion unit to increase the distance between the smart chair and the second locator.

8. The method according to claim 1 or 2, characterized in that, Before calculating the steering angle based on the azimuth data, the process also includes: The motion unit is used to rotate the smart chair 360° in place to detect whether the smart chair can complete the rotation.

9. The method according to claim 1 or 2, characterized in that, The power receiving unit is a power input coil or an electrical connection contact point.

10. A smart chair with automatic alignment and charging function, characterized in that, The smart chair includes a processor, a rechargeable power supply, a power receiving unit, a first locator for positioning the power receiving unit, and a motion unit for moving and turning the smart chair. The processor executes the method of any one of claims 1-9, connects to an external charging device, and charges the rechargeable power supply.

11. A smart table and chair system, comprising a smart chair and a smart table, characterized in that, The smart chair performs the method according to any one of claims 1-9; the smart table serves as a charging device for charging the smart chair.

12. The system according to claim 11, characterized in that, The power output unit and the second locator are disposed on the lower surface of the tabletop of the smart table; the smart table is equipped with a lifting unit for driving the tabletop to rise and fall. After the smart chair stops at the second target position, the lifting unit drives the desktop to descend so that the power output unit can connect to the power receiving unit.

13. The system according to claim 12, characterized in that, The power output unit includes at least one output terminal, and the distance between the output terminal and the second locator is equal to the distance between the first locator and the center of the smart chair.

14. The system according to claim 11, characterized in that, The power output unit is a power output coil or an electrical connection contact point.

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