Charging base positioning method, charging base, device to be charged and charging system

Abstract

This invention discloses a charging base positioning method, a charging base, a device to be charged, and a charging system. A controller electrically connected to a drive component, a charging component, and a transmitter controls the drive component to rotate the charging component. Simultaneously, a transmitter mounted on the charging component transmits a positioning signal to the device to be charged, causing the device to adjust its orientation based on the received positioning signal and connect electrically to the charging interface on the charging component. The drive component is housed within the charging base, and the charging component is mounted on the drive component. Therefore, this invention enables charging base positioning using a single transmitter, reducing hardware costs. Furthermore, the rotating positioning signal allows it to adapt to various environments, improving positioning flexibility.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to a charging base positioning method, a charging base, a device to be charged, and a charging system. Background Technology

[0002] In recent years, robotic vacuum cleaners, humanoid robots, and other similar devices have become widely used. Most of these devices employ a rechargeable design, raising the question of how to achieve automatic recharging when needed. Existing technologies, for cost reasons, primarily rely on infrared guidance for automatic recharging. This involves placing transmitters on the charging base in three directions (left, center, and right) to emit infrared signals of different frequencies and directions. The device being charged is equipped with three corresponding receivers. By detecting the number and intensity of the received signals, the device determines its position relative to the charging base, thus aligning the charging port. However, this method requires three different receivers, resulting in relatively high costs, and the fixed signal transmission direction limits its flexibility. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a charging base positioning method, a charging base, a device to be charged, and a charging system to achieve low-cost and highly flexible charging base positioning.

[0004] In a first aspect, embodiments of the present invention provide a charging dock, comprising: seat body; The drive assembly is disposed within the housing; A charging component is disposed on the driving component, the charging component including a charging interface for electrical connection with a device to be charged; A transmitter is disposed on the charging assembly, the transmitter being configured to transmit a positioning signal to the device to be charged; The controller is electrically connected to the drive component, the charging component, and the transmitter, respectively. The controller is used to control the drive component to drive the charging component to rotate, so that the device to be charged adjusts its orientation according to the received positioning signal and is electrically connected to the charging interface.

[0005] Optionally, the drive assembly includes a chassis and a first motor disposed within the chassis, the first motor being configured to drive the charging assembly to rotate in a circumferential direction.

[0006] Optionally, the charging assembly includes a charging plate and a support column, the transmitter and the charging interface are disposed on the charging plate, the support column is provided with a track extending in a vertical direction, and the charging plate is slidably connected to the track.

[0007] Optionally, the charging assembly further includes an adjustment unit, which includes a gear and at least two sliding seats that are drivenly connected to the gear. The charging interface includes at least two contact springs disposed on the sliding seats. The adjustment unit is configured to adjust the spacing of each of the contact springs in the horizontal direction.

[0008] Optionally, the charging assembly further includes a second motor configured to drive the transmitter to rotate in a circumferential direction. Optionally, the charging base further includes a monitoring module for detecting the intensity of environmental interference affecting the transmission of positioning signals.

[0009] Secondly, embodiments of the present invention also provide a charging dock positioning method, applied to a charging dock, the method comprising: Control the transmitter to rotate and continuously transmit positioning signals; Receive at least three receive signals sent by the device to be charged, wherein the receive signals are generated and sent by the corresponding receiver of the device to be charged after receiving the positioning signal; Using the position of the transmitter when it is not rotating as the initial position, the transmission angle corresponding to each receiver is determined according to the reception time of each received signal and the rotation speed of the transmitter. The transmission angle is the rotation angle of the transmitter relative to the initial position when it transmits the positioning signal. The transmitter angle corresponding to each receiver is sent to the device to be charged so that the device to be charged can adjust its orientation according to the transmitter angle.

[0010] Optionally, the method further includes: Obtain the model number of the device to be charged, determine and adjust the height of the charging interface to a position suitable for the device to be charged based on the model number.

[0011] Optionally, the method further includes: Obtain the model number of the device to be charged, and determine and adjust the output voltage of the charging interface based on the model number.

[0012] Optionally, the charging dock includes at least two movable contact springs for providing a charging interface that matches the device to be charged, and the method further includes: Obtain the model number of the device to be charged, and determine and adjust the spacing between each of the contact springs based on the model number.

[0013] Optionally, each of the contact springs moves in a horizontal direction, and the spacing is a horizontal spacing.

[0014] Optionally, the method further includes: The intensity of environmental interference affecting the transmission of positioning signals is detected by the monitoring module. If the interference intensity exceeds a preset threshold, the type and intensity information of the environmental interference will be sent to the device to be charged so that the device to be charged can adjust its position to avoid the interference based on the information.

[0015] Thirdly, embodiments of the present invention also provide a charging dock positioning method, applied to a device to be charged, wherein the device to be charged is provided with at least three receivers, the method comprising: When any of the receivers receives a positioning signal emitted by the rotating charging base, it sends a receiving signal corresponding to the receiver to the charging base so that the charging base can determine the corresponding emission angle of the receiver; Receive the transmission angle corresponding to each of the receivers sent by the charging base, and obtain the signal strength of the positioning signal received by each of the receivers; Adjust the orientation of the device to be charged according to the transmission angle and signal strength of each receiver, so that the charging contacts of the device to be charged are aligned with the charging interface of the charging base.

[0016] Optionally, adjusting the orientation of the device to be charged according to the transmission angle and signal strength corresponding to each receiver includes: Calculate the first angle and the second angle based on the transmission angle corresponding to each of the receivers; If the difference between the first angle and the second angle is greater than the first threshold, the rotation direction and rotation angle of the device to be charged are determined based on the difference between the first angle and the second angle to adjust the orientation. If the difference between the first signal strength and the second signal strength is greater than the second threshold, the rotation direction and rotation angle of the device to be charged are determined based on the difference between the first signal strength and the second signal strength in order to adjust the orientation. The at least three receivers include a first receiver, a second receiver, and a third receiver. The first receiver and the third receiver are symmetrically arranged on both sides of the second receiver. The first angle is the difference between the transmission angles corresponding to the first receiver and the second receiver, the second angle is the difference between the transmission angles corresponding to the second receiver and the third receiver, the first signal strength is the signal strength of the positioning signal received by the first receiver, and the second signal strength is the signal strength of the positioning signal received by the third receiver.

[0017] Optionally, the method further includes: If the first receiver does not receive a positioning signal, the device to be charged is controlled to rotate a preset angle toward the side where the third receiver is located; If the third receiver does not receive a positioning signal, the device to be charged is controlled to rotate a preset angle toward the side where the first receiver is located.

[0018] Fourthly, embodiments of the present invention also provide a device to be charged, the device to be charged comprising: At least three receivers are configured to receive positioning signals emitted by the rotating charging dock; The charging contacts are configured to be electrically connected to the charging interface of the charging base; The controller is electrically connected to the at least three receivers and the charging contacts, respectively, and is used to perform the method as described in the third aspect of the present invention.

[0019] Optionally, the receiver is an infrared receiver, and the receiver is provided with a light-shielding structure with a through hole, the light-shielding structure being used to transmit the positioning signal to the receiver through the through hole.

[0020] Optionally, the at least three receivers include a first receiver, a second receiver, and a third receiver, wherein the first receiver and the third receiver are symmetrically arranged on the left and right sides of the second receiver along the width direction of the device to be charged.

[0021] Fifthly, embodiments of the present invention also provide a charging system, comprising: a charging base as described in the first aspect of the present invention; and a device to be charged as described in the fourth aspect of the present invention; The controller of the device to be charged adjusts the orientation of the device to be charged according to the received positioning signal, so that the charging contacts of the device to be charged are electrically connected to the charging interface of the charging base to realize charging.

[0022] In this embodiment of the invention, a controller electrically connected to a drive component, a charging component, and a transmitter controls the drive component to drive the charging component to rotate. Simultaneously, a transmitter mounted on the charging component transmits a positioning signal to the device to be charged, causing the device to adjust its orientation based on the received positioning signal and connect electrically to the charging interface on the charging component. The drive component is disposed within the base of the charging base, and the charging component is mounted on the drive component. Thus, this embodiment of the invention can achieve charging base positioning with a single transmitter, reducing hardware costs. Furthermore, the rotating positioning signal allows it to adapt to various environments, improving positioning flexibility. Attached Figure Description

[0023] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which: Figure 1 This is a schematic diagram of a charging dock according to an embodiment of the present invention; Figure 2 This is a schematic diagram of another charging dock according to an embodiment of the present invention; Figure 3This is a partial schematic diagram of a charging dock according to an embodiment of the present invention; Figure 4 This is a flowchart of the charging dock positioning method according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a charging system according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a charging system for another positioning scenario according to an embodiment of the present invention; Figure 7 This is a flowchart of a charging base positioning method applied to a charging base according to an embodiment of the present invention; Figure 8 This is a method for positioning a charging base for a device to be charged, according to an embodiment of the present invention. Figure 9 This is a schematic diagram of a charging positioning device according to an embodiment of the present invention; Figure 10 This is a schematic diagram of another charging positioning device according to an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures: 11-Base; 12-Drive assembly; 121-Chassis; 122-First motor; 13-Charging assembly; 131-Charging plate; 132-Support column; 1321-Rail; 1322-Lead screw; 133-Adjusting unit; 1331-Gear; 1332-Sliding seat; 134-Contact spring; 135-Second motor; 14-Transmitter; 51-Device to be charged; 511-First receiver; 512-Second receiver; 513-Third receiver; 52-Charging base. Detailed Implementation

[0025] The present application is described below based on embodiments, but it is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without these details. To avoid obscuring the substance of the present application, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0026] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0027] Unless the context explicitly requires it, words such as "including" or "contains" throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0028] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0029] Figure 1 This is a schematic diagram of a charging dock according to an embodiment of the present invention. Figure 2 This is a schematic diagram of another charging dock according to an embodiment of the present invention. Figure 3 This is a partial schematic diagram of a charging dock according to an embodiment of the present invention. Figure 1 As shown, the charging base of this embodiment of the invention includes at least a base 11, a drive assembly 12, a charging assembly 13, a transmitter 14, and a controller (not shown in the figure). The drive assembly 12 is disposed on the base 11 and is used to support and drive the charging assembly 13 for orientation and / or height adjustment. The charging assembly 13 is disposed on the drive assembly 12 and includes a charging interface for electrical connection with a device to be charged. The transmitter 14 is disposed on the charging assembly 13 and configured to transmit a positioning signal to the device to be charged. The controller (not shown in the figure) is electrically connected to the drive assembly 12, the charging assembly 13, and the transmitter 14, and is used to control the drive assembly 12 to drive the charging assembly 13 to rotate, so that the device to be charged adjusts its orientation according to the received positioning signal and connects to the charging interface.

[0030] Furthermore, such as Figure 2 As shown, optionally, the drive assembly 12 includes a chassis 121 and a first motor 122 disposed within the chassis. The chassis 121 is fixed to the base 11 and supports the first motor 122. The output end of the first motor 122 is connected to the charging assembly 13 for transmission, so as to drive the charging assembly 13 to rotate in the circumferential direction during operation, thereby adjusting the positioning signal transmission angle of the transmitter 14 disposed on the charging assembly 13 and the orientation of the charging interface. It can be understood that the transmitter 14 can be fixedly disposed on the charging assembly 13, and the driving assembly 12 drives the charging assembly 13 and the transmitter to rotate synchronously. Alternatively, the transmitter 14 can be movably connected to the charging assembly 13, and the driving assembly 12 can independently drive the charging assembly 13 and / or the transmitter 14 to rotate.

[0031] Optionally, the charging assembly 13 includes a charging plate 131 and a support column 132. The support column 132 is arranged vertically, and its lower end is connected to the output end of the first motor 122, thereby rotating under the drive of the first motor 122. A vertical track 1321 is provided on the side wall of the support column 132, and the charging plate 131 is slidably connected to the track 1321 to change its height. Specifically, a lead screw 1322 connected to the first motor 122 can be provided inside the support column 132, and the charging plate 131 can be fixed to the nut seat (not shown in the figure) of the lead screw 1322, thereby driving the charging plate 131 to move along the track 1321 under the drive of the first motor 122. Alternatively, a driving device can be omitted, and multiple positioning parts can be provided on the track 1321, with corresponding elastic positioning parts provided on the charging plate for manual adjustment by the user.

[0032] Optionally, the charging assembly 13 further includes an adjustment unit 133 configured to adjust the specific shape of the charging interface so that the charging interface can adapt to devices of different specifications or layouts. Specifically, such as Figure 3 As shown, the adjustment unit 133 may include a gear 1331 and at least two sliding seats 1332 that are drivenly connected to the gear 1331. The gear 1331 is rotatably disposed inside the charging plate 131 and is connected to an operating knob or motor for manual or electronic adjustment by the user. Each sliding seat 1332 is provided with a rack, and the gear 1331 meshes with the rack so that when the gear rotates, it can synchronously or independently drive each sliding seat 1332 to produce a displacement in a predetermined direction. The charging interface consists of at least two contact springs 134 disposed on the sliding seat 1332, which move with the movement of the sliding seat 1332. By adjusting the position of each sliding seat 1332, the adjustment unit 133 can adjust the horizontal spacing of each contact spring 134. Figure 1 The adjustment unit 133 shown is configured to drive the sliding seat 1332 to move horizontally, thereby adjusting the horizontal spacing of each contact spring 134 in the charging interface. It can be understood that the process of the first motor 122 driving the charging assembly 13 to rotate in the circumferential direction and the process of the adjustment unit 133 driving the sliding seat 1332 to move horizontally are independent of each other, and the two can be performed separately or simultaneously.

[0033] Optionally, the transmitter 14 is an infrared signal transmitter configured to emit narrow-angle infrared light as a positioning signal. Further, the charging assembly includes a second motor 135, the output of which is connected to the transmitter 14. The controller controls the second motor 135 to drive the transmitter 14 to rotate circumferentially, thereby controlling the emission angle of the narrow-angle infrared light. Similarly, the process of the first motor 122 driving the charging assembly 13 to rotate circumferentially is independent of the process of the second motor 135 driving the transmitter 14 to rotate circumferentially; they can be performed separately or simultaneously to achieve rotations at different angles.

[0034] Optionally, the charging dock also includes a monitoring module (not shown) for detecting the intensity of environmental interference that affects the transmission of positioning signals.

[0035] In this embodiment, a controller electrically connected to the drive component, charging component, and transmitter controls the drive component to drive the charging component to rotate. Simultaneously, a transmitter mounted on the charging component transmits a positioning signal to the device to be charged, causing the device to adjust its orientation based on the received positioning signal and connect electrically to the charging interface on the charging component. The drive component is located within the charging base, and the charging component is mounted on the drive component. Thus, this embodiment of the invention can achieve charging base positioning with a single transmitter, reducing hardware costs. Furthermore, the rotating positioning signal allows it to adapt to various environments, improving positioning flexibility.

[0036] Corresponding to the aforementioned charging dock, this embodiment also provides a device to be charged, comprising at least three receivers, charging contacts, and a controller. The at least three receivers are configured to receive positioning signals emitted by the rotating charging dock. The number of charging contacts is equal to the number of contact springs in the charging interface of the charging dock. The charging contacts are configured to be electrically connected to the charging interface of the charging dock to enable charging of the device to be charged. The controller is electrically connected to the at least three receivers and the charging contacts to implement the positioning and alignment method of the charging dock.

[0037] Optionally, each receiver in the device to be charged is an infrared receiver, and the receiver is provided with a light-shielding structure with a through hole. This light-shielding structure allows the positioning signal to be transmitted to the receiver through the through hole, while signals from other directions are blocked by the light-shielding structure, thereby avoiding interference from external signals and accurately receiving the positioning signal from the charging base.

[0038] Figure 4 This is a flowchart of a charging dock positioning method according to an embodiment of the present invention. Figure 4 As shown, the charging dock positioning method in this embodiment includes the following steps: In step S410, the charging base controls the transmitter to rotate and continuously transmits positioning signals.

[0039] In step S420, the device to be charged, in response to any receiver receiving a positioning signal emitted by the rotating charging base, sends a corresponding receiving signal to the charging base. Specifically, the controller of the device to be charged, in response to any receiver receiving a positioning signal, sends the corresponding receiving signal to the charging base in real time.

[0040] To ensure that each receiver can receive the positioning signal, the device to be charged needs to perform coarse positioning with the charging base before step S420.

[0041] In one alternative implementation, the device to be charged navigates to a certain range near the charging dock (e.g., within 1-2 meters) using SLAM (Simultaneous Localization and Mapping) technology. It then activates its receivers and rotates once in place to scan for positioning signals, determining the direction of the charging dock as the direction of the strongest signal. Next, the device can achieve coarse positioning using Bluetooth 5.1-based direction-finding technology. Specifically, the charging dock includes a Bluetooth module with an antenna array, and the device to be charged includes a Bluetooth module capable of transmitting radio frequency (RF) signals. When the device needs charging, it transmits RF signals to the charging dock's antenna array via its Bluetooth module. Because there are slight differences in the distance between each antenna in the charging dock's antenna array and the signal source (i.e., the device to be charged), the phase of the signal arriving at each antenna will also differ. Therefore, by measuring the phase difference and combining it with the antenna spacing and the wavelength of the RF signal, the angle of arrival of the RF signal can be calculated using trigonometric functions, thereby determining the orientation of the device relative to the charging dock and achieving coarse positioning.

[0042] In step S430, the charging base determines the transmission angle corresponding to each receiver based on the reception time of each received signal and the rotation speed of the transmitter. The transmission angle is the rotation angle of the transmitter relative to its initial position when transmitting the positioning signal; the initial position is the position of the charging base's transmitter when it is not rotating.

[0043] In step S440, the charging dock sends the transmission angles corresponding to each receiver to the device to be charged. Optionally, the charging dock can send the transmission angle corresponding to a receiver to the device to be charged in real time after determining it, so that the device to be charged can calculate the difference in transmission angles between adjacent receivers. Alternatively, the charging dock can obtain the number and distribution of receivers of the device to be charged in advance, and after determining the transmission angles of all receivers in this round (i.e., the transmitter rotates one revolution from the initial position), calculate the difference in transmission angles between adjacent receivers, and send the difference in transmission angles between adjacent receivers to the device to be charged.

[0044] In step S450, the device to be charged receives the transmission angle corresponding to each receiver and obtains the signal strength of the positioning signal received by each receiver.

[0045] In step S460, the device to be charged adjusts its orientation according to the transmission angle and signal strength of each receiver, so that the charging contacts of the device to be charged are aligned with the charging interface of the charging base.

[0046] Figure 5 This is a schematic diagram of a charging system according to an embodiment of the present invention. Figure 5 As shown, the charging system includes a device to be charged 51 and a charging base 52. The device to be charged 51 includes at least three receivers. The figure illustrates an example with three receivers (a first receiver 511, a second receiver 512, and a third receiver 513). The first receiver 511 and the third receiver 513 are symmetrically arranged on the left and right sides of the second receiver 512 along the width direction of the device to be charged 51. Each receiver is configured to receive a positioning signal emitted by the rotating charging base 52. By controlling the device to be charged 51 and the charging base 52 to execute the aforementioned charging base positioning method, the controller of the device to be charged 51 can adjust the orientation of the device to be charged 51 according to the received positioning signal, so that the charging contacts of the device to be charged 51 are electrically connected to the charging interface of the charging base 52, thereby achieving charging.

[0047] In an optional embodiment, the charging base 52 controls the transmitter to rotate counterclockwise at a predetermined speed and continuously transmits a positioning signal. When the transmitter rotates to a first position, the first receiver 511 receives the positioning signal and sends a corresponding first receiving signal to the charging base 52. After receiving the first receiving signal, the charging base 52 records the receiving time and calculates the corresponding first transmission angle based on the receiving time and rotation speed, and sends it to the device to be charged 51. When the transmitter continues to rotate to a second position, the second receiver 512 receives the positioning signal and sends a corresponding second receiving signal to the charging base 52. When the transmitter continues to rotate to a third position, the third receiver 513 receives the positioning signal and sends a corresponding third receiving signal to the charging base 52. Based on the same method, the charging base 52 can calculate the second transmission angle corresponding to the second receiver 512 and the third transmission angle corresponding to the third receiver 513 based on the receiving time of the second and third receiving signals, and send the transmission angles corresponding to each receiver to the device to be charged 51.

[0048] In other alternative implementations, the charging base 52 can also control the transmitter to reciprocate within the range between the first and third positions to further improve the positioning speed and save resource consumption.

[0049] After receiving the transmission angles corresponding to each receiver, the device 51 to be charged calculates a first angle and a second angle based on the transmission angles of each receiver. The first angle is the difference between the first and second transmission angles, and the second angle is the difference between the second and third transmission angles. If the first angle and the second angle are different, it indicates that the device 51 to be charged is not directly facing the charging base 52. Figure 4 Taking the following scenario as an example, if the first angle is greater than the second angle, and the difference between the two is greater than the first threshold, it indicates that the device 51 to be charged has a clockwise deviation and needs to be rotated counterclockwise. Conversely, if the first angle is less than the second angle, and the difference between the two is greater than the first threshold, it indicates that the device 51 to be charged has a counterclockwise deviation, and therefore the rotation direction is determined to be clockwise. It should be understood that the rotation direction is determined based on the receiver distribution of the device 51 to be charged and the transmitter rotation direction of the charging base 52. The above content is only an illustrative example and does not constitute a limitation. The rotation angle of the device 51 to be charged can be determined based on the difference between the first angle and the second angle. For example, a correspondence table between the angle difference and the rotation angle can be preset, and the rotation angle corresponding to the difference between the first angle and the second angle can be determined according to the correspondence table. Alternatively, it can be calculated according to a preset mathematical model, or a preset fixed angle can be directly rotated. This embodiment does not limit this.

[0050] After determining the rotation direction and angle, the device 51 to be charged rotates accordingly to adjust its orientation. The process is then repeated, measuring the first and second angles again until the difference between the first and second angles does not exceed a first threshold. It can be understood that the first threshold is preset in the device 51 to be charged, representing the maximum allowable deviation between the first and second angles when the charging contacts of the device 51 are aligned with the charging interface of the charging base 52.

[0051] Due to the influence of signal transmission time and other interference factors, the transmission angle determined based on the received signal has a certain error. Therefore, the adjustment of orientation based on the transmission angle may not be precise enough, and further fine-tuning is required in conjunction with signal strength. Specifically, when the device to be charged 51 receives the positioning signal from the first receiver 511 and the third receiver 513, it can measure the first signal strength corresponding to the first receiver 511 and the second signal strength corresponding to the third receiver 513, respectively. A second threshold is preset in the device to be charged 51. The second threshold is the maximum allowable deviation between the first signal strength and the second signal strength when the charging contacts of the device to be charged 51 are aligned with the charging interface of the charging base 52. If the difference between the first signal strength and the second signal strength is greater than the second threshold, it indicates that the charging contacts of the device to be charged 51 are not fully aligned with the charging interface of the charging base 52. The rotation direction and rotation angle need to be determined based on the difference between the first signal strength and the second signal strength to further adjust the orientation of the device to be charged 51. For example, if the first signal strength is greater than the second signal strength, the rotation direction is determined to be counterclockwise; if the first signal strength is less than the second signal strength, the rotation direction is determined to be clockwise. The method for determining the rotation angle is similar to the aforementioned process and will not be repeated here. It should be understood that if the accuracy of the positioning and alignment results based on the transmission angles of each receiver meets the application requirements, further adjustments based on signal strength are not necessary.

[0052] Figure 6 This is a schematic diagram of a charging system for another positioning scenario according to an embodiment of the present invention. In some embodiments, although the device to be charged 51 has achieved preliminary alignment through the aforementioned coarse positioning process, there may still be a significant deviation between it and the charging base 52, resulting in some receivers failing to receive a signal. Figure 6 As shown, in this embodiment, due to the angle, the third receiver 513 cannot receive the positioning signal. Therefore, if the third receiver 513 does not receive the positioning signal for an extended period (for example, the first receiver 511 and / or the second receiver 512 have received the positioning signal at least twice, while the third receiver 513 has not), the device to be charged 51 can rotate counter-clockwise by a preset angle toward the side where the first receiver 511 is located, so that all receivers can receive the positioning signal normally. Similarly, if the first receiver 511 does not receive the positioning signal, the device to be charged can be controlled to rotate clockwise by a preset angle toward the side where the third receiver 513 is located. The preset angle can be set according to the distribution of the receivers on the device to be charged 51; for example, any value within the range of 45°-90° can be selected.

[0053] In some embodiments, the charging dock uses infrared signals as positioning signals, which are susceptible to various environmental factors, such as excessively strong ambient light (e.g., sunlight, lamplight), obstructions between the charging dock and the device to be charged, the presence of highly reflective objects in the surrounding environment (e.g., tiles, mirrors, water stains), or interference from multipath effects. In these cases, positioning accuracy and success rate will be severely affected.

[0054] Therefore, in one optional implementation, the charging dock also includes a monitoring module composed of multiple sensors to detect the aforementioned environmental interference factors. The charging dock positioning method further includes: the charging dock uses the monitoring module to detect the intensity of environmental interference affecting the positioning signal transmission; if the interference intensity exceeds a preset threshold, it sends information on the type and intensity of the environmental interference to the device being charged, so that the device can adjust its position to avoid the interference based on this information.

[0055] Specifically, after the charging dock sends information on the type and intensity of environmental interference to the device being charged, the device determines the location of the interfering factor based on this information, and then determines a suitable moving distance and direction to avoid the interfering factor. Simultaneously, based on its position relative to the charging dock after movement, the device sends a control command to the charging dock, instructing it to rotate by a corresponding angle. For example, the device can use its own light sensor or a user-preset environmental map to determine the direction of strong light sources or reflective surfaces, and thus choose an avoidance path. The charging dock rotates the charging component according to the received control command, ensuring initial alignment between the charging component and the device. In some embodiments, the charging component and transmitter of the charging dock are relatively fixed, and the transmitter only rotates within the signal reception range corresponding to each receiver. Therefore, optionally, the charging dock can further adjust the rotation range of the charging component according to the received rotation angle to ensure that the transmitter's rotation range covers all receivers with the positioning signal. In some embodiments, the charging component and transmitter of the charging dock can rotate independently. After initial alignment, the charging component can be individually controlled to rotate within the range corresponding to each receiver.

[0056] This embodiment uses a rotating charging base to transmit positioning signals. After receiving the positioning signal at each receiver, the device to be charged sends a corresponding receiving signal to the charging base. The charging base determines the transmission angle for each receiver based on the received signal and sends this information to the device. This allows the device to adjust its orientation according to the transmission angle and signal strength of each receiver, aligning its charging contacts with the charging interface of the charging base. Therefore, this embodiment achieves charging base positioning with a single transmitter, reducing hardware costs. Furthermore, the rotating positioning signal allows it to adapt to various environments, improving positioning flexibility.

[0057] Figure 7 This is a flowchart of a charging base positioning method applied to a charging base according to an embodiment of the present invention. Figure 7 As shown, the charging dock achieves its positioning by performing the following steps: Step S710: Control the transmitter to rotate and continuously transmit positioning signals.

[0058] Step S720: Receive at least three receive signals from the device to be charged. These receive signals are generated and transmitted by the corresponding receiver of the device to be charged after receiving the positioning signal.

[0059] Step S730: Using the position of the transmitter when it is not rotating as the initial position, determine the transmission angle corresponding to each receiver based on the reception time of each received signal and the rotation speed of the transmitter. The transmission angle is the rotation angle of the transmitter relative to the initial position when it transmits the positioning signal.

[0060] Specifically, the charging base can record the initial time when the transmitter is in its initial position. Based on the difference between the reception time of each received signal and the initial time, as well as the rotation speed, the rotation angle within that time can be calculated, which is also the corresponding transmission angle of the receiver. For example, a timer can be set in the controller. Each time the transmitter rotates to a preset position, the timer is cleared. When a received signal is received, the time in the timer is obtained, and then the corresponding transmission angle is calculated.

[0061] Step S740: Send the transmission angle corresponding to each receiver to the device to be charged so that the device to be charged can adjust its orientation according to the transmission angle.

[0062] In one optional implementation, the charging dock positioning method further includes: obtaining the model number of the device to be charged, and adjusting the charging interface according to the model number of the device to be charged to adapt to the device. Specifically, adjusting the charging interface according to the model number of the device to be charged may include: determining and adjusting the height of the charging interface to a position suitable for the device to be charged according to the model number of the device to be charged, and / or determining and adjusting the output voltage of the charging interface according to the model number of the device to be charged, and / or determining and adjusting the spacing (e.g., horizontal spacing) between the contact springs in the charging interface according to the model number of the device to be charged. Correspondingly, the charging dock has a corresponding structure, such as a height-adjustable charging plate, a charging interface composed of at least two movable (e.g., parallel movable) contact springs, and an output voltage-adjustable charging interface to implement the above method. For specific structures, please refer to the foregoing embodiments, which will not be repeated here. Thus, this embodiment can adjust the position, shape, and electrical characteristics of the charging interface in the charging dock according to the model number of the device to be charged, so that the charging dock can adapt to different models of devices to be charged, improving the universality of the charging dock.

[0063] This embodiment transmits positioning signals by rotating the charging base. Based on the corresponding received signals sent by the device to be charged after each receiver receives the positioning signal, the corresponding transmission angle of each receiver is sent to the device, allowing the device to adjust its orientation according to the transmission angle of each receiver. Therefore, this embodiment can achieve charging base positioning with a single transmitter, reducing hardware costs. Furthermore, the rotating positioning signal allows it to adapt to various environments, improving positioning flexibility.

[0064] Figure 8 This is an embodiment of the charging base positioning method for a device to be charged, applied to an embodiment of the present invention. For example... Figure 8 As shown, the device to be charged positions itself on the charging dock by performing the following steps: Step S810: When any receiver receives a positioning signal emitted by the rotating charging base, it sends a corresponding receiving signal to the charging base. The receiving signal is used by the charging base to determine the corresponding transmission angle of the receiver.

[0065] Step S820: Receive the transmission angles corresponding to each receiver sent by the charging base, and obtain the signal strength of the positioning signal received by each receiver.

[0066] Step S830: Adjust the orientation of the device to be charged according to the transmission angle and signal strength of each receiver, so that the charging contacts of the device to be charged are aligned with the charging interface of the charging base.

[0067] This embodiment achieves precise positioning of the charging base by receiving a positioning signal emitted by the rotating charging base when any receiver of the device to be charged receives the corresponding receiving signal, thereby obtaining the transmission angle of each receiver and adjusting its own orientation according to the transmission angle and signal strength of each receiver.

[0068] Figure 9 This is a schematic diagram of a charging positioning device according to an embodiment of the present invention. Further, this embodiment also provides a charging positioning device for deploying a controller on the aforementioned charging base to achieve positioning and alignment of the charging base. Figure 9 As shown, the charging positioning device 9 includes a control module 91, a communication module 92, and a processing module 93.

[0069] The control module 91 is used to control the transmitter rotation and continuously transmit positioning signals.

[0070] The communication module 92 is used to receive at least three received signals sent by the device to be charged, and to send the transmission angle corresponding to each receiver to the device to be charged. The transmission angle is calculated by the processing module and is the rotation angle of the transmitter relative to the initial position when it transmits the positioning signal.

[0071] The processing module 93 is used to preset the initial position of the transmitter as its attitude position when it is not rotating, and to determine the transmission angle corresponding to each receiver based on the reception time of each received signal and the rotation speed of the transmitter.

[0072] This embodiment transmits positioning signals by rotating the charging base. Based on the corresponding received signals sent by the device to be charged after each receiver receives the positioning signal, the corresponding transmission angle of each receiver is sent to the device, allowing the device to adjust its orientation according to the transmission angle of each receiver. Therefore, this embodiment can achieve charging base positioning with a single transmitter, reducing hardware costs. Furthermore, the rotating positioning signal allows it to adapt to various environments, improving positioning flexibility.

[0073] Figure 10 This is a schematic diagram of another charging positioning device according to an embodiment of the present invention. Further, this embodiment also provides a charging positioning device for deployment on the controller of the aforementioned device to be charged, to achieve positioning and alignment of the charging base. Figure 10 As shown, the charging positioning device 10 includes a communication module 101, a processing module 102, and a control module 103.

[0074] The communication module 101 is configured to send a corresponding reception signal to the charging base when any receiver receives a positioning signal emitted by the rotating charging base, so that the charging base can determine the corresponding transmission angle of the receiver. The communication module 101 is also configured to receive the transmission angles corresponding to each receiver sent by the charging base, and to acquire the signal strength of the positioning signals received by each receiver detected by the device to be charged.

[0075] The processing module 102 is used to determine the rotation direction and rotation speed according to the transmission angle and signal strength of each receiver.

[0076] The control module 103 is used to control the device to be charged to adjust its orientation according to the rotation direction and rotation speed determined by the processing module 102, so that the charging contacts of the device to be charged are aligned with the charging interface of the charging base.

[0077] This embodiment achieves precise positioning of the charging base by receiving a positioning signal emitted by the rotating charging base when any receiver of the device to be charged receives the corresponding receiving signal, thereby obtaining the transmission angle of each receiver and adjusting its own orientation according to the transmission angle and signal strength of each receiver.

[0078] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus (devices), or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] This application is described with reference to flowchart illustrations of methods, apparatus (devices), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions.

[0080] These computer program instructions may be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction means, the implementation process of which is described in the instruction means. Figure 1 The function specified in one or more processes.

[0081] These computer program instructions may also be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, produce instructions for implementing processes. Figure 1 A device for a function specified in one or more processes.

[0082] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program for use by a computer to execute some or all of the above-described method embodiments.

[0083] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program specifying the relevant hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0084] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A charging base, comprising: include: seat body; The drive assembly is disposed within the housing. A charging component is disposed on the driving component, the charging component including a charging interface for electrical connection with a device to be charged; A transmitter is disposed on the charging assembly, the transmitter being configured to transmit a positioning signal to the device to be charged; The controller is electrically connected to the drive component, the charging component, and the transmitter, respectively. The controller is used to control the drive component to drive the charging component to rotate, so that the device to be charged adjusts its orientation according to the received positioning signal and is electrically connected to the charging interface.

2. The charging dock of claim 1, wherein, The drive assembly includes a chassis and a first motor disposed within the chassis, the first motor being configured to drive the charging assembly to rotate in a circumferential direction.

3. The charging dock of claim 1, wherein, The charging assembly includes a charging plate and a support column. The transmitter and the charging interface are disposed on the charging plate. The support column is provided with a track extending in a vertical direction, and the charging plate is slidably connected to the track.

4. The charging dock of claim 3, wherein, The charging assembly further includes an adjustment unit, which includes a gear and at least two sliding seats that are drivenly connected to the gear. The charging interface includes at least two contact springs disposed on the sliding seats. The adjustment unit is configured to adjust the spacing of each of the contact springs in the horizontal direction.

5. The charging dock of claim 1, wherein, The charging assembly also includes a second motor configured to drive the transmitter to rotate in a circumferential direction.

6. The charging dock of claim 1, wherein, The charging dock also includes a monitoring module for detecting the intensity of environmental interference that affects the transmission of positioning signals.

7. A charging base positioning method applied to a charging base, characterized in that, The method includes: Control the transmitter to rotate and continuously transmit positioning signals; Receive at least three receive signals sent by the device to be charged, wherein the receive signals are generated and sent by the corresponding receiver of the device to be charged after receiving the positioning signal; Using the position of the transmitter when it is not rotating as the initial position, the transmission angle corresponding to each receiver is determined according to the reception time of each received signal and the rotation speed of the transmitter. The transmission angle is the rotation angle of the transmitter relative to the initial position when it transmits the positioning signal. The transmitter angle corresponding to each receiver is sent to the device to be charged so that the device to be charged can adjust its orientation according to the transmitter angle.

8. The method of claim 7, wherein, The method further includes: Obtain the model number of the device to be charged, determine and adjust the height of the charging interface to a position suitable for the device to be charged based on the model number.

9. The method of claim 7, wherein, The method further includes: Obtain the model number of the device to be charged, and determine and adjust the output voltage of the charging interface based on the model number.

10. The method of claim 7, wherein, The charging base includes at least two movable contact springs for providing a charging interface that matches the device to be charged, and the method further includes: Obtain the model number of the device to be charged, and determine and adjust the spacing between each of the contact springs based on the model number.

11. The method of claim 10, wherein, Each of the contact springs moves in the horizontal direction, and the spacing is the horizontal spacing.

12. The method according to claim 8, characterized in that, The method further includes: The intensity of environmental interference affecting the transmission of positioning signals is detected by the monitoring module. If the interference intensity exceeds a preset threshold, the type and intensity information of the environmental interference will be sent to the device to be charged so that the device to be charged can adjust its position to avoid the interference based on the information.

13. A method for positioning a charging dock, applied to a device to be charged, wherein the device to be charged is provided with at least three receivers, characterized in that, The method includes: When any of the receivers receives a positioning signal emitted by the rotating charging base, it sends a receiving signal corresponding to the receiver to the charging base so that the charging base can determine the corresponding emission angle of the receiver; Receive the transmission angle corresponding to each of the receivers sent by the charging base, and obtain the signal strength of the positioning signal received by each of the receivers; Adjust the orientation of the device to be charged according to the transmission angle and signal strength of each receiver, so that the charging contacts of the device to be charged are aligned with the charging interface of the charging base.

14. The method according to claim 13, characterized in that, The step of adjusting the orientation of the device to be charged according to the transmission angle and signal strength corresponding to each receiver includes: Calculate the first angle and the second angle based on the transmission angle corresponding to each of the receivers; If the difference between the first angle and the second angle is greater than the first threshold, the rotation direction and rotation angle of the device to be charged are determined based on the difference between the first angle and the second angle to adjust the orientation. If the difference between the first signal strength and the second signal strength is greater than the second threshold, the rotation direction and rotation angle of the device to be charged are determined based on the difference between the first signal strength and the second signal strength to adjust the orientation. The at least three receivers include a first receiver, a second receiver, and a third receiver. The first receiver and the third receiver are symmetrically arranged on both sides of the second receiver. The first angle is the difference between the transmission angles corresponding to the first receiver and the second receiver, the second angle is the difference between the transmission angles corresponding to the second receiver and the third receiver, the first signal strength is the signal strength of the positioning signal received by the first receiver, and the second signal strength is the signal strength of the positioning signal received by the third receiver.

15. The method according to claim 14, characterized in that, The method further includes: If the first receiver does not receive a positioning signal, the device to be charged is controlled to rotate a preset angle toward the side where the third receiver is located; If the third receiver does not receive a positioning signal, the device to be charged is controlled to rotate a preset angle toward the side where the first receiver is located.

16. A device to be charged, characterized in that, The device to be charged includes: At least three receivers are configured to receive positioning signals emitted by the rotating charging dock; The charging contacts are configured to be electrically connected to the charging interface of the charging base; A controller, electrically connected to the at least three receivers and the charging contacts respectively, is used to perform the method as described in any one of claims 13-15.

17. The device to be charged according to claim 16, characterized in that, The receiver is an infrared receiver, and the receiver is provided with a light-shielding structure with a through hole. The light-shielding structure is used to transmit the positioning signal to the receiver through the through hole.

18. The device to be charged according to claim 16, characterized in that, The at least three receivers include a first receiver, a second receiver, and a third receiver, wherein the first receiver and the third receiver are symmetrically arranged on the left and right sides of the second receiver along the width direction of the device to be charged.

19. A charging system, characterized in that, include: The charging dock as described in any one of claims 1-6; the device to be charged as described in any one of claims 16-18; The controller of the device to be charged adjusts the orientation of the device to be charged according to the received positioning signal, so that the charging contacts of the device to be charged are electrically connected to the charging interface of the charging base to realize charging.

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