Charging station and self-moving system
By setting up an inclined marker on the base of the charging base, the problem of limitations in the operating environment during the recharging process of the robot lawn mower is solved, and the accuracy and accuracy of the docking of the charging base are improved.
Patent Information
- Application Number
- CN202420524436.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-18
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-03-18
AI Technical Summary
Existing robot lawn mowers are easily restricted by the working environment during the recharge process, the boundary guide wires are complex and easily broken, and infrared signals are easily affected by external influences, resulting in misjudgment of the charging base position.
A charging base is designed, and its base is equipped with a marker that can be tilted upwards relative to the ground to help the self-mobile device accurately identify and position the charging base position.
Through the design of the tilt marker, the self-mobile device can get rid of the limitations of the working environment, improve the accuracy and accuracy of docking with the charging base during the recharge process, and avoid the defects of boundary guide lines and infrared signal positioning technology.
Smart Images
Figure CN222706265U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of intelligent charging equipment, and in particular to a charging seat capable of providing a charging function for a self-moving device, and a self-moving system provided with the charging seat. Background Art
[0002] A robot lawn mower is an intelligent outdoor lawn maintenance tool that generally has functions such as autonomous navigation, path planning, obstacle avoidance and automatic charging, and can automatically complete lawn mowing work in a predetermined area. Such mowing robots are usually equipped with advanced sensor vision technologies such as infrared, ultrasonic, and lidar to detect terrain, boundaries, and potential obstacles to ensure that they do not hit trees, flower beds, or other objects during work.
[0003] In the prior art, robot lawn mowers usually use boundary guide wires to guide them back to the charging station for charging. However, the wiring of boundary guide wires is complicated and costly, and there are also risks such as boundary wire aging and disconnection. Once the boundary guide wire is disconnected or blocked by other obstacles in the environment, the robot lawn mower cannot return to the charging station for charging. In addition, some robot lawn mowers use infrared signals to locate the charging station and guide the robot, but infrared signals are easily affected by the outside world, which can easily cause the robot to misjudge the location of the charging station.
[0004] Therefore, how to get rid of the restrictions of the working environment on the recharging of the robot lawn mower and improve the accuracy of the robot lawn mower docking with the charging base during the recharging process is a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content
[0005] In view of this, the purpose of the utility model is to provide a charging base and a self-moving system provided with the charging base, which can help the self-moving device to locate the charging base through an inclined identification piece. Compared with the boundary guide line and infrared signal positioning technology, it can enable the self-moving device to get rid of the restrictions of the working environment on the recharging of the robot and improve the accuracy of the self-moving device docking with the charging base during the recharging process.
[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:
[0007] A charging stand can provide a charging function for a mobile device, the charging stand comprising a base and an identification piece connected to the base; when the identification piece is installed on the top surface of the base, the angle between at least part of the surface of the identification piece and the bottom surface of the base is greater than zero.
[0008] Optionally, in the above-mentioned charging base, the identification element is a bar-shaped identification element.
[0009] Optionally, in the above charging stand, the base has a first side and a second side opposite to each other, and a central axis located between the first side and the second side; wherein:
[0010] The identification member is respectively arranged at the first side edge and the second side edge;
[0011] And / or, the identification piece is arranged at the central axis.
[0012] Optionally, in the above charging stand, a first connecting unit is provided at the bottom of the identification member;
[0013] The top surface of the base is provided with a second connection unit which can be plugged or snap-connected with the first connection unit.
[0014] Optionally, in the above-mentioned charging stand, the base is provided with a groove capable of accommodating the identification member.
[0015] Optionally, in the above-mentioned charging stand, the base is provided with a wedge-shaped boss for mounting the identification member.
[0016] Optionally, in the above-mentioned charging base, the color of the identification element is different from the color of other areas of the base.
[0017] Optionally, in the above-mentioned charging stand, the base is provided with a column protruding upward, and the column is provided with a charging terminal;
[0018] At least a partial area of the identification element gradually tilts upward along an inclined trajectory, and a horizontal projection direction of the inclined trajectory is parallel to a moving direction of the mobile device when moving toward the charging terminal for charging.
[0019] Optionally, in the above-mentioned charging stand, the base has a front portion and a rear portion relative to each other, the charging terminal is located at the front portion, and the top surface of the rear portion is provided with an anti-slip area.
[0020] A self-moving system comprises a self-moving device and a charging base capable of charging the self-moving device. The charging base is the charging base described above; the self-moving device is provided with an identification module capable of identifying an identification member on the charging base, a driving module capable of controlling the self-moving device to move to a charging position, and a control module capable of controlling the movement of the self-moving device through identification information of the identification module.
[0021] It can be seen from the above technical solutions that in the charging stand and self-moving system provided by the utility model, since the base of the charging stand is generally connected to the ground and its bottom surface is generally flush with the ground, at least part of the surface of the identification piece can be tilted upward relative to the ground, thereby facilitating the self-moving device to accurately identify the position of the charging stand. Compared with the relative boundary guide line and infrared signal positioning technology, it can free the self-moving device from the restrictions of the operating environment on the recharging of the robot and improve the accuracy of the self-moving device docking with the charging stand during the recharging process. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0023] Figure 1 This is a schematic structural diagram of a charging base provided in the first specific embodiment of the utility model.
[0024] Figure 2 for Figure 1 Schematic diagram of the exploded structure of the base and identification components in.
[0025] Figure 3 This is a schematic structural diagram of a charging base provided in a second specific embodiment of the utility model.
[0026] Figure 4 A side view of the charging base provided in the first specific embodiment of the utility model.
[0027] Figure 5 This is a cross-sectional view of the exploded structure of the base mounting position and the identification member at the connection point provided in the first specific embodiment of the utility model.
[0028] Figure 6 A cross-sectional view of the combined structure of the base mounting position and the identification member at the connection point provided in the first specific embodiment of the utility model.
[0029] in:
[0030] 1-base, 2-column, 3-charging terminal, 4-anti-slip area, 5-wedge-shaped boss,
[0031] 12- Identification piece,
[0032] 110 - groove, 111 - second connection unit, 121 - first connection unit. DETAILED DESCRIPTION
[0033] An embodiment of the utility model provides a charging seat and a self-moving system provided with the charging seat. By providing an identification piece on the base of the charging seat that can be tilted upward relative to the horizontal ground, it is convenient for a self-moving device in the self-moving system to accurately identify and locate the position of the charging seat, thereby ensuring the accuracy of the robot's docking with the charging seat during the recharging process.
[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0035] See also Figures 1 to 6 , an embodiment of the utility model provides a charging stand that can provide a charging function for a self-moving device (such as a robot lawn mower). The charging stand includes a base 1, and an identification member 12 connected to the base 1. When the identification member 12 is mounted on the top surface of the base 1, the angle α between at least a portion of the surface of the identification member 12 and the bottom surface of the base 1 is greater than zero. Since the base 1 is generally connected to the ground and its bottom surface is generally flush with the ground, at least a portion of the surface of the identification member 12 can be tilted upward relative to the ground, thereby facilitating the self-moving device to accurately identify the position of the charging stand.
[0036] In some embodiments, the color of the identification member 12 is different from the color of other areas of the base 1, such as red, yellow, etc., so as to facilitate identification. Moreover, the shape of the identification member 12 is preferably designed as a bar, such as a rectangular color bar. However, it is not limited to this. In other embodiments, the shape of the identification member 12 can also be set to other shapes, such as semicircle, semi-ellipse, diamond, parallelogram, circle, ellipse, irregular shape, or multiple graphics arranged in an array.
[0037] Generally, the base 1 includes a first side and a second side that are opposite to each other, and a central axis between the first side and the second side. In specific implementation, identification members 12 may be provided at the first side and the second side, respectively (see Figure 1 and Figure 2 ); and / or, a marking member 12 may be provided at the central axis (see Figure 3 ); and / or, an identification member 12 (not shown in the figure) is provided on the side of the base 1 away from the charging terminal 3.
[0038] In some embodiments, the identification member 12 can be made of plastic and snap-connected to the base, so that it is easy to disassemble and not easy to be damaged. Figure 2 , Figure 5 and Figure 6 In some embodiments, the bottom of the identification member 12 is provided with a first connection unit 121, and the top surface of the base 1 is provided with a second connection unit 111 that can be plugged or snap-connected with the first connection unit 121. Thus, the identification member 12 is detachably mounted on the base 1, which is convenient for maintenance and replacement.
[0039] Furthermore, the base 1 is provided with a groove 110 capable of accommodating the identification member 12, so that the identification member 12 can be embedded in the groove 110, which is beneficial to the overall aesthetics of the charging stand.
[0040] In some embodiments, the base 1 is provided with a wedge-shaped boss 5 for mounting the identification member 12. Specifically, the top surface of the wedge-shaped boss 5 can be designed as an inclined surface parallel to the above-mentioned inclined direction L, and the identification member 12 can be mounted on the top of the wedge-shaped boss 5 by embedding or bonding, so that the top surface of the identification member 12 is coplanar or parallel to the inclined top surface of the wedge-shaped boss 5, or the top surface of the identification member 12 covers the inclined top surface of the wedge-shaped boss 5, and finally ensures that the angle α between at least part of the surface of the identification member 12 and the bottom surface of the base 1 is greater than zero.
[0041] See also Figure 1 In some embodiments, the base 1 is provided with an upwardly protruding column 2, and the column 2 is provided with a charging terminal 3. At least a part of the identification member 12 gradually tilts upward along the tilt track L, and the horizontal projection direction L' of the tilt track L (see Figure 1 The thick arrow in the figure is parallel to the moving direction M when the mobile device is docked to the charging terminal 3.
[0042] In some embodiments, the base 1 has a front and a rear portion relative to each other, the charging terminal 3 is located at the front portion, and the top surface of the rear portion is provided with an anti-slip area 4. The anti-slip area 4 can increase the friction coefficient when in contact with the bottom of the self-moving device, which is not only conducive to the self-moving device climbing onto the charging seat, but also conducive to the self-moving device remaining relatively still and non-slip when connected to the charging terminal 3.
[0043] In addition, the embodiment of the utility model also provides a self-moving system, which includes a self-moving device and a charging seat capable of charging the self-moving device. The charging seat is the charging seat described above; the self-moving device is provided with an identification module capable of identifying the identification member 12 on the charging seat, a driving module capable of controlling the self-moving device to move to a charging position, and a control module capable of controlling the movement of the self-moving device through the identification information of the identification module.
[0044] When the self-mobile device needs to be charged, the navigation module (such as GPS) in the self-mobile system can guide the self-mobile device to move to the vicinity of the charging base, and then identify the identification member 12 on the charging base through the identification module to determine the specific location of the charging base, and then automatically plan the route through the control module and guide the self-mobile device back to the charging base without the need to arrange electronic boundary lines.
[0045] In some embodiments, the recognition module can be a camera recognition module capable of image acquisition, and the base identification member 12 tilted relative to the ground can facilitate the camera in the recognition module to perform image acquisition and imaging recognition. However, it is not limited to this. In other embodiments, other components capable of identifying the identification member 12 can also be used as the recognition module, and the utility model does not specifically limit this.
[0046] It can be seen that by using the tilted identification member 12 to help the self-moving device locate the position of the charging seat, it can not only effectively avoid the problems of complex wiring, high cost, aging of the boundary line, and disconnection of the boundary guide line; and compared with the infrared signal positioning technology, it can effectively avoid the problem that the infrared signal is easily affected by the outside world and causes the robot to misjudge the position of the charging seat. It can be seen that the charging seat provided by the embodiment of the utility model and the self-moving system provided with the charging seat can get rid of the restrictions of the working environment on the recharging of the self-moving device, and improve the accuracy and accuracy of the docking of the self-moving device with the charging seat during the recharging process.
[0047] In some embodiments, the self-moving device may be a lawn mower, but is not limited thereto, and in other embodiments, the self-moving device may also be a sweeping robot, an autonomous driving vehicle, or any other device that can automatically control movement and automatically detect power and move to a charging position.
[0048] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed.
[0049] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.
[0050] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A charging stand capable of providing a charging function for a mobile device, the charging stand comprising a base (1), characterized in that: It also includes an identification member (12) connected to the base (1); When the identification element (12) is mounted on the top surface of the base (1), the angle (α) between at least a portion of the surface of the identification element (12) and the bottom surface of the base (1) is greater than zero.
2. The charging stand according to claim 1, characterized in that: The identification piece (12) is a bar-shaped identification piece.
3. The charging stand according to claim 2, characterized in that: The base (1) has a first side and a second side opposite to each other, and a central axis located between the first side and the second side; wherein: The identification element (12) is respectively arranged at the first side edge and the second side edge; And / or, the identification member (12) is arranged at the central axis.
4. The charging stand according to claim 1, characterized in that: A first connecting unit (121) is provided at the bottom of the identification member (12); The top surface of the base (1) is provided with a second connection unit (111) capable of being plugged or snap-connected to the first connection unit (121).
5. The charging stand according to claim 4, characterized in that: The base (1) is provided with a groove (110) capable of accommodating the identification element (12).
6. The charging stand according to claim 1, characterized in that: The base (1) is provided with a wedge-shaped boss (5) for mounting the identification member (12).
7. The charging stand according to claim 1, characterized in that: The color of the identification element (12) is different from the color of other areas of the base (1).
8. The charging stand according to claim 1, characterized in that: The base (1) is provided with a column (2) protruding upward, and the column (2) is provided with a charging terminal (3); At least a part of the identification element (12) gradually tilts upward along an inclined trajectory (L), and a horizontal projection direction (L') of the inclined trajectory (L) is parallel to a moving direction (M) of the mobile device when it moves toward the charging terminal (3) for charging.
9. The charging stand according to claim 8, characterized in that: The base (1) has a front portion and a rear portion that are opposite to each other, the charging terminal (3) is located at the front portion, and the top surface of the rear portion is provided with an anti-slip area (4).
10. A self-moving system, comprising a self-moving device and a charging base capable of charging the self-moving device, the self-moving device is provided with an identification module capable of identifying an identification member (12) on the charging base, a driving module capable of controlling the self-moving device to move to a charging position, and a control module capable of controlling the movement of the self-moving device through identification information of the identification module, characterized in that: The charging base is the charging base according to any one of claims 1 to 9.