Charging stand and self-moving system

Abstract

The utility model discloses a charging seat and a self-moving system. The charging seat can provide a charging function for the self-moving equipment, the charging seat comprises a base and at least one identification piece arranged on the base, the identification piece comprises an acting surface used for being identified by the self-moving equipment, and at least partial area of the acting surface is provided with a concave-convex surface. By means of the concave-convex surface, the problem that the intelligent mower cannot recognize the charging base identification piece due to the strong light environment can be solved, and therefore the efficiency that the self-moving device (such as the intelligent mower) returns to the charging base is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of gardening tools, and particularly relates to a charging base that can be recognized by a self - moving device and can provide a charging function for the self - moving device, and a self - moving system provided with the charging base. Background Art

[0002] The intelligent lawn mowing robot, abbreviated as intelligent lawn mower, is an automated outdoor lawn maintenance tool and also a self - moving device. It generally has functions such as autonomous navigation, path planning, obstacle avoidance, and automatic charging, and can automatically complete lawn mowing work within a predetermined area. Such lawn mowers are usually equipped with advanced sensor vision technologies (such as cameras with image recognition functions), which can recognize the position of the charging base and then move to the charging base for charging.

[0003] In the prior art, an identification member for the intelligent lawn mowing robot to recognize is generally provided on the charging base to guide the intelligent lawn mowing robot to move onto the charging base. However, since the surface of the identification member is generally a smooth plane, specular reflection is likely to occur when the light is strong, interfering with the camera of the intelligent lawn mowing robot (such as taking a flash instead of the identification member). Therefore, when the intelligent lawn mowing robot is exactly at the specular reflection position of the identification member and the light is strong, it is difficult for the intelligent lawn mowing robot to accurately recognize the identification member. Especially in a strong sunlight environment, the reflected light of the identification member will cause the camera of the intelligent lawn mowing robot to fail to recognize the identification member, resulting in the intelligent lawn mowing robot being unable to return to the charging base for charging.

[0004] Therefore, how to avoid the situation that the intelligent lawn mowing robot fails to recognize the identification member in a strong light environment and improve the efficiency of the intelligent lawn mowing robot returning to the charging base is a technical problem that those skilled in the art need to solve urgently. Summary of the Utility Model

[0005] In view of this, the utility model provides a charging base and a self - moving system provided with the charging base, which can avoid the problem that the intelligent lawn mowing robot fails to recognize the identification member in a strong light environment, thereby improving the efficiency of the intelligent lawn mowing robot returning to the charging base.

[0006] To achieve the above object, the utility model provides the following technical solutions:

[0007] A charging base that can provide a charging function for a self - moving device. The charging base includes a base and at least one identification member provided on the base. The identification member includes a working surface for being recognized by the self - moving device, and at least part of the area of the working surface is provided with a concave - convex surface.

[0008] Optionally, in the above charging stand, the identification member includes a plurality of protrusions, and the plurality of protrusions form the concave-convex surface, and each protrusion is provided with a plurality of side surfaces with different orientations.

[0009] Optionally, in the above charging stand, each of the side surfaces is a polygonal plane respectively.

[0010] Optionally, in the above charging stand, the included angle between adjacent side surfaces is 60° - 120°;

[0011] And / or, the included angle between each side surface and the reference bottom surface of the acting surface is 60° - 120°;

[0012] And / or, at least part of the side length of each side surface is 2 - 15 mm.

[0013] Optionally, in the above charging stand, in the length direction of the identification member, a plurality of ribs are arranged side by side, and each rib includes a plurality of the protrusions arranged in sequence along the width direction of the identification member.

[0014] Optionally, in the above charging stand, in the length direction of the identification member, the length dimension of each protrusion is 1 - 20 mm;

[0015] And / or, in the width direction of the identification member, the length dimension of each protrusion is 1 - 20 mm;

[0016] And / or, in the thickness direction of the identification member, the protruding height of each protrusion is 1 - 20 mm.

[0017] Optionally, in the above charging stand, at least part of the color of the acting surface is any one or a combination of orange, red, and yellow.

[0018] Optionally, in the above charging stand, the identification member further includes a bottom plate portion, and the bottom plate portion is located below the acting surface and is fixedly connected thereto.

[0019] Optionally, in the above charging stand, the identification member is located in a partial area of the top surface of the base;

[0020] And / or, the identification member is connected to the top surface housing of the base through a fastener or a snap structure, or is integrally formed.

[0021] A self - moving system includes a self - moving device and a charging stand capable of charging the self - moving device. The self - moving device is provided with an identification module capable of identifying an identification member on the charging stand, 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 based on the identification information of the identification module. The charging stand is the charging stand described above.

[0022] Compared with the prior art, in the charging stand and the self - moving system provided by the present utility model, by providing a concave - convex surface on the acting surface of the identification member of the charging stand, the light irradiated on the acting surface can be scattered, avoiding the formation of specular reflection in the same direction across the entire acting surface. Therefore, even in a strong - light environment, regardless of the orientation of the self - moving device relative to the identification member and regardless of the direction of the light source, the self - moving device is at most located at the reflection positions of a small part of the surface of the acting surface. Thus, it can effectively avoid the problem that the intelligent lawn mower cannot identify the identification member due to a strong - light environment, thereby improving the efficiency of the self - moving device returning to the charging stand for charging. In short, due to the concave - convex surface provided on the acting surface of the identification member of the charging stand, the intensity of the reflected light on the acting surface can be greatly reduced, avoiding the problem of camera flash of the self - moving device. Consequently, the self - moving device can effectively identify the identification member on the charging stand at different positions, ensuring that the self - moving device can accurately move to the position where the charging stand is located. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the following - described drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0024] Figure 1 The side view of the identification member provided by the embodiment of the present utility model.

[0025] Figure 2 The top view of the identification member provided by the embodiment of the present utility model.

[0026] Figure 3 The axonometric view of the identification member provided by the embodiment of the present utility model.

[0027] Figure 4 For Figure 3 The enlarged view at position g in

[0028] Figure 5 The schematic diagram of a rib structure provided by the embodiment of the present utility model.

[0029] Figure 6Schematic diagram of the structure of a charging base provided by an embodiment of the present utility model.

[0030] Wherein:

[0031] 1 - identification member, 2 - base

[0032] 11 - acting surface, 12 - bottom plate portion, 13 - clamping portion

[0033] 100 - side surface, 110 - protrusion, 111 - rib Specific implementation mode

[0034] The present utility model provides a charging base and a self - moving system provided with the charging base. By setting an uneven surface on the acting surface of the identification member of the charging base, the problem that the intelligent lawn mower cannot recognize the identification member due to strong light environment can be avoided, thereby improving the efficiency of the intelligent lawn mower returning to the charging base.

[0035] It should be noted here that the self - moving device mentioned in this article can be an intelligent lawn mowing robot, but it is not limited thereto. The self - moving device can also be other devices that can recognize the identification member on the charging base. The present utility model does not make specific limitations on its product type.

[0036] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0037] Please refer to Figures 1 to 6, embodiments of the present utility model provide a charging stand that can provide a charging function for a self - moving device. The charging stand includes a base 2 and at least one identification member 1 disposed on the base 2. The identification member 1 includes a working surface 11 for being recognized by the self - moving device, and at least a part of the area of the working surface 11 is provided with an uneven surface. Specifically, the uneven surface includes a surface with unevenness formed by arranging a plurality of protrusions, and moreover, the uneven surface also includes a surface with unevenness formed by arranging a plurality of grooves. Thus, the light irradiated on the working surface 11 can be scattered through the uneven surface, avoiding the specular reflection in the same direction over the entire area of the working surface 11. Therefore, even in a strong - light environment, no matter which position the self - moving device is located on the identification member 1 and no matter from which direction the light comes, the self - moving device is at most located at the reflection position of a small amount of the surface of a part of the working surface 11. Thus, it can effectively avoid the problem that the self - moving device cannot recognize the charging stand identification member due to the strong - light environment, so as to improve the efficiency of the self - moving device returning to the charging stand for charging. In short, because the working surface 11 of the charging stand identification member 1 is provided with an uneven surface, the intensity of the reflected light of the working surface 11 can be greatly reduced, avoiding the problem of the camera of the self - moving device flashing. Thus, the self - moving device can effectively recognize the identification member 1 on the charging stand at different positions, ensuring that the self - moving device can smoothly return to the charging stand.

[0038] Please refer to Figure 3 and Figure 5 , in specific implementation, the uneven surface of the identification member 1 is formed by a plurality of protrusions 110, and moreover, each protrusion 110 is provided with a plurality of sides 100 with different orientations. Therefore, when the light irradiates the working surface 11 of the identification member 1 from a certain direction, at most one side 100 of each protrusion 110 reflects light towards the self - moving device, and the phenomenon that the entire area of the working surface 11 reflects light in the same direction will not occur. Thus, it can effectively avoid the problem of the camera flashing and ensure that the position of the charging stand is accurately recognized by the self - moving device.

[0039] In specific implementation, multiple convex strips 111 can be arranged side by side in the length direction of the identification member 1, and each convex strip 111 includes a plurality of protrusions 110 arranged in sequence along the width direction of the identification member 1. Thus, as Figures 1 to 5 shown, a plurality of the above - mentioned protrusions 110 arranged side by side along the width direction of the identification member 1 constitute the convex strip 111, and a plurality of convex strips 111 arranged side by side along the length direction of the identification member 1 constitute the uneven surface of the identification member 1. Or, it can also be understood that the surface of each convex strip 111 is a continuous curved surface extending along the width direction of the identification member 1 and bending up and down in the thickness direction of the identification member. Specifically, in some embodiments, the bending angle of the curved surface can be designed to be 60° - 120°, and the extension length of each section of the side can be designed to be 2 - 15 mm. Thus, the upper surface and the side surface of the working surface 11 are both uneven.

[0040] In some embodiments, each side surface 100 of the above-mentioned protrusion 110 can be designed as a polygonal plane respectively, such as a triangle, a rectangle, a trapezoid, a parallelogram, etc. Moreover, the included angle between adjacent side surfaces 100 in each protrusion 110 is preferably designed to be 60° to 120°; and / or, the included angle between each side surface 100 and the reference bottom surface of the acting surface 11 (i.e., the bottom surface of the acting surface 11, which is also Figure 3 and Figure 5 the upper surface of the base part 2 shown in) is 60° to 120°; and / or, at least part of the side length of each side surface 100 is 2 to 15 mm.

[0041] In some embodiments, in the length direction of the identification member 1, the length dimension a of each protrusion 110 is 1 to 20 mm; and / or, in the width direction of the identification member 1, the length dimension b of each protrusion 110 is 1 to 20 mm; and / or, in the thickness direction of the identification member 1, the protruding height of each protrusion 110 is 1 to 20 mm.

[0042] In some embodiments, the cross-sectional shape of each rib 111 in the identification member 1 can be: polygons such as a triangle (such as an isosceles triangle), a rectangle, a trapezoid, a parallelogram, etc., or other arbitrary geometric figures such as a cylinder, a cone, etc.; the cross-sectional height can be 1 to 20 mm, and the bottom side length can be 1 to 20 mm. For example, refer to Figure 5 that each protrusion 110 can be respectively a three-dimensional shape formed by translating an isosceles triangle with a bottom side length of 1 to 20 mm along a straight line segment that forms an angle of 60° - 120° with the length direction of the identification member 1 (this straight line segment can be considered as the projection of the side edge L at the top of the protrusion 110 on the bottom plate part 12) by 2 to 15 mm.

[0043] Through the above specific structural design, it can be ensured that the self-moving device can effectively recognize the acting surface 11 on the identification member 1 at a place far from the charging base and at different positions, and it can also avoid the flash of light reflected by the acting surface 11 in a strong sunlight environment on the camera of the self-moving device, thereby being beneficial to improving the efficiency of the self-moving device returning to the charging base and being beneficial to ensuring the accurate execution of the route guiding scheme for the self-moving device to return to the charging base for charging in a strong light environment. In addition, the identification member 1 with the above structural design also has the characteristic of being relatively convenient to wash with water. However, it is not limited to this. In other embodiments, the protrusions 110 and ribs 111 can also be set to other shapes and sizes, as long as they can form an uneven surface and can avoid the problem of camera flash caused by a strong light environment.

[0044] In some embodiments, the color of the working surface 11 of the identification member 1 at least partially includes any one or a combination of orange, red, and yellow, so that the working surface 11 of the identification member 1 has a distinct contrast with the green color of the grass and is more easily recognized by the camera of the intelligent lawn mower.

[0045] In some embodiments, in addition to the above-mentioned working surface 11, the identification member 1 further includes a bottom plate portion 12, which is located below the working surface 11 and fixedly connected to the working surface 11. Specifically, the identification member 1 can be an integral structural member. In this case, the bottom plate portion 12 and the working surface 11 are respectively the upper and lower parts of the identification member 1; alternatively, the bottom plate portion 12 and the working surface 11 can also form the identification member 1 through an assembly method. For example, the working surface 11 is installed on the upper surface of the bottom plate portion 12 by means of pasting, snap connection, screw connection, etc. In addition, please refer to Figure 6 , during specific implementation, generally, the identification member 1 is located at the top of the base 2, so as to cover a part of the top area of the base; moreover, during specific implementation, the identification member 1 and the top surface housing of the base 2 can be connected by fasteners or snap connection structures, or integrally formed. For example, an installation groove for installing the identification member 1 is provided on the top surface of the charging base 2; correspondingly, as Figure 1 shown in, a snap connection portion 13 for snap-fitting with the installation groove is provided at the bottom of the identification member 1, so that the identification member 1 can be conveniently and quickly installed on the base 2.

[0046] In addition, the embodiment of the present utility model further provides a self-moving system, which includes a self-moving device and a charging base capable of charging the self-moving device, and the charging base is the charging base described above. Moreover, the self-moving device is provided with an identification module capable of identifying the identification member 1 on the charging base, a driving module capable of controlling the self-moving device to move to the charging position, and a control module capable of controlling the movement of the self-moving device through the identification information of the identification module.

[0047] When the self-moving device needs to be charged, the navigation module (such as GPS) in the self-moving system can guide the self-moving device to move near the charging base, and then identify the identification member 1 on the charging base through the identification module, so as to determine the specific position of the charging base, and then automatically plan a route through the control module and guide the self-moving device back to the charging base without arranging an electronic boundary line.

[0048] In some embodiments, the identification module can be a camera identification module capable of image acquisition. Through the above-mentioned base identification member 1 inclined relative to the ground, it is beneficial for the camera in the identification module to perform image acquisition and imaging recognition.

[0049] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed.

[0050] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0051] 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 obvious to those skilled in the art. The general principles defined herein can 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 these embodiments shown herein, but rather 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 (2) and at least one identification member (1) arranged on the base (2), characterized in that: The identification element (1) comprises an active surface (11) for being identified by a mobile device, and at least a part of the active surface (11) is provided with a concave-convex surface.

2. The charging stand according to claim 1, characterized in that: The identification element (1) comprises a plurality of protrusions (110), the plurality of protrusions (110) forming the concave-convex surface, and each of the protrusions (110) is provided with a plurality of side surfaces (100) facing in different directions.

3. The charging stand according to claim 2, characterized in that: Each of the side surfaces (100) is a polygonal plane.

4. The charging stand according to claim 2, characterized in that: The included angle between adjacent side surfaces (100) is 60° to 120°; and / or, the angle between each of the side surfaces (100) and the reference bottom surface of the active surface (11) is 60° to 120°; And / or, at least part of the side length of each side surface (100) is 2 to 15 mm.

5. The charging stand according to claim 1, characterized in that: In the length direction of the identification piece (1), a plurality of convex strips (111) are arranged in parallel, and each of the convex strips (111) comprises a plurality of protrusions (110) arranged in sequence along the width direction of the identification piece (1).

6. The charging stand according to claim 5, characterized in that: In the length direction of the identification element (1), the length dimension of each protrusion (110) is 1 to 20 mm; and / or, in the width direction of the identification element (1), the length of each protrusion (110) is 1 to 20 mm; And / or, in the thickness direction of the identification element (1), the protruding height of each protrusion (110) is 1 to 20 mm.

7. The charging stand according to any one of claims 1 to 6, characterized in that: The color of the active surface (11) is at least partially any one or more combinations of orange, red and yellow.

8. The charging stand according to any one of claims 1 to 6, characterized in that: The identification member (1) further comprises a bottom plate portion (12), wherein the bottom plate portion (12) is located below the active surface (11) and is fixedly connected thereto.

9. The charging stand according to any one of claims 1 to 6, characterized in that: The identification element (1) is located on a partial area of ​​the top surface of the base (2); And / or, the identification element (1) and the top shell of the base (2) are connected via a fastener or a snap-fit ​​structure, or are integrally formed.

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 (1) 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 described in any one of claims 1-9.

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