Autonomous mobile device and wireless charging system thereof
An autonomous moving device wireless charging system, including an autonomous moving device and a wireless charging station, the wireless charging station includes a wireless charging transmitting end; the autonomous moving device includes: a wireless charging receiving end, the wireless charging transmitting end wirelessly transmits a charging signal to the wireless charging receiving end to transmit electric energy; a charging battery, electrically connected to the wireless charging receiving end, to receive the electric energy transmitted from the wireless charging receiving end; a wireless charging locating module, the wireless charging locating module determines whether the autonomous moving device is at a charging location; a driving module; and a control module, connected to the wireless charging locating module and driving module, when the wireless charging locating module determines that the autonomous moving device is at the charging location, controlling the driving module, to make the autonomous moving device dock at the charging location.
1. An autonomous moving device wireless charging system, comprising an autonomous moving device and a wireless charging station, wherein:
the wireless charging station comprises a wireless charging transmitting end; and
the autonomous moving device comprises:
a wireless charging receiving end, wherein the wireless charging transmitting end wirelessly transmits a charging signal to the wireless charging receiving end to transmit electric energy;
a charging battery, electrically connected to the wireless charging receiving end, to receive the electric energy transmitted from the wireless charging receiving end;
a wireless charging locating module, wherein the wireless charging locating module determines whether the autonomous moving device is at a charging location;
a driving module, driving the autonomous moving device to move;
a control module, connected to the wireless charging locating module and driving module, and when the wireless charging locating module determines that the autonomous moving device is at the charging location, controlling the driving module, to make the autonomous moving device dock at the charging location;
wherein the autonomous moving device further comprises a receiving and processing circuit, and the receiving and processing circuit is in communication connection with the wireless charging receiving end and is configured to: detect the energy received by the wireless charging receiving end, and when detecting that the energy is greater than a first threshold, output a second electrical signal; otherwise, not output the second electrical signal; and
the control module is in communication connection with the wireless charging receiving end and is in communication connection with the receiving and processing circuit, and the control module detects a first electrical signal of the charging receiving end, and is configured to: receive the second electrical signal, when detecting the first electrical signal and the second electrical signal is not detected, determine, by means of comparison, whether the first electrical signal is greater than a second threshold, and if the first electrical signal is greater than the second threshold and the second electrical signal is not detected within a time T, control the autonomous moving device to move in a direction distant from the wireless charging station, and then dock the wireless charging receiving end to the wireless charging transmitting end again.
2. The autonomous moving device wireless charging system according to claim 1 , wherein the second threshold is zero.
3. The autonomous moving device wireless charging system according to claim 1 ,
wherein the wireless charging locating module comprises a charging signal detection module, and the charging signal detection module detects whether intensity of the charging signal received by the wireless charging receiving end reaches a predetermined value, and when the intensity of the charging signal reaches the predetermined value, determines that the autonomous moving device is at the charging location.
4. The autonomous moving device wireless charging system according to claim 1 , wherein:
the wireless charging station locating module locates a location of the wireless charging station, and sends the location of the wireless charging station to the control module; and
the control module controls the driving module according to the location of the wireless charging station, to make the autonomous moving device move towards the wireless charging station.
5. The autonomous moving device wireless charging system according to claim 4 , wherein: the system further comprises a directing line that extends outwards from the wireless charging station, the wireless charging station locating module comprises a directing line search module, the directing line search module searches for the directing line, and the control module controls the driving module, to make the autonomous moving device move along the directing line to reach the wireless charging station.
6. The autonomous moving device wireless charging system according to claim 5 , wherein: the directing line is a signal line for transmitting an electromagnetic signal outwards, and the directing line search module is an electromagnetic signal sensor.
7. The autonomous moving device wireless charging system according to claim 4 , wherein: the wireless charging station locating module comprises at least one of a GPS module, a Bluetooth module, a Zigbee module, or a WiFi module.
8. The autonomous moving device wireless charging system according to claim 7 , wherein: the wireless charging locating module determines a distance from the autonomous moving device to the charging location, and the control module controls the driving module according to the distance or a change of the distance, to make the autonomous moving device move towards the charging location.
9. The autonomous moving device wireless charging system according to claim 8 , wherein: when the distance is decreased to a first preset distance, the control module controls the driving module, to reduce a moving speed of the autonomous moving device.
10. The autonomous moving device wireless charging system according to claim 3 , wherein: the charging signal detection module determines whether the intensity of the charging signal reaches a preset value by detecting whether a current or a voltage generated on a charging circuit of a charging battery by the charging signal reaches a predetermined value.
11. The autonomous moving device wireless charging system according to claim 3 , wherein: the charging signal detection module determines a distance from the autonomous moving device to the charging location according to the intensity of the charging signal, and the control module controls the driving module according to the distance or a change of the distance, to make the autonomous moving device move towards the charging location.
12. The autonomous moving device wireless charging system according to claim 11 , wherein: when the distance is decreased to a first preset distance, the control module controls the driving module, to reduce a moving speed of the autonomous moving device.
13. The autonomous moving device wireless charging system according to claim 1 , wherein: a locating element is disposed on the wireless charging station, the wireless charging locating module comprises a locating sensor for detecting the locating element, and when the locating sensor detects that the locating sensor and the locating element are in a preset location relationship, the wireless charging locating module determines that the autonomous moving device is at the charging location.
14. The autonomous moving device wireless charging system according to claim 13 , wherein: the locating element is a magnet, and the locating sensor is a magneto sensitive element.
15. The autonomous moving device wireless charging system according to claim 1 , wherein: the autonomous moving device and the wireless charging station are both provided with an electromagnet, or one of the autonomous moving device and the wireless charging station is provided with a permanent magnet; the wireless charging locating module is a magnetic force detection module, and the magnetic force detection module monitors intensity of a magnetic force between the autonomous moving device and the wireless charging station, and when the magnetic force is greater than a preset value, determines that the autonomous moving device is at the charging location.
16. The autonomous moving device wireless charging system according to claim 1 , wherein: a shielder is disposed above the wireless charging receiving end, an area of the shielder is greater than that of the wireless charging transmitting end and the wireless charging receiving end.
17. The autonomous moving device wireless charging system according to claim 1 , further comprising a wireless charging transfer apparatus, wherein the wireless charging transfer apparatus is in communication with the wireless charging transmitting end and the wireless charging receiving end, and is configured to receive a charging signal sent by the wireless charging transmitting end, and transmit the charging signal to the wireless charging receiving end.
18. The autonomous moving device wireless charging system according to claim 17 , wherein: the wireless charging transfer apparatus is disposed on either of the wireless charging station and the autonomous moving device.
19. The autonomous moving device wireless charging system according to claim 17 , wherein: when the autonomous moving device is located at the charging location, a distance between the wireless charging transmitting end and the wireless charging receiving end is greater than 5 centimeters.
20. The autonomous moving device wireless charging system according to claim 17 , wherein: when the autonomous moving device is located at the charging location, an area of overlap between the wireless charging transmitting end and the wireless charging receiving end is less than 80% of an area of the wireless charging transmitting end or the wireless charging receiving end.
21. The autonomous moving device wireless charging system according to claim 1 , wherein: the autonomous moving device further comprises a battery voltage detection module for detecting a voltage of the charging battery, and when the voltage of the charging battery is less than a preset value, the control module controls the driving module, to make the autonomous moving device return to the wireless charging station.
22. The autonomous moving device wireless charging system according to claim 1 , wherein: at the charging location, the wireless charging transmitting end and the wireless charging receiving end are aligned.