CN101491901B - workstation - Google Patents
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- CN101491901B CN101491901B CN2008100038198A CN200810003819A CN101491901B CN 101491901 B CN101491901 B CN 101491901B CN 2008100038198 A CN2008100038198 A CN 2008100038198A CN 200810003819 A CN200810003819 A CN 200810003819A CN 101491901 B CN101491901 B CN 101491901B
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- work station
- mobile device
- autonomous mobile
- support
- slave block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a workstation capable of aligning with an independently moving device. The workstation comprises a workstation body, a horizontal omni-directional mobile vehicle, a sensor mechanism a gripping device and a control unit. The omni-directional mobile vehicle carries the main body of the workstation, and the sensor mechanism comprises an oscillating element and an electrode contact. The oscillating element is pivoted with the main body of the workstation, and is leaned against by the independently moving device when the independently moving device enters the workstation. The electrode contact is arranged on the oscillating element and is electrically connected to the independently moving device when the oscillating element is leaned against by the independently moving device. The gripping device is arranged on the main body of the workstation. The control unit is connected to the electrode contact and the gripping device, receives a sensing signal provided with theelectrode contact when the oscillating element is leaned against by the independently moving device and drives the gripping device to grip the independently moving device automatically to align the main body of the workstation with the independently moving device.
Description
Technical field
The present invention relates to a kind of work station, and be particularly related to and carry out the work station that contraposition links with autonomous mobile device.
Background technology
Visit science and technology make progress at a gallop grant, industry towards automation development with will be repeatedly in the past, trifling labour-intensive laboriously again work utilizes automatic machinery to finish.
Autonomous mobile device is a visual plant of automation.Utilization is installed different outfits additional at autonomous mobile device, just can become a kind of autonomous mobile device that possesses special post function, so the scope of application is very extensive.Also because so, the exploitation of autonomous mobile device in recent years comes into one's own gradually.Influence the supply of electric power source-battery that the autonomous mobile device most important reason duration of runs is autonomous mobile device.The time that autonomous mobile device can move is proportional to the electric weight of battery, and the electric weight number of battery is directly proportional with battery volume and weight.Therefore, if will make autonomous mobile device have long endurance, so autonomous mobile device just needs the battery that carrying is heavier and volume is bigger, and this measure certainly will cause the huge of autonomous mobile device volume, also can need bigger horsepower output.
The method that present common usefulness solves the electrical problems of autonomous mobile device and increases its endurance roughly is divided into rechargeable and the battery replacement formula.Adopt with autonomous mobile device that to advance the mode that work station charges automatically be the example explanation.Autonomous mobile device presents static when charging, and because the autonomous required electric weight height of mobile device, so need the charging interval more of a specified duration.But the autonomous mobile device of many execution action on duty is not allow its situation that stagnation is arranged to occur as carrying out the autonomous mobile device of purposes such as safe patrol, factory building detection, workpiece installation.If require charging to carry out quick charge rapidly, then have the shortcoming that shortens battery life.
Battery charge mode with robot is an example, can be called the patent of Charging System for Legged Mobile Robot with reference to european patent number EP1819026A2 name.Figure 1A and Figure 1B are the schematic diagram of the robot charging system of european patent number EP1819026A2.Please also refer to Figure 1A and Figure 1B, work station 20 has telltale mark 27 (Position Mark), and the biped of robot 1 can independently move, and robot 1 sees through the visual response device to carry out and work station 20 location.After robot 1 entered work station 20, robot 1 can turn round, and battery 2 sees through electrode assembly 4 and is connected with work station 20 and charges.Bracing or strutting arrangement 23 is installed in work station 20, and it has the inclined-plane opening, and can horizontally slip, and uses correction robot 1 and enters the error that work station 20 is caused.Robot 1 to be confirmed cooperate with work station 20 correct after, work station 20 promptly begins the action of charging to robot 1.If robot 1 did not receive job requirement when charging finished as yet, then will judge whether to be enough to finish at the workload of this work and the dump energy of robot 1 in advance, if court verdict is for can't finish the charging work of then proceeding robot 1, if be judged as and can finish, robot 1 goes at once and executes the task.
Though the problem that the battery replacement formula can avoid above-mentioned autonomous mobile device to stagnate, when the action of displacement battery was carried out, the contraposition of autonomous mobile device and work station was very important.If autonomous mobile device and battery replacement device departure are excessive, then will finish battery altering smoothly.If force autonomous mobile device location then may cause the damage of autonomous mobile device or work station itself with external force.
Battery altering mode with robot is an example, can be with reference to international monopoly WO 2004/110806A1 number, and name is called the patent content of battery swap device.Please refer to Fig. 2, the method for the X of robot location for utilizing symmetrical stretching arm 140, is hooked the engaging part A of robot X both sides after stretching arm 140 is stretched out, utilize drawing portion 130 that the X of robot is pulled to device body 120 again.Because location division J cooperates for taper with base portion 170, so at the X of robot during by drawing access to plant body 120, device body 120 is slided with slide rail to the left or to the right along the location cooperate fully with base portion 170, reach the purpose of hi-Fix up to location division J.The locate mode of the above-mentioned X of robot is to arrive with the stretching arm pulling X of robot to orientate purpose as.But, if the preponderance of the X of robot or have brake device, just could reach the purpose of the X of robot location so.In addition, when having than large deviation on the angle that enters the station if the X of robot arrives the battery altering position, its stretching arm that stretches out 140 might hook the X of robot simultaneously, so also can't reach the purpose of the X of robot location.
In addition, be example with other autonomous mobile devices, can be with reference to U.S. Patent number US5,239,931 patent contents that are called Automotive Truck with Robot and Automatic Batteries Replacement System.This part patent is at the battery changing mechanism of introducing tracking formula Automatic Guided Vehicle (Automatic Guided Vehicle is hereinafter to be referred as AGV).When the AGV power shortage, need enter work station and change battery.Show as Fig. 3, the work station R1 that supposes the left side is in order to install the battery that electric power storage is finished, and the AGV back of entering the station sees through motor, slide rail and the screw device of work station, together move being installed in the AGV battery that hypodynamic battery and left side work station electric power storage finish that powers on to right-hand, be that the battery that electric power storage is finished is equipped to AGV, carry out electric power storage and the battery of power shortage will enter right side work station R2.Until entering the station of AGV next time.As shown in Figure 3, because the course of AGV is fixed, make AGV and work station reach location more accurately though therefore can see through positioning groove, AGV can only advance along the path of planning, makes the locomotive function of AGV significantly limited.
Summary of the invention
The invention provides the work station that a kind of and autonomous mobile device contraposition is connected, and enter the station angle and position to some extent during deviation when what autonomous mobile device entered this work station, independently mobile device still can successfully carry out contraposition with work station.
The present invention proposes a kind of work station that is suitable for autonomous mobile device contraposition.This work station comprises work station body, horizontal omnidirectional mobile carrier, sense mechanism, grabbing device and control module.Horizontal omnidirectional mobile carrier carrying work station body, and sense mechanism comprises swing component and a plurality of electrode contact.Swing component is hubbed on the work station body, when autonomous mobile device enters work station, and the autonomous mobile device of swing component breasting.Electrode contact is disposed on the swing component, with when the autonomous mobile device of swing component breasting, is electrically connected to autonomous mobile device.Grabbing device is disposed on the work station body.Control module is electrically connected to electrode contact and grabbing device, wherein when the autonomous mobile device of swing component breasting, control module is suitable for the sensing signal that the collecting electrode contact is provided, and the corresponding grabbing device that drives grasps autonomous mobile device, make the work station body by this horizontal omnidirectional mobile carrier to reach contraposition with autonomous mobile device.
In one embodiment of this invention, above-mentioned horizontal omnidirectional mobile carrier comprises fixed mount, travelling carriage and carrier.Fixed mount has the support sliding surface, and travelling carriage wears and be suspended to the support sliding surface.Carrier is connected with travelling carriage, and carrying work station body.
In one embodiment of this invention, above-mentioned work station also comprises first sensor, and this first sensor configurable in work station body, horizontal omnidirectional mobile carrier and autonomous mobile device one of them, with the relative position of autonomous mobile device of sensing and work station.
In one embodiment of this invention, the first above-mentioned sensor is optical profile type sensor, mechanical type sensor or ultrasonic sensor.
In one embodiment of this invention, above-mentioned sense mechanism also comprises first elastic component that is connected between swing component and the work station body.
In one embodiment of this invention, the first above-mentioned elastic component is a spring.
In one embodiment of this invention, above-mentioned swing component is strip, and electrode contact is located at the two ends of swing component respectively.
In one embodiment of this invention, above-mentioned sense mechanism also comprises the pivot place locating part that is arranged at swing component, in order to the rotational angle of restriction swing component.
In one embodiment of this invention, above-mentioned locating part is a screw.
In one embodiment of this invention, above-mentioned grabbing device comprises first support, second support, Slave Block, a plurality of sliding bar, screw rod, driver, a plurality of crawl arm and a plurality of crawl arm answer part.Slave Block is disposed between first support and second support, and an end of each sliding bar connects second support, and each sliding bar passes first support and Slave Block, and first support and Slave Block can be slided on sliding bar.One end of screw rod connects second support, and screw rod passes first support and Slave Block, and driven mutually with Slave Block.Driver moves along sliding bar to drive Slave Block in order to drive screw.One end of each crawl arm is articulated on first support, and each crawl arm has cam curved surface, and has a plurality of rollers on second support, respectively the cam curved surface on the breasting crawl arm.Crawl arm is replied part provides elasticity pre-power, make crawl arm under initial situation because of the pre-power of elasticity mutually away from.Drive Slave Block when the driver drives screw rod when sliding bar moves, Slave Block forces first support to move along sliding bar, and offsets the pre-power of elasticity gradually, and this moment, crawl arm rotated with respect to first support, to grasp autonomous mobile device.
In one embodiment of this invention, above-mentioned grabbing device also comprises the bolster that is disposed between first support and the Slave Block.
In one embodiment of this invention, above-mentioned bolster is a spring.
In one embodiment of this invention, above-mentioned grabbing device also comprises second sensor that is disposed between first support and the Slave Block, and this second sensor is in order to the relative position between sensing first support and the Slave Block.
In one embodiment of this invention, the second above-mentioned sensor is optical profile type sensor, mechanical type sensor or ultrasonic sensor.
In one embodiment of this invention, the electrode contact of above-mentioned sense mechanism is a power output terminal, and power output terminal is in order to when being electrically connected to autonomous mobile device, and out-put supply is to autonomous mobile device.
Work station of the present invention utilizes rotating sense mechanism, horizontal omnidirectional mobile carrier and grabbing device, and the work station body can be moved and the contraposition connection with respect to autonomous mobile device.Therefore, work station of the present invention can tolerate that the more known work station of enter the station position and the angular range of autonomous mobile device is for big.
For above-mentioned feature and advantage of the present invention can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.
Description of drawings
Figure 1A and Figure 1B are the schematic diagram of the robot charging system of european patent number EP1819026A2.
Fig. 2 is robot and the battery swap schematic representation of apparatus of WO2004/110806A1.
Fig. 3 is US5, the battery changing mechanism schematic diagram of 239,931 tracking formula Automatic Guided Vehicle.
Fig. 4 enters the schematic diagram of the work station of one embodiment of the invention for autonomous mobile device.
Fig. 5 is the schematic diagram of the sense mechanism of Fig. 4.
Following view when Fig. 6 enters work station for the autonomous mobile device of Fig. 4.
Fig. 7 is the schematic diagram of grabbing device.
Fig. 8 is the autonomous mobile device of present embodiment and the contraposition process flow diagram flow chart of work station.
Fig. 9 A～9C is the flow chart of steps of autonomous mobile device and work station contraposition in regular turn.
Description of reference numerals
1, X: robot 2: battery
4: electrode assembly 20, R1, R2: work station
23: bracing or strutting arrangement 27: telltale mark
120: device body 140: stretching arm
170: base portion J: the location division
2000: work station 2100: the work station body
2200: horizontal omnidirectional mobile carrier 2210: carrier
2220: travelling carriage 2230: fixed mount
2232: support sliding surface 2300: sense mechanism
2310: swing component 2320: electrode contact
Elastic component 2340 in 2330: the first: locating part
2400: 2410: the first supports of grabbing device
2430: Slave Block 2440: sliding bar
2450: screw rod 2460: driver
2470: crawl arm 2472: cam curved surface
2480: 2490: the second sensors of bolster
2500: 2600: the first sensors of control module
3000: autonomous mobile device 3050: ALU
3100: battery 3200: battery lead plate
3300: location guide
The specific embodiment
Fig. 4 enters the schematic diagram of the work station of one embodiment of the invention for autonomous mobile device.Please refer to Fig. 4, work station 2000 is suitable for and autonomous mobile device 3000 contrapositions, so that autonomous mobile device 3000 can charge or change the action of battery in work station 2000, or transport goods to work station 2000 or work such as removal goods from the work station 2000.Wherein, the autonomous mobile device 3000 of present embodiment is being that the autonomous mobile robot of carrying out purposes such as safety patrol, factory building detection, workpiece installation is an example.In other embodiments, autonomous mobile device 3000 also can be the Automatic Guided Vehicle that can independently move.
Fig. 5 is the schematic diagram of the sense mechanism of Fig. 4.Please also refer to Fig. 4 and Fig. 5, work station 2000 comprises work station body 2100, horizontal omnidirectional mobile carrier 2200, sense mechanism 2300, grabbing device 2400 and control module 2500.Horizontal omnidirectional mobile carrier 2200 can carry the work station body 2100 of various job categories.The sense mechanism 2300 of Fig. 5 comprises swing component 2310 and a plurality of electrode contact 2320.Swing component 2310 is hubbed on the work station body 2100, and when autonomous mobile device 3000 entered work station 2000, swing component 2310 can the autonomous mobile device 3000 of breasting.Electrode contact 2320 is disposed on the swing component 2310, with when the autonomous mobile device 3000 of swing component 2310 breastings, is electrically connected to autonomous mobile device 3000.Grabbing device 2400 is disposed on the work station body 2100.Control module 2500 is electrically connected to electrode contact 2320 and grabbing device 2400, wherein when the autonomous mobile device 3000 of swing component 2310 breastings, control module 2500 is suitable for the sensing signal that collecting electrode contact 2320 is provided, and the corresponding autonomous mobile device 3000 of grabbing device 2400 extractings that drives, make work station body 2100 and autonomous mobile device 3000 reach contraposition.
At length, horizontal omnidirectional mobile carrier 2200 comprises carrier 2210, travelling carriage 2220 and fixed mount 2230, carrier 2210 and travelling carriage 2220 all are equipped in the fixed mount 2230, and travelling carriage 2220 is connected with carrier 2210, and wherein carrier 2210 is in order to carrying work station body 2100.Fixed mount 2230 has the sliding surface 2232 of support, and travelling carriage 2220 wore support sliding surface 2232 and was suspended to and supported sliding surface 2232, wherein was positioned at the travelling carriage 2220 that supports on the sliding surface 2232 and can utilizes rolling elements such as roller, ball to support on the sliding surface 2232 to be slidedly arranged on.
In addition, though the horizontal omnidirectional mobile carrier 2200 of present embodiment is utilize the mode of suspention to be up to the standard a effect that omnidirectional moves, present technique field tool knows that usually mode that the knowledgeable also can utilize other is to reach the effect that horizontal omnidirectional mobile carrier 2200 horizontal omnidirectionals are moved.For example, also can be that a plurality of movable wheels are set in the bottom of carrier 2210, or utilize other modes of well imagining such as air pressure, magnetic force or liquid buoyancy.
Please continue with reference to figure 4 and Fig. 5, in the present embodiment, swing component 2310 is a strip, and electrode contact 2320 is located at the two ends of swing component 2310 respectively.This swing component 2310 is articulated in end before the work station body 2100, and its to be suitable for rotating shaft A be that rotate in the axle center, to be connected with autonomous mobile device 3000 contrapositions.End is meant when autonomous mobile device 3000 enters work station 2000 before the above-mentioned work station body 2100, the side that work station body 2100 and autonomous mobile device 3000 are more approaching.
The electrode unit 3200 that at length, also can corresponding setting on the autonomous mobile device 3000 can be electrically connected with electrode contact 2320.When autonomous mobile device 3000 during, be that the signal that electrical connection produced by electrode contact 2320 and electrode unit 3200 makes the 2400 beginning starts of control module 2500 control grabbing devices with work station 2000 contrapositions.If for fear of autonomous mobile device 3000 only by single battery power supply, then when changing battery, can cause autonomous mobile device 3000 outages, must restart the system of autonomous mobile device 3000 after battery altering is finished, feasible whole operating process is the shape complexity more.Therefore, electrode contact 2320 is a power output terminal, and in order to when being electrically connected to electrode unit 3200, exports power supply to autonomous mobile device 3000 by electrode unit 3200.So, just, can avoid autonomous mobile device 3000 in the process of changing battery, to cut off the power supply.
In addition, sense mechanism 2300 also comprises a plurality of first elastic components 2330, and wherein first elastic component 2330 is connected between swing component 2310 and the work station body 2100.First elastic component 2330 of present embodiment is a spring, and can first elastic component 2330 be set respectively in the both sides, pivot place of contiguous swing component 2310.By the elastic force of two first elastic components 2330, can make swing component 2310 under the situation of the autonomous mobile device 3000 of breasting not, swing component 2310 returns back to original position.
In addition, sense mechanism 2300 also comprises a plurality of locating parts 2340, and locating part 2340 is equipped on the swing component 2310, in order to the rotational angle of restriction swing component 2310.The locating part 2340 of present embodiment can be screw.But present technique field tool is known the knowledgeable usually, should be able to use other structure with well imagining, and as projection, protruding axle, or other elements are to reach the purpose of the rotational angle that limits swing component 2310.
Following view when Fig. 6 enters work station for the autonomous mobile device of Fig. 4.Please refer to Fig. 6, be disposed at the grabbing device 2400 of work station body 2100 equally, is the autonomous mobile device 3000 that enters work station 2000 in order to extracting, makes autonomous mobile device 3000 and the accurately work of contraposition to carry out being assigned of work station 2000.Fig. 7 is the schematic diagram of grabbing device.Please refer to Fig. 7, furthermore, grabbing device 2400 comprises the crawl arm 2470 and the crawl arm answer part (indicating) of first support 2410, second support 2420, Slave Block 2430, a plurality of sliding bar 2440, screw rod 2450, driver 2460, a plurality of tool hook features.Slave Block 2430 is disposed between first support 2410 and second support 2420.One end of each sliding bar 2440 is connected to second support 2420, and each sliding bar 2440 passes first support 2410 and Slave Block 2430, and first support 2410 can be slided on sliding bar 2440 with Slave Block 2430.One end of screw rod 2450 connects second support 2420, and screw rod 2450 passes first support 2410 and Slave Block 2430, and driven mutually with Slave Block 2430.
Please continue with reference to figure 7, driver 2460 moves along sliding bar 2440 to drive Slave Block 2430 in order to drive screw 2450.One end of each crawl arm 2470 is articulated on first support 2410, and the other end is a free end.In addition, each crawl arm 2470 has cam curved surface 2472, and these cam curved surface 2472 contiguous crawl arms 2470 are articulated in the pivot of first support 2410, and have a plurality of rollers 2422 on second support 2420, and the cam curved surface 2472 on these rollers 2422 difference breasting crawl arms 2470.Crawl arm is replied part then provides elasticity pre-power, make each crawl arm 2470 under initial situation because of the pre-power of elasticity relatively away from.
In addition, grabbing device 2400 also comprises the bolster 2480 that is disposed between first support 2410 and the Slave Block 2430, and it contacts in order to buffering Slave Block 2430 and first support 2410, and the stress when avoiding Slave Block 2430 to contact with first support 2410 is excessive.This bolster 2480 can be rubber-like spring, bulb sponge block or other can have other elements of well imagining of buffering effect.
In addition, grabbing device 2400 also comprises second sensor 2490, and second sensor 2490 is configurable between first support 2410 and Slave Block 2430, in order to the relative position between the sensing Slave Block 2430 and first support 2410, after reaching predetermined value in the distance between the Slave Block 2430 and first support 2410, to control module 2500, allow control module 2500 control work stations 2000 carry out follow-up assigning the job sensing signal transmission.In the present embodiment, second sensor 2490 can be optical profile type sensor, mechanical type sensor or ultrasonic sensor, uses according to actual demand.
Please continue with reference to figure 4, in order to allow work station 2000 can learn that autonomous mobile device 3000 enters the station and carries out the work that indication is joined, can on autonomous mobile device 3000, work station body 2100 or horizontal omnidirectional mobile carrier 2200, first sensor 2600 be set, and first sensor 2600 and be electrically connected with control module 2500.Whether the relative position of this first sensor autonomous mobile device 3000 of 2600 meeting sensings and work station 2000 enters the station to confirm autonomous mobile device 3000, and confirmation signal is reached control module 2500.First sensor 2600 among Fig. 4 is to be arranged on the fixed mount 2230, and it can be optical profile type sensor, mechanical type sensor or ultrasonic sensor.With the optical profile type sensor, shield lights when entering the station by autonomous mobile device 3000, first sensor 2600 produces signal and reaches control module 2500.Perhaps, in other embodiments, first sensor 2600 also can be a signal projector, and control module 2500 has signal receiver, when autonomous mobile device 3000 is desired to enter work station 2000, signal projector transmits to signal receiver, control module 2500 control sense mechanism 2300 and grabbing device 2400 starts.
Below the contraposition process of work station 2000 with the autonomous mobile device 3000 of present embodiment will be described with diagram collocation contraposition flow process.
Please refer to Fig. 4 and Fig. 6, the autonomous mobile device 3000 of present embodiment has ALU 3050 and removable battery 3100.ALU 3050 is executed the task in order to control autonomous mobile device 3000, and the electric weight of detecting battery 3100.The electric weight that detects battery 3100 when ALU 3050 is crossed low and when needing to change battery, the autonomous mobile device 3000 of ALU 3050 controls enters work station 2000 and carries out battery altering.
Fig. 8 is the autonomous mobile device of present embodiment and the contraposition process flow diagram flow chart of work station.At first as step S1000, open the power supply of work station 2000 and autonomous mobile device 3000, this moment, autonomous mobile device 3000 can carry out the work such as the work such as carrying, repairing, dismounting or patrol of institute's assignment.
Then please also refer to Fig. 4 and Fig. 8, and as step S1100, whether first sensor, 2600 sensings there are object to enter the station.When first sensor 2600 has not sensed object when entering work station 2000, first sensor 2600 continues sensings.When first sensor 2600 has sensed object when entering work station 2000, sensing signal is back to control module 2500.
Please also refer to Fig. 5 and Fig. 8, afterwards as step S1200, after first sensor, 2600 sensings have object to enter work station 2000, t at the fixed time
0In, utilize the electrode contact 2320 on the swing component 2310 whether to judge to produce signal and to be passed to control module 2500 whether swing component 2310 is connected with autonomous mobile device 3000 breastings with the object electrical connection.
If not, then might be that autonomous mobile device 3000 is too big with the relative distance of work station 2000, or the angle that enters the station of autonomous mobile device 3000 is excessive, allow the swing component 2310 can't be definitely and autonomous mobile device 3000 breastings, so electrode contact 2320 can't be electrically connected with autonomous mobile device 3000.Therefore as step S1220, control module 2500 sends a signal to autonomous mobile device 3000.As step S1240, autonomous mobile device 3000 confirms to enter the station order afterwards.Come as step S1242, autonomous mobile device 3000 is readjusted angle and is entered work station 2000 again.In addition, if control module 2500 confirms that autonomous mobile device 3000 does not return the signal that enters work station 2000, then control module 2500 can be watched to notify the Field Force by startup expression false alarm.
Please also refer to Fig. 4 and Fig. 8, electrode contact 2320 is with after electrode unit 3200 is electrically connected, can produce signal and be passed to control module 2500, this moment is as step S1210, control module 2500 can be controlled grabbing device 2400 and grasp autonomous mobile device 3000, and work station body 2100 is by horizontal omnidirectional mobile carrier 2200 and autonomous mobile device 3000 unsteady contrapositions.
Fig. 9 A～9C is the flow chart of steps of autonomous mobile device and work station contraposition in regular turn.Please refer to Fig. 9 A, at length, when autonomous mobile device 3000 enters work station 2000, and during the swing component 2310 of breasting sense mechanism 2300, because position and angle that autonomous mobile device 3000 enters work station 2000 can not be expected, sense mechanism 2400 may directly also be electrically connected with electrode unit 3200 contrapositions of autonomous mobile device 3000 in the very first time.
Then please refer to Fig. 4, Fig. 5 and Fig. 9 B, control module 2500 can control swing component 2310 be that rotate in the axle center with rotating shaft A, can contraposition and is electrically connected so that be arranged at the electrode unit 3200 of electrode contact 2320 and autonomous mobile device 3000 on the swing component 2310, and in being electrically connected back transmission signal to control module 2500.
Then please also refer to Fig. 4, Fig. 7 and Fig. 9 C, after signal was passed to control module 2500, control module 2500 control drivers 2460 drove screw rod 2450 and rotate, and move toward the direction straight line towards driver 2460 along sliding bar 2440 to drive Slave Block 2430.Close relatively first support 2410 of Slave Block 2430 meetings, thus first support 2410 is also moved along the direction straight line towards driver 2460.Because an end of crawl arm 2470 is articulated on first support 2410, so crawl arm 2470 can offset the pre-power of elasticity gradually, and is that rotate in the axle center with pivot B.At the same time, also because of the cam curved surface 2472 of crawl arm 2470 and working in coordination of the roller 2422 on second support 2420, the free end of crawl arm 2470 can be that rotate in the axle center with the pivot that is articulated in first support 2410, and colludes and take from main mobile device 3000.
What merit attention is in order to allow crawl arm 2470 can successfully grasp autonomous mobile device 3000, therefore can be provided with on autonomous mobile device 3000 and be beneficial to structure or the element that crawl arm 2470 colludes or draws.In the present embodiment, be at the bottom of autonomous mobile device 3000 installing location guide 3300.After one of them crawl arm 2470 colluded location guide 3300, crawl arm 2470 can firmly catch on location guide 3300.
Specifically, when crawl arm 2470 grasps autonomous mobile device 3000, brake device or self-locking CD-ROM drive motor for fear of autonomous mobile device 3000 move and fault because force, therefore when autonomous mobile device 3000 and work station 2000 contrapositions, autonomous mobile device 3000 can not move, but move by the omni-directional of horizontal omnidirectional mobile carrier 2200, make work station body 2100 rotate and move to reach contraposition with autonomous mobile device 3000.
Then please continue with reference to figure 4 and Fig. 8,, confirm whether autonomous mobile device 3000 is finished with work station 2000 contrapositions as step S1230.
Please also refer to Fig. 5 and Fig. 8, if be other object but not in the autonomous mobile device 3000 invasion work stations 2000, electrode contact 2320 does not have corresponding electrode unit and can be electrically connected, control module 2500 can transmit the signal reporting system and send the wrong sound of expression, make the Field Force come to watch, as step S1244.
Please continue with reference to figure 8, after confirming that autonomous mobile device 3000 is finished with work station 2000 contrapositions,, select the job that enters the station of autonomous mobile device 3000 then as step S1300.The job of autonomous mobile device 3000 such as article transmission, moulding replacing, fixed point charging, function change or expansion etc.
If job such as article transmit, moulding is changed or function change or expansion etc.,, start work station 2000 corresponding functional devices as step S1320.
If job is when changing the battery of autonomous mobile device 3000, then as step S1330, can start the UPS of work station 2000.At length, please refer to Fig. 5 and Fig. 9 B, this UPS be utilize electrode contact 2320 with power supply by electrode unit 3200 to transport to autonomous mobile device 3000, avoiding work station 2000 when changing the battery 3100 of autonomous mobile device 3000, autonomous mobile device 3000 can make data damage or lose because of outage.In addition, the surging that can also avoid electric current causes damage to the electronic component of autonomous mobile device 3000 inside, and then prolongs the service life of autonomous mobile device 3000.
In addition, by conducting of electrode contact 2320 and electrode unit 3200, also the data of autonomous mobile device 3000 can be passed to work station 2000 backups.
Keeping under the situation that autonomous mobile device 3000 continues to have electricity,, carry out the replacing of the battery of autonomous mobile device 3000 as step S1350.
Please continue with reference to figure 7,8 and 9C, after battery altering finishes,, make the crawl arm 2470 of grabbing device 2400 break away from autonomous mobile device 3000 as step S1400.Wherein, can be to utilize motor 2460 to order about screw rod 2450 backward rotation, allow Slave Block 2430 move along the axially past direction of screw rod 2450 away from driver 2460.Therefore along with the mobile pre-power of elasticity that makes of the Slave Block 2430 and first support 2410 is replied gradually, two crawl arms 2470 are relatively away to decontrol autonomous mobile device 3000.Afterwards, work station body 2100 returns back to position originally.
Last as step S1500, autonomous mobile device 3000 leaves work station 2000.
In sum, the floating work station body of establishing of work station utilization of the present invention allows the work station body can be relatively near autonomous mobile device, so angle and the tolerable deviation range of position of the present invention when entering work station for autonomous mobile device is bigger.And autonomous mobile device can charge and change battery when entering work station, therefore increases the running time of autonomous mobile device and promotes its operating efficiency.Electrode unit by the sensing conductor on the sense mechanism and autonomous mobile device conducts again, can avoid autonomous mobile device to cause data damage or loss because of outage, avoid the surging of electric current to cause the damage of autonomous mobile device inner body simultaneously, prolong the service life of autonomous mobile device.And the conducting of the electrode unit by the sensing conductor on the sense mechanism and autonomous mobile device, also can be with the transfer of data of autonomous mobile device to work station.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; any person of ordinary skill in the field without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is when looking being as the criterion that accompanying Claim defines.
Claims (15)
1. a work station is suitable for and autonomous mobile device contraposition, and this work station comprises:
The work station body;
The horizontal omnidirectional mobile carrier carries this work station body;
Sense mechanism comprises:
Swing component is hubbed on this work station body, and when this autonomous mobile device entered this work station, this swing component rotation was with this autonomous mobile device of breasting;
A plurality of electrode contacts are disposed on this swing component, with when this this autonomous mobile device of swing component breasting, are electrically connected to this autonomous mobile device;
Grabbing device is disposed on this work station body; And
Control module, be electrically connected to this electrode contact and this grabbing device, wherein when this this autonomous mobile device of swing component breasting, this control module is suitable for receiving the sensing signal that this electrode contact provides, and corresponding this grabbing device that drives grasps this autonomous mobile device, make this work station body by this horizontal omnidirectional mobile carrier to reach contraposition with this autonomous mobile device.
2. work station as claimed in claim 1, wherein this horizontal omnidirectional mobile carrier comprises:
Fixed mount has the support sliding surface;
Travelling carriage is suspended to this support sliding surface; And
Carrier is connected with this travelling carriage, and carries this work station body.
3. work station as claimed in claim 1 also comprises first sensor, be disposed at this work station body, this horizontal omnidirectional mobile carrier and this autonomous mobile device one of them, in order to the relative position of this autonomous mobile device of sensing and this work station.
4. work station as claimed in claim 3, wherein this first sensor is optical profile type sensor, mechanical type sensor or ultrasonic sensor.
5. work station as claimed in claim 1, wherein this sense mechanism also comprises first elastic component, is connected between this swing component and this work station body.
6. work station as claimed in claim 5, wherein this first elastic component is a spring.
7. work station as claimed in claim 1, wherein this swing component is strip, and this electrode contact is located at the two ends of this swing component respectively.
8. work station as claimed in claim 1, wherein this sense mechanism also comprises locating part, is arranged at this swing component, in order to limit the rotational angle of this swing component.
9. work station as claimed in claim 8, wherein this locating part is a screw.
10. work station as claimed in claim 1, wherein this grabbing device comprises:
First support;
Second support;
Slave Block is disposed between this first support and this second support;
A plurality of sliding bars, an end of each sliding bar connects this second support, and each sliding bar passes this first support and this Slave Block, and this first support and this Slave Block are slided on this sliding bar;
Screw rod, an end of this screw rod connects this second support, and this screw rod passes this first support and this Slave Block, and driven mutually with this Slave Block;
Driver in order to drive this screw rod, moves along this sliding bar to drive this Slave Block;
A plurality of crawl arms, an end of each crawl arm is articulated on this first support, and each crawl arm has cam curved surface, and has a plurality of rollers on this second support, respectively the cam curved surface on this crawl arm of breasting; And
A plurality of crawl arms are replied parts, provide elasticity pre-power, make this crawl arm under initial situation because of the pre-power of this elasticity mutually away from,
Wherein drive this Slave Block when this sliding bar moves when this screw rod of this driver drives, this Slave Block forces this first support to move along this sliding bar, and offset the pre-power of this elasticity gradually, this crawl arm rotated and was driven in this second support with respect to this first support this moment, to grasp this autonomous mobile device.
11. work station as claimed in claim 10, wherein this grabbing device also comprises bolster, is disposed between this first support and this Slave Block.
12. work station as claimed in claim 11, wherein this bolster is a spring.
13. work station as claimed in claim 10, wherein this grabbing device also comprises second sensor, is disposed between this first support and this Slave Block, in order to the relative position between this first support of sensing and this Slave Block.
14. work station as claimed in claim 13, wherein this second sensor is optical profile type sensor, mechanical type sensor or ultrasonic sensor.
15. work station as claimed in claim 1, wherein the electrode contact of this sense mechanism is a power output terminal, and in order to when being electrically connected to this autonomous mobile device, out-put supply is to this autonomous mobile device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100038198A CN101491901B (en) | 2008-01-24 | 2008-01-24 | workstation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100038198A CN101491901B (en) | 2008-01-24 | 2008-01-24 | workstation |
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| CN101491901A CN101491901A (en) | 2009-07-29 |
| CN101491901B true CN101491901B (en) | 2010-12-01 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103857553B (en) * | 2011-10-12 | 2016-08-17 | 西门子公司 | Charging station |
| DE102013208650B4 (en) * | 2013-05-10 | 2016-10-06 | Siemens Healthcare Gmbh | Transport device for carrying a patient with a docking device, system with a transport device and associated method |
| TWI648696B (en) * | 2017-08-08 | 2019-01-21 | 鼎岳科技股份有限公司 | Battery management method |
| CN111688526B (en) * | 2020-06-18 | 2021-07-20 | 福建百城新能源科技有限公司 | User side new energy automobile energy storage charging station |
| CN112549070A (en) * | 2020-12-10 | 2021-03-26 | 国网天津市电力公司 | Flexible automatic centering electric clamping jaw for charging robot |
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| US6317652B1 (en) * | 1998-09-14 | 2001-11-13 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot |
| CN1209689C (en) * | 1999-10-29 | 2005-07-06 | 索尼公司 | Robot and charging system, charging station searching method, connector and electric connection structure |
| CN1853552A (en) * | 2005-04-20 | 2006-11-01 | Lg电子株式会社 | Cleaning robot having auto-return function to charching-stand and method using the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6317652B1 (en) * | 1998-09-14 | 2001-11-13 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot |
| CN1209689C (en) * | 1999-10-29 | 2005-07-06 | 索尼公司 | Robot and charging system, charging station searching method, connector and electric connection structure |
| CN1853552A (en) * | 2005-04-20 | 2006-11-01 | Lg电子株式会社 | Cleaning robot having auto-return function to charching-stand and method using the same |
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| JP特开2007-152472A 2007.06.21 |
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