CN105743194A - Charging adapter and mobile robot system therefor - Google Patents
Charging adapter and mobile robot system therefor Download PDFInfo
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- CN105743194A CN105743194A CN201610217469.XA CN201610217469A CN105743194A CN 105743194 A CN105743194 A CN 105743194A CN 201610217469 A CN201610217469 A CN 201610217469A CN 105743194 A CN105743194 A CN 105743194A
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- 230000001737 promoting effect Effects 0.000 claims description 7
- 239000003990 capacitor Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 210000004027 cell Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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Abstract
The invention provides a charging adapter and a mobile robot system therefor. The mobile robot system comprises a mobile robot and the charging adapter, wherein the mobile robot comprises a robot main body, multiple driving wheels mounted at the bottom of the robot main body, a power receiving module used for receiving the charging power emitted by the charging adapter, and an energy storage module used for storing the electric energy converted by the charging power; and the charging adapter comprises a power emission module used for emitting the charging power, and multiple positioning grooves formed in the base of the charging adapter. When the driving wheels are caught in the positioning grooves, millimeter-level position alignment between the charging adapter and the mobile robot can be realized, so that the charging system of the system is improved. Compared with the prior art, the full matching between the power emission module and the power receiving module can be realized by the accurate position alignment between the driving wheels and the positioning grooves, so that the problem of low charging efficiency caused by inaccurate positioning in wireless charging can be solved consequently.
Description
Technical field
The present invention relates to the mobile apparatus people of a kind of recharging, particularly relate to a kind of charging adapter and mobile-robot system thereof that this mobile apparatus people is carried out recharging.
Background technology
Along with the development that the aspect technology such as sensor, Based Intelligent Control and the energy are maked rapid progress, increasing service robot is used in different service situation gradually.The time of field operation can be extended as much as possible, it is achieved the utonomous working in the quite a long time, so the power source of supplemental services robot becomes a problem demanding prompt solution owing to it is desirable to service robot.Such as, current some mobile apparatus people often uses rechargeable battery (rechargeablebattery) to come to power itself, but generally can only maintain several hours, once the storing electricity in battery exhausts or less than predetermined threshold value, must adopt manual intervention mode that mobile apparatus people is recharged, and this intelligentized design requirement that will be unable to meet mobile apparatus people.
In the prior art, the recharging technology of mobile apparatus people adopts contact to charge mostly, and docks with charging adapter by laser range finder, vision sensor or Infrared Detectors.But, first contact charging scheme there is problems in that, mobile apparatus people moves to cradle from current location needs navigation behavior, is subject to the restriction of position error, and navigation accuracy is relatively low；Secondly, mobile apparatus people is docked with the contact of charging adapter needs higher accuracy, which increases the complexity of design and the difficulty of control, and docking operation process is extremely complex simultaneously, consuming time longer；Furthermore, factors due to aspects such as structural designs, once connect and just cannot automatically disengaging between mobile apparatus people and charging contact, frequently the reliability of system is easily brought impact by docking, such as repeatedly plug docking operation can cause mechanical wear, causes that contact loosens and cannot effectively transmit electric energy, and for example, when dirt occurs in connection member, loose contact can be caused or electrically connect unsuccessfully.In addition, existing mobile apparatus people is also faced with very severe safety problem when being charged, for example, charging contact itself is exposed outside, use the obvious potential safety hazard of existence, and the also more difficult control of the position alignment between charging contact and mobile apparatus people, charge efficiency when this is for high-power charging will produce bigger adverse effect.
In view of this, how to design a kind of technical scheme that by cordless, mobile apparatus people is carried out wireless charging and exact position alignment, to overcome drawbacks described above of the prior art or deficiency, be the problem that person skilled is urgently to be resolved hurrily in the industry.
Summary of the invention
For the drawbacks described above that the mobile apparatus people of prior art is existing when recharging, the invention provides a kind of charging adapter for mobile apparatus people and the mobile-robot system comprising this charging adapter.
According to one aspect of the present invention, it is provided that a kind of mobile-robot system based on wireless charging technology, it includes mobile apparatus people and charging adapter, wherein,
Mobile apparatus people include: robot body；Multiple drivewheels, are installed on the bottom of described robot body, and every pair of drivewheel is symmetrically arranged relative to the axis of described robot body；Power receiver module, is arranged on described robot body, and described power receiver module is for receiving the charge power launched from described charging adapter；Energy-storage module, and described power receiver module electric property coupling, the electric energy that described energy-storage module converts for the charge power stored from described power receiver module, thus flying power when providing described mobile apparatus people properly functioning；And
Charging adapter includes: power emission module, for wirelessly launching described charge power to described power receiver module；Multiple locating slots, it is arranged at the base of described charging adapter, the number one_to_one corresponding of the number of described locating slot and described drivewheel, when described drivewheel is absorbed in described locating slot, millimetre-sized position alignment is realized, thus promoting the charge efficiency of described mobile-robot system between described charging adapter and described mobile apparatus people.
An embodiment wherein, described mobile apparatus people also includes locating module, for realizing the Centimeter Level position alignment between described mobile apparatus people and described charging adapter.
An embodiment wherein, described locating module is that radarmap builds module, ultra broadband (UltraWideband, UWB) locating module or infrared locating module.
An embodiment wherein, described locating slot is trapezoidal or class is spherical.
An embodiment wherein, described energy-storage module is set of cells or super capacitor group.
An embodiment wherein, described mobile apparatus people runs on top charge mode, described power receiver module is arranged at the top of described robot body, and described power emission module is arranged at the locating dowel of described charging adapter, and described locating dowel is positioned at the top of described charging adapter.
An embodiment wherein, described mobile apparatus people runs on side charge mode, described power receiver module is arranged at the side of described robot body, described power emission module is arranged at the side of described charging adapter, described power receiver module and described power emission module are curved surfaces so that each point on described power receiver module is equal with the distance between the corresponding point in described power emission module in the horizontal direction.
An embodiment wherein, described mobile apparatus people runs on bottom charge mode, described power receiver module is arranged at the bottom of described robot body, described power emission module be arranged at described charging adapter base and every pair described center between locating slot.
An embodiment wherein, described charging adapter also includes a LCDs, and when described mobile apparatus people carries out wireless charging, described LCDs is for showing the charging progress of described mobile apparatus people in real time.
According to another aspect of the present invention, provide a kind of charging adapter based on wireless charging technology, be suitable to a mobile apparatus people is carried out high-power wireless charging, described mobile apparatus people includes robot body, be installed on multiple drivewheels of the bottom of described robot body, the power receiver module that is arranged at described robot body, the energy-storage module of electric energy that converts for the charge power stored from described power receiver module, and wherein charging adapter includes:
Power emission module, for wirelessly launching described charge power to described power receiver module；And
Multiple locating slots, it is arranged at the base of described charging adapter, the number one_to_one corresponding of the number of described locating slot and described drivewheel, when described drivewheel is absorbed in described locating slot, millimetre-sized position alignment is realized, thus promoting the charge efficiency of described mobile apparatus people between described charging adapter and described mobile apparatus people.
An embodiment wherein, described locating slot is trapezoidal or class is spherical.
An embodiment wherein, described power emission module is arranged at the locating dowel of described charging adapter, and described locating dowel is positioned at the top of described charging adapter.
An embodiment wherein, described power emission module is positioned at the side of described charging adapter, and the arcuation that surface is indent of described power emission module so that each point on described power receiver module is equal with the distance between the corresponding point in described power emission module in the horizontal direction.
An embodiment wherein, described power emission module is positioned at the base of described charging adapter, and every pair described center between locating slot.
An embodiment wherein, described charging adapter also includes a LCDs, and when described mobile apparatus people is charged, described LCDs is for showing the charging progress of described mobile apparatus people in real time.
Adopting charging adapter and the mobile-robot system thereof of the present invention, this system includes mobile apparatus people and charging adapter.Mobile apparatus people includes robot body, multiple drivewheel, power receiver module and energy-storage module, and charging adapter includes power emission module and multiple locating slot.Drivewheel is installed on the bottom of robot body, and every pair of drivewheel is symmetrically arranged relative to the axis of robot body.Power receiver module is for receiving the charge power launched from charging adapter.The electric energy that energy-storage module converts for the charge power stored from power receiver module.Power emission module is for wirelessly launching charge power to power receiver module.Multiple locating slots are arranged at the base of charging adapter, when drivewheel is absorbed in locating slot, realize millimetre-sized position alignment between charging adapter and mobile apparatus people, thus promoting the charge efficiency of mobile-robot system.Compared to prior art, the present invention utilizes the drivewheel of mobile apparatus people to be absorbed in the locating slot of charging adapter to realize millimetre-sized position alignment, make power emission module and power receiver module fully identical, thus power emission module positions, with power receiver module, the problem that inaccurate caused charge efficiency is low when solving wireless charging.Additionally, due to the accurate positioning between mobile apparatus people and charging adapter, the electromagnetic wave overwhelming majority that power emission module is launched is received by power receiver module, thus the impact on surrounding can at utmost be reduced.Furthermore, the non-contact charge mode of the present invention is without cable and artificial plug, simple and convenient, safe and practical.
Accompanying drawing explanation
Reader is in referenceAccompanying drawingAfter having read the specific embodiment of the present invention, it will more clearly understand various aspects of the invention.Wherein,
Fig. 1It is shown according to one embodiment of the present invention, comprises the structural representation of the mobile-robot system of mobile apparatus people and charging adapterFigure；
Fig. 2IllustrateFig. 1The structural representation of charging adapter of mobile-robot systemFigure；
Fig. 3IllustrateFig. 1Mobile-robot system in, the signal of principle that mobile apparatus people is wirelessly charged by charging adapterFigure；
Fig. 4It is shown according to another embodiment of the present invention, including the structural representation of mobile apparatus people and the mobile-robot system of charging adapterFigure；
Fig. 5IllustrateFig. 4The vertical view of mobile-robot systemFigure。
Detailed description of the invention
In order to make techniques disclosed in this application content more detailed and complete, can refer toAccompanying drawingAnd the following various specific embodiments of the present invention,In accompanying drawingIdentical labelling represents same or analogous assembly.But, it will be understood by those within the art that, embodiment provided hereinafter is not used for limiting the scope that the present invention contains.Additionally,Accompanying drawingIt is used only for schematically being illustrated, and draws not according to its life size.
Referring toAccompanying drawing, the detailed description of the invention of various aspects of the present invention is described in further detail.
Fig. 1It is shown according to one embodiment of the present invention, comprises the structural representation of the mobile-robot system of mobile apparatus people and charging adapterFigure。Fig. 2IllustrateFig. 1The structural representation of charging adapter of mobile-robot systemFigure。Fig. 3IllustrateFig. 1Mobile-robot system in, the signal of principle that mobile apparatus people is wirelessly charged by charging adapterFigure。
ReferenceFig. 1, in this embodiment, the mobile-robot system based on wireless charging technology of the present invention includes mobile apparatus people and charging adapter.Specifically, mobile apparatus people includes energy-storage module 2, power receiver module 6, robot body 7 and multiple drivewheel 8.Charging adapter includes multiple locating slot 3, base 4 and power emission module 5.
Robot body 7 is the main part of mobile apparatus people, and it is provided with multiple parts.Drivewheel 8 is general to be occurred in pairs, for instance, every pair of drivewheel 8 is symmetrically arranged relative to the axis of robot body 7.Drivewheel 8 is installed on the bottom of robot body 7, is used for driving mobile apparatus people to advance, retreat or turn to.Power receiver module 6 is arranged at the bottom of robot body 7, is used for receiving the charge power that the power emission module 5 of charging adapter is launched.Energy-storage module 2 and power receiver module 6 electric property coupling.The electric energy that energy-storage module 2 converts for the charge power stored from power receiver module 6, thus flying power when providing mobile apparatus people properly functioning.It is preferred that energy-storage module 2 is set of cells (batteryunits) or super capacitor group (supercapacitorunits).
Power emission module 5 and power receiver module 6 are oppositely arranged.Power emission module 5 is positioned at the upper surface of base 4, is used for wirelessly launching charge power to power receiver module 6.Locating slot 3 is arranged at the number one_to_one corresponding of the base 4 of charging adapter, the number of locating slot 3 and drivewheel 8.Such as, locating slot 3 is trapezoidal or class is spherical.When drivewheel 8 is absorbed in locating slot 3, between charging adapter and mobile apparatus people, realize millimetre-sized position alignment, thus promoting the charge efficiency of mobile-robot system.This is because, high-power (such as 100W or more than) wireless charging require power emission module 5 and power receiver module 6 position very close to, the distance of the two is more near, and charge efficiency is more high.Between charging adapter and the mobile apparatus people of the present invention, there is millimetre-sized position alignment function so that power emission module 5 and power receiver module 6 are fully identical, and then improve wireless charging efficiency.
From the foregoing, at present example, the mobile apparatus people of the present invention runs on bottom charge mode.The power receiver module 6 center between every pair of drivewheel 8, the power emission module 5 center between every pair of locating slot 3, but the present invention is not limited to this.Such as, in other embodiments, power emission module and the respective position of power receiver module are not limited to the center of locating slot and the center of drivewheel, only need to meet the locating slot of charging adapter side and power emission module is positioned at one side, drivewheel and the power receiver module of mobile apparatus people side are positioned at another side, and this two sides is mirror image relationship in position, while making drivewheel be absorbed in locating slot, power receiver module and power emission module also can be fully identical, thus improving charge efficiency.Before mobile apparatus people carries out grade location with charging adapter, mobile apparatus people moves to the front of charging adapter by Centimeter Level location, and starts to shift to base 4.Such as, mobile apparatus people also includes locating module 1, and it can build module, ultra broadband (UltraWideband, UWB) locating module or infrared locating module for radarmap.
Additionally, carrying the mobile apparatus people of power receiver module 6 before power emission module 5, power emission module 5 can't high-power transmitting power, and be in holding state.Power emission module 5 launches faint wireless signal in the standby state, waits the arrival of power receiver module 6.When power receiver module 6 near power emission module 5 time, power receiver module 6 will on the wireless signal basis received one feedback signal of superposition the signal after superposition is passed back to power emission module 5, notice power emission module 5 is by place.When power receiver module 6 really (such as, drivewheel is absorbed in locating slot) in place, power emission module 5 starts powerful wireless charging.Now, power emission module 5 stops sending faint wireless signal to power receiver module 6, but that superposed signal that power receiver module 6 is passed back to power emission module 5 exists always, because power receiver module 6 to report that the state receiving side is so that power emission module 5 adjusts frequency and amplitude always, thus the state adjustment of adaptive power receiver module 6.When power receiver module 6 due to external cause suddenly away from power emission module 5 time, the backhaul signals that power emission module 5 cannot receive from power receiver module 6 will stop high-power transmitting power, so that it is guaranteed that charging safety.
And, when power emission module 5 detects that power receiver module 6 is close time, power receiver module 6 signals to mobile apparatus human body, mobile apparatus people is near the power emission module 5 of charging adapter for notice, power emission module 5 starts to carry out powerful wireless power to power receiver module 6, but not arriving optimum position owing to now power receiver module 6 docks with power emission module 5, charge efficiency not yet reaches the highest.Then, mobile apparatus people continue to move along, until drivewheel 8 is absorbed in locating slot 3, and detects that the resistance that the cell wall from locating slot 3 is up climbed then confirms to have arrived best charge position, now power emission module 5 is fully identical with power receiver module 6, and charge efficiency now reaches the highest.Afterwards, drivewheel 8 stops operating, and mobile apparatus people stops mobile.
At a specific embodiment, charging adapter also include a LCDs (In figureNot shown), when mobile apparatus people carries out wireless charging, this LCDs is for showing the charging progress of mobile apparatus people in real time.
ReferenceFig. 2WithFig. 3, the charging adapter of the present invention also includes a voltage transformation module (voltageconversionmodule) 10, and this voltage transformation module 10 is electrically coupled to the power emission module 5 on base 4.In principle, for instance, in charging adapter side, the alternating current of 220V is converted to the unidirectional current of 24V by voltage transformation module 10.The DC conversion of 24V is the alternating current of flowing through coil by power emission module 5.In mobile apparatus people side, power receiver module 6 receives from the alternating current of power emission module 5 by air dielectric, and is translated into the unidirectional current of 24V, and energy-storage module 2 is charged by the unidirectional current then passing through 24V.Additionally, as it was noted above, feedback information also can be passed back to power emission module 5 by power receiver module 6.Such as, mobile apparatus people before charging adapter, power emission module 5 can't high-power transmitting electromagnetic wave.Only mobile apparatus people is after charging adapter charge position in place, power receiver module 6 informs the current state of himself in real time based on wireless power carrier wave communication technology, in just high-power wireless charging by power emission module 5 after handshake communication.
In view of this, the mobile-robot system of the present invention is compared to prior art, the drivewheel of available mobile apparatus people is absorbed in the locating slot of charging adapter to realize millimetre-sized position alignment, make power emission module and power receiver module fully identical, thus power emission module positions, with power receiver module, the problem that inaccurate caused charge efficiency is low when solving wireless charging.
Those skilled in the art is to be understood that, the above embodiment of the present invention not only discloses a kind of mobile-robot system based on wireless charging technology, but also discloses charging adapter in a kind of mobile-robot system, that mobile apparatus people carries out precise positioning.Briefly, this charging adapter includes a power emission module and multiple locating slot.Power emission module is for wirelessly launching charge power to the power receiver module of mobile apparatus people.Locating slot is arranged at the base of charging adapter.The number of locating slot and the drivewheel number one_to_one corresponding of mobile apparatus people, when drivewheel is absorbed in corresponding locating slot, realize millimetre-sized position alignment, to promote the charge efficiency of mobile apparatus people between charging adapter and mobile apparatus people.
Fig. 4It is shown according to another embodiment of the present invention, including the structural representation of mobile apparatus people and the mobile-robot system of charging adapterFigure。Fig. 5IllustrateFig. 4The vertical view of mobile-robot systemFigure。
ReferenceFig. 4WithFig. 5, in this embodiment, mobile apparatus people runs on side charge mode.Accordingly, power receiver module 6 is arranged at the side of robot body 7, and power emission module 5 is arranged at the side of charging adapter.Voltage transformation module 10 and power emission module 5 are installed on metope 11.In order to increase the goodness of fit of power receiver module 6 and power emission module 5, power receiver module 6 and power emission module 5 are disposed as curved surfaces.Such as, the surface of power emission module 5 can be the arcuation of indent, so that the distance between the corresponding point that each point on power receiver module 6 is in the horizontal direction and in power emission module 5 is impartial.
In another embodiment, mobile apparatus people also can run on top charge mode.Accordingly, power receiver module 6 is arranged at the top of robot body 7, and power emission module 5 is arranged at the locating dowel of charging adapter, and this locating dowel is positioned at the top of charging adapter.Through the directly contact of the locating dowel on charging adapter, power receiver module 6 is when power emission module 5, and the translational speed of mobile apparatus people can reduce to 0, equally also can realize the precise positioning between mobile apparatus people and charging adapter.
Adopting charging adapter and the mobile-robot system thereof of the present invention, this system includes mobile apparatus people and charging adapter.Mobile apparatus people includes robot body, multiple drivewheel, power receiver module and energy-storage module, and charging adapter includes power emission module and multiple locating slot.Drivewheel is installed on the bottom of robot body, and every pair of drivewheel is symmetrically arranged relative to the axis of robot body.Power receiver module is for receiving the charge power launched from charging adapter.The electric energy that energy-storage module converts for the charge power stored from power receiver module.Power emission module is for wirelessly launching charge power to power receiver module.Locating slot is arranged at the base of charging adapter, when drivewheel is absorbed in locating slot, realizes millimetre-sized position alignment between charging adapter and mobile apparatus people, thus promoting the charge efficiency of mobile-robot system.Compared to prior art, the present invention utilizes the drivewheel of mobile apparatus people to be absorbed in the locating slot of charging adapter to realize millimetre-sized position alignment, make power emission module and power receiver module fully identical, thus power emission module positions, with power receiver module, the problem that inaccurate caused charge efficiency is low when solving wireless charging.Additionally, due to the accurate positioning between mobile apparatus people and charging adapter, the electromagnetic wave overwhelming majority that power emission module is launched is received by power receiver module, thus the impact on surrounding can at utmost be reduced.Furthermore, the non-contact charge mode of the present invention is without cable and artificial plug, simple and convenient, safe and practical.
Above, referenceAccompanying drawingDescribe the specific embodiment of the present invention.But, those skilled in the art are it is understood that when without departing from the spirit and scope of the present invention, it is also possible to the specific embodiment of the present invention is done various change and replacement.These change and replace and all drop in claims of the present invention limited range.
Claims (15)
1. the mobile-robot system based on wireless charging technology, it is characterised in that described mobile-robot system includes mobile apparatus people and charging adapter, wherein,
Described mobile apparatus people includes: robot body；Multiple drivewheels, are installed on the bottom of described robot body, and every pair of drivewheel is symmetrically arranged relative to the axis of described robot body；Power receiver module, is arranged on described robot body, and described power receiver module is for receiving the charge power launched from described charging adapter；Energy-storage module, and described power receiver module electric property coupling, the electric energy that described energy-storage module converts for the charge power stored from described power receiver module, thus flying power when providing described mobile apparatus people properly functioning；And
Described charging adapter includes: power emission module, for wirelessly launching described charge power to described power receiver module；Multiple locating slots, it is arranged at the base of described charging adapter, the number one_to_one corresponding of the number of described locating slot and described drivewheel, when described drivewheel is absorbed in described locating slot, millimetre-sized position alignment is realized, thus promoting the charge efficiency of described mobile-robot system between described charging adapter and described mobile apparatus people.
2. mobile-robot system according to claim 1, it is characterised in that described mobile apparatus people also includes locating module, for realizing the Centimeter Level position alignment between described mobile apparatus people and described charging adapter.
3. mobile-robot system according to claim 2, it is characterised in that described locating module is that radarmap builds module, ultra broadband (UltraWideband, UWB) locating module or infrared locating module.
4. mobile-robot system according to claim 1, it is characterised in that described locating slot is trapezoidal or class is spherical.
5. mobile-robot system according to claim 1, it is characterised in that described energy-storage module is set of cells or super capacitor group.
6. mobile-robot system according to claim 1, it is characterized in that, described mobile apparatus people runs on top charge mode, described power receiver module is arranged at the top of described robot body, described power emission module is arranged at the locating dowel of described charging adapter, and described locating dowel is positioned at the top of described charging adapter.
7. mobile-robot system according to claim 1, it is characterized in that, described mobile apparatus people runs on side charge mode, described power receiver module is arranged at the side of described robot body, described power emission module is arranged at the side of described charging adapter, described power receiver module and described power emission module are curved surfaces so that each point on described power receiver module is equal with the distance between the corresponding point in described power emission module in the horizontal direction.
8. mobile-robot system according to claim 1, it is characterized in that, described mobile apparatus people runs on bottom charge mode, described power receiver module is arranged at the bottom of described robot body, described power emission module be arranged at described charging adapter base and every pair described center between locating slot.
9. mobile-robot system according to claim 1, it is characterized in that, described charging adapter also includes a LCDs, and when described mobile apparatus people carries out wireless charging, described LCDs is for showing the charging progress of described mobile apparatus people in real time.
10. the charging adapter based on wireless charging technology, be suitable to a mobile apparatus people is carried out high-power wireless charging, described mobile apparatus people includes robot body, be installed on multiple drivewheels of the bottom of described robot body, the power receiver module that is arranged at described robot body, the energy-storage module of electric energy that converts for the charge power stored from described power receiver module, it is characterized in that, described charging adapter includes:
Power emission module, for wirelessly launching described charge power to described power receiver module；And
Multiple locating slots, it is arranged at the base of described charging adapter, the number one_to_one corresponding of the number of described locating slot and described drivewheel, when described drivewheel is absorbed in described locating slot, millimetre-sized position alignment is realized, thus promoting the charge efficiency of described mobile apparatus people between described charging adapter and described mobile apparatus people.
11. charging adapter according to claim 10, it is characterised in that described locating slot is trapezoidal or class is spherical.
12. charging adapter according to claim 10, it is characterised in that described power emission module is arranged at the locating dowel of described charging adapter, and described locating dowel is positioned at the top of described charging adapter.
13. charging adapter according to claim 10, it is characterized in that, described power emission module is positioned at the side of described charging adapter, and the arcuation that surface is indent of described power emission module so that each point on described power receiver module is equal with the distance between the corresponding point in described power emission module in the horizontal direction.
14. charging adapter according to claim 10, it is characterised in that described power emission module is positioned at the base of described charging adapter, and every pair described center between locating slot.
15. charging adapter according to claim 10, it is characterised in that described charging adapter also includes a LCDs, when described mobile apparatus people is charged, described LCDs is for showing the charging progress of described mobile apparatus people in real time.
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| CN201610217469.XA CN105743194A (en) | 2016-04-08 | 2016-04-08 | Charging adapter and mobile robot system therefor |
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