CN107591857A - The automatic charging equipment and its application method of mobile robot - Google Patents
The automatic charging equipment and its application method of mobile robot Download PDFInfo
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- CN107591857A CN107591857A CN201710852464.9A CN201710852464A CN107591857A CN 107591857 A CN107591857 A CN 107591857A CN 201710852464 A CN201710852464 A CN 201710852464A CN 107591857 A CN107591857 A CN 107591857A
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- mobile robot
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- conductive head
- automatic charging
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Abstract
The invention provides the automatic charging equipment and its application method of a kind of mobile robot, the equipment includes mobile robot, conductive head, flexible adaptation mechanism, exposure mechanism, power transfer module, controller, control device, robot detection device, the live part of wherein mobile robot contacts with conductive head, conductive head is adapted in mechanism positioned at flexible, flexibility adapts to mechanism and is located in exposure mechanism, controller is located at the side of exposure mechanism, and power transfer module, robot detection device and control device pass through cable connection with controller.The present invention can be applied to robot automatic charging, and success rate is high, strong adaptability, effectively reduces cost of labor.
Description
Technical field
The present invention relates to robot field, in particular it relates to a kind of automatic charging equipment of mobile robot and its use
Method.
Background technology
Since 21 century, with the marked improvement of artificial intelligence and sensor technology, Autonomous Mobile Robot amusement,
The fields such as housekeeping, public arena all play more and more important role.But limited by battery capacity, mobile robot
Stream time often only have several hours, do not reach the effect of long-time utonomous working, it is necessary to which the manual participation of people is
It charges, and have impact on its operating efficiency, also increases artificial burden.Therefore it is desirable to mobile robot to possess recharging
Ability.
Mobile robot battery mainly has automatic charging in the market, manual powered, changes three kinds of battery.It is wherein manual
Charging usually requires people and charging head is inserted into robot charge port, changes battery and is typically also required to manually participate in, and needs standard
Standby more battery backups, and automatic charging technology is the important charging technique route of mobile robot development.
A kind of charging modes of non-conductive formula, Bu Guoyou are described in Patent No. US20040201361 United States Patent (USP)
It is higher in the required distance for charging head and charging pile, so a set of flexible charging head of same design, but the program
Middle conductive head moves together to be overall, thus can activity the free degree not as the present invention it is more, further, since conductive head does not have
The mechanism moved forward and backward, the status requirement stopped to robot are higher.
Patent No. US6859010 United States Patent (USP) provides a kind of charging system for sweeping robot, same
The system charging mechanism does not have stretching motion, requires higher to robot stop position.When participating in work for multirobot,
Only rely on infrared signal can not judge locate robot whether in place, can not also confirm the information such as the numbering of robot, the present invention
In scanner is added on charging pile, can effectively judge the numbering and whether in place of robot, then open charging electricity again
Source, securely and reliably.
Patent No. CN201611014436 Chinese patent provides a kind of wheeled robot automatic charge device, contains
Whether the battery electric quantity that detection module can be detected in robot is full of, control module can power transfer module be robot on
Battery charging, devise two charging electrode structures, charging head easily contacts with cradle when robot charges, to robot
Alignment precision it is less demanding, reduce control difficulty.
Patent No. CN201610935438 Chinese patent discloses a kind of robot based on automatic charging and charging
Automatic positioning method between stake, electric power detection is carried out to the power supply of robot using PMU, and will detection
Electricity and the minimum amount of power of setting contrast, robot is positioned using bluetooth module during charging.Charging pile is simultaneously in invention
Whether in place do not detect robot, and control electricity export ability, while to robot in place after positioning accuracy request
It is higher.
Automatic charging equipment is needed to have to robot charge position serious forgiveness height, robot can be numbered and judged,
Whether robot is judged in place, output electricity is controllable, the feature such as charging success rate height.
The content of the invention
For in the prior art the defects of, it is an object of the invention to provide a kind of automatic charging equipment of mobile robot and
Its application method.
According to an aspect of the present invention, there is provided a kind of automatic charging equipment of mobile robot, it is characterised in that including
Mobile robot, conductive head, flexible mechanism, exposure mechanism, power transfer module, controller, control device, the robot of adapting to examine
The live part of measurement equipment, wherein mobile robot is contacted with conductive head, and conductive head is adapted in mechanism positioned at flexible, and flexibility adapts to
Mechanism is located in exposure mechanism, and controller is located at the side of exposure mechanism, power transfer module, robot detection device and control
Device processed passes through cable connection with controller.
Preferably, the robot detection device be dimensional code scanner or one-dimension code scanner or infrared detection equipment or
Laser detection equipment.
Preferably, the flexible mechanism that adapts to includes elastic element, the first guideway, the second guideway, fixed plate,
Wherein conductive head elasticity of compression device, elastic element can provide lasting pressure to conduction backward after mobile robot is touched
Head, conductive head are moved along the first guideway, the second guideway, and the first guideway, the second guideway are all fixed on
In fixed plate, elastic element is between two fixed plates.
Preferably, the exposure mechanism includes stretching out power device, guide rail, locking mechanism, flexible restoring organ, stretches out dynamic
Power device end is connected with fixed plate, and guide rail is guiding mechanism and is connected with fixed plate, and locking mechanism is positioned at stretching power device
Lower section, locking mechanism stretches out when exposure mechanism is retracted, and hooks fixed plate, it is dynamic with stretching out that flexible restoring organ is located at fixed plate
Between power device, flexible restoring organ provides thrust when exposure mechanism is stretched out, while exposure mechanism is kept certain flexibility.
Preferably, the stretching power device be electromagnet or linear electric motors or cylinder or ball-screw or rack-and-pinion,
Belt.
The present invention also provide a kind of mobile robot automatic charging equipment application method, it is characterised in that including with
Lower step：
Step 1, mobile robot stop after being moved to charge position；
Step 2, the coding in robot detection device scanning mobile robot, determine mobile robot whether in place simultaneously
Recorder people numbers；
Step 3, robot detection device transfer information to controller；
Step 4, controller control exposure mechanism are stretched out；
Conductive head is touched mobile robot by step 5, exposure mechanism；
Step 6, flexibility, which adapts to mechanism, ensures that conductive head completely attaches to mobile robot；
Step 7, controller open control device, conductive head is produced voltage；
Step 8, after mobile robot detects voltage, mobile robot power supply is turned on, charging starts；
Step 9, after battery is full of, mobile robot is cut off the electricity supply；
Step 10, control device detect notification controller after no voltage；
Step 11, controller deenergization simultaneously withdraw exposure mechanism；
Step 12, mobile robot leave charge position.
Compared with prior art, the present invention has following beneficial effect：One, utilize exposure mechanism and flexible adaline
Structure is high to robot charge position serious forgiveness；Two, by robot detection device, robot can be numbered and judged, to machine
Whether device people is judged in place, prevents the maloperation in the case of no robot, securely and reliably, and is able to record machine
People's charge information；Three, output electricity is controllable, and electricity output is controlled by controller and control device, and charge success rate
It is high.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the device overall structure diagram of the present invention.
Fig. 2 is conductive head part and flexible adaptation mechanism detailed construction schematic diagram.
Fig. 3 is exposure mechanism schematic diagram.
Fig. 4 is workflow of the present invention and method schematic diagram.
In figure：Mobile robot 1, conductive head 2, flexibility adapt to mechanism 3, exposure mechanism 4, power transfer module 5, controller
8, control device 7, robot detection device 8, elastic element 301, the first guideway 302, the second guideway 303, fix
Plate 304, stretch out power device 401, guide rail 402, locking mechanism 403, flexible restoring organ 404.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in figure 1, the automatic charging equipment of mobile robot of the present invention includes mobile robot 1, conductive head 2, flexibility
Mechanism 3, exposure mechanism 4, power transfer module 5, controller 6, control device 7, robot detection device 8 are adapted to, wherein moving
The live part of robot 1 contacts with conductive head 2, and conductive head 2 is located in flexible adaptation mechanism 3, and flexibility adaptation mechanism 3, which is located at, stretches
Go out in mechanism 4, controller 6 is located at the side of exposure mechanism 4, power transfer module 5, robot detection device 8 and controller
Part 7 passes through cable connection with controller 6.
Power transfer module 5 includes 220V can be converted into direct current 48V transformer and relay, transformer and relay
Connection, can be converted into civil power the available charge power supply of battery, and power transfer module can be exported only in the case of loaded
Electric current.
Controller 6 can select PLC or one-chip computer module, for handling sensor signal and realizing charging system
Control logic.
Control device 7 includes multiple relays, binding post, switch and diode, it is therefore an objective to performs the control of controller
Instruction, the input and output of control electric current and signal.
Robot detection device 8 can be dimensional code scanner or one-dimension code scanner or infrared detection equipment or laser inspection
Measurement equipment, for whether in place to judge robot, and judge the numbering of robot.
Conductive head includes but is not limited to sphere, plane and the conical surface with the shape that the live part of mobile robot 1 contacts,
The charge contact shape of sphere can ensure that, when robot and charging pile are not parallel, live part can also be kept connecing with robot
Touch.
The material of conductive head includes but is not limited to copper, so reduces cost.
The global shape of conductive head includes but is not limited to cylindrical shape, when conductive head rotates, does not influence charging effect
Fruit.
As shown in Fig. 2 the flexible mechanism 3 that adapts in the present invention includes elastic element 301, the first guideway 302, second
Guideway 303, fixed plate 304, wherein conductive head 2 after mobile robot 1 is touched can elasticity of compression device 301 backward,
Elastic element 301 provides lasting pressure to conductive head 2, and conductive head 2 is along the first guideway 302, the second guideway 303
Motion, the first guideway 302, the second guideway 303 are all fixed in fixed plate 304, and elastic element 301 is solid positioned at two
Between fixed board 304.The mechanism can ensure that charging mechanism can also touch machine when robot stop position is equipped with certain deviation
People, while certain pressure is produced, reduce contact resistance.Elastic element 301 can be spring or rubber or plastics or elastic string
Or pneumatic spring or hydraulic spring grease cup etc..
As shown in figure 3, exposure mechanism 4 in the present invention include stretching out power device 401, guide rail 402, locking mechanism 403,
Flexible restoring organ 404, wherein it can be electromagnet or linear electric motors or cylinder or ball-screw or tooth to stretch out power device 401
Rack, belt etc. are taken turns, the end of power device 401 is stretched out and is connected with fixed plate 304, guide rail 402 is guiding mechanism and and fixed plate
304 connections, locking mechanism 403 stretch out positioned at the lower section for stretching out power device 401, locking mechanism 403 when exposure mechanism is retracted,
Fixed plate 304 is hooked, flexible restoring organ 404 is located at fixed plate 304 and stretched out between power device 401, flexible restoring organ
404 provide thrust when exposure mechanism is stretched out, while exposure mechanism is kept certain flexibility.When charging mechanism is withdrawn and is powered off
Afterwards, locking mechanism can pin charging mechanism do not allow its stretch out.
Locking mechanism 403 can be an electromagnet or small machine, after charging mechanism is withdrawn and is powered off, locking mechanism
Charging mechanism, which can be pinned, does not allow it to stretch out.
Flexible restoring organ 404 includes the spring outside guide rail and guide rail, and when charging mechanism is retracted, spring has generation
Toward the elastic force of extrapolation.
Because localization for Mobile Robot precision is generally in Centimeter Level, therefore stop position is all less identical during each charging,
The above-mentioned flexible mechanism 3 that adapts to can be fault-tolerant to robot stop position progress in multiple frees degree.It is adaptable, entirely
Charging process is full-automatic to be completed, and without manual intervention, effectively reduces cost of labor.
As shown in figure 4, the application method of the automatic charging equipment of mobile robot of the present invention comprises the following steps：
Step 1, mobile robot stop after being moved to charge position；
Step 2, the coding in robot detection device scanning mobile robot, determine mobile robot whether in place simultaneously
Recorder people numbers；
Step 3, robot detection device transfer information to controller；
Step 4, controller control exposure mechanism are stretched out；
Conductive head is touched mobile robot by step 5, exposure mechanism；
Step 6, flexibility, which adapts to mechanism, ensures that conductive head completely attaches to mobile robot；
Step 7, controller open control device, conductive head is produced voltage；
Step 8, after mobile robot detects voltage, mobile robot power supply is turned on, charging starts；
Step 9, after battery is full of, mobile robot is cut off the electricity supply；
Step 10, control device detect notification controller after no voltage；
Step 11, controller deenergization simultaneously withdraw exposure mechanism；
Step 12, mobile robot leave charge position.
The present invention is high to robot charge position serious forgiveness using exposure mechanism and flexible adaptation mechanism；Pass through machine
People's detection device, robot can be numbered and judge whether robot is judged in place, is prevented in no robot
In the case of maloperation, securely and reliably, and be able to record robot charge information；It is controllable to export electricity, passes through controller and control
Device processed is controlled to electricity output, and charging success rate is high.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (6)
1. the automatic charging equipment of a kind of mobile robot, it is characterised in that including mobile robot, conductive head, flexible adaptation
Mechanism, exposure mechanism, power transfer module, controller, control device, robot detection device, wherein mobile robot fill
Electric part is contacted with conductive head, and conductive head is adapted in mechanism positioned at flexible, and flexibility adapts to mechanism and is located in exposure mechanism, controller
Positioned at the side of exposure mechanism, power transfer module, robot detection device and control device pass through cable with controller
Connection.
2. the automatic charging equipment of mobile robot according to claim 1, it is characterised in that the robot detection is set
Standby is dimensional code scanner or one-dimension code scanner or infrared detection equipment or laser detection equipment.
3. the automatic charging equipment of mobile robot according to claim 1, it is characterised in that the flexible adaptation mechanism
Including elastic element, the first guideway, the second guideway, fixed plate, wherein conductive head is after mobile robot is touched
Can elasticity of compression device backward, elastic element provides lasting pressure to conductive head, and conductive head is along the first guideway, second
Guideway is moved, and the first guideway, the second guideway are all fixed in fixed plate, and elastic element is located at two fixed plates
Between.
4. the automatic charging equipment of mobile robot according to claim 3, it is characterised in that the exposure mechanism includes
Power device, guide rail, locking mechanism, flexible restoring organ are stretched out, power device end is stretched out and is connected with fixed plate, guide rail is to lead
It is connected to mechanism and with fixed plate, locking mechanism is positioned at the lower section for stretching out power device, and locking mechanism is when exposure mechanism is retracted
Stretch out, hook fixed plate, flexible restoring organ is located at fixed plate and stretched out between power device, and flexible restoring organ is stretching out machine
Structure provides thrust when stretching out, while exposure mechanism is kept certain flexibility.
5. the automatic charging equipment of mobile robot according to claim 4, it is characterised in that the stretching power device
It is electromagnet or linear electric motors or cylinder or ball-screw or rack-and-pinion, belt.
6. the application method of the automatic charging equipment of a kind of mobile robot, it is characterised in that comprise the following steps：
Step 1, mobile robot stop after being moved to charge position；
Step 2, the coding in robot detection device scanning mobile robot determine whether mobile robot in place and records
Robot numbers；
Step 3, robot detection device transfer information to controller；
Step 4, controller control exposure mechanism are stretched out；
Conductive head is touched mobile robot by step 5, exposure mechanism；
Step 6, flexibility, which adapts to mechanism, ensures that conductive head completely attaches to mobile robot；
Step 7, controller open control device, conductive head is produced voltage；
Step 8, after mobile robot detects voltage, mobile robot power supply is turned on, charging starts；
Step 9, after battery is full of, mobile robot is cut off the electricity supply；
Step 10, control device detect notification controller after no voltage；
Step 11, controller deenergization simultaneously withdraw exposure mechanism；
Step 12, mobile robot leave charge position.
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| CN201710852464.9A CN107591857A (en) | 2017-09-19 | 2017-09-19 | The automatic charging equipment and its application method of mobile robot |
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| CN201710852464.9A CN107591857A (en) | 2017-09-19 | 2017-09-19 | The automatic charging equipment and its application method of mobile robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109193855A (en) * | 2018-10-17 | 2019-01-11 | 丁云广 | A kind of more sweeping robot charging pile automatic clamping devices |
| CN109624762A (en) * | 2019-01-28 | 2019-04-16 | 珠海格力智能装备有限公司 | Charging unit and logistics system with it |
| CN109773831A (en) * | 2019-03-05 | 2019-05-21 | 浙江国自机器人技术有限公司 | A kind of self-service make-up system of mobile device and method |
| CN109789806A (en) * | 2018-05-07 | 2019-05-21 | 深圳蓝胖子机器人有限公司 | A kind of charging unit and charging system |
| CN110138061A (en) * | 2018-11-12 | 2019-08-16 | 浙江大学山东工业技术研究院 | Outdoor rail-type mobile robot charging system and charging method |
| CN110138023A (en) * | 2018-11-12 | 2019-08-16 | 浙江大学山东工业技术研究院 | A kind of charging unit based on mobile robot |
| CN110165485A (en) * | 2019-06-28 | 2019-08-23 | 北京史河科技有限公司 | Charging unit and robot system |
| CN110323807A (en) * | 2019-07-30 | 2019-10-11 | 苏州博众机器人有限公司 | Robot charging unit |
| CN110911904A (en) * | 2019-11-15 | 2020-03-24 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN112166538A (en) * | 2018-02-08 | 2021-01-01 | 阿勒特创新股份有限公司 | Opportunistic charging system for automated storage and retrieval systems |
| CN112436564A (en) * | 2020-08-14 | 2021-03-02 | 广东亿嘉和科技有限公司 | Charging device based on electromagnetic attraction technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112166538A (en) * | 2018-02-08 | 2021-01-01 | 阿勒特创新股份有限公司 | Opportunistic charging system for automated storage and retrieval systems |
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| CN110911904A (en) * | 2019-11-15 | 2020-03-24 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN110911904B (en) * | 2019-11-15 | 2021-12-17 | 深圳市优必选科技股份有限公司 | First power supply structure, second power supply structure, charging device and robot system |
| CN112436564A (en) * | 2020-08-14 | 2021-03-02 | 广东亿嘉和科技有限公司 | Charging device based on electromagnetic attraction technology |
| CN112436564B (en) * | 2020-08-14 | 2023-03-31 | 广东亿嘉和科技有限公司 | Charging device based on electromagnetic attraction technology |
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