CN207785061U - Cradle and mobile robot - Google Patents
Cradle and mobile robot Download PDFInfo
- Publication number
- CN207785061U CN207785061U CN201720936791.8U CN201720936791U CN207785061U CN 207785061 U CN207785061 U CN 207785061U CN 201720936791 U CN201720936791 U CN 201720936791U CN 207785061 U CN207785061 U CN 207785061U
- Authority
- CN
- China
- Prior art keywords
- cradle
- mobile robot
- signal
- signal projector
- recharges
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Abstract
The utility model discloses a kind of cradle (1), including charging terminal (111) and recharges signal projector (14) and avoid signal projector (13)；The signal projector (14) that recharges is for guiding mobile robot to be docked with charging terminal (111)；The avoidance signal projector (13) includes multiple, is distributed in cradle (1) lateral periphery, and transmitting avoids signal and mobile robot is avoided to be contacted at work with cradle (1).The avoidance signal projector of the utility model cradle is mounted on lateral periphery, avoidable mobile robot collides cradle at work, the matched mobile robot used, which can avoid installing at top, simultaneously avoids signal receiver, the requirement for height for reducing mobile robot keeps the working region of mobile robot more extensive.In addition, the utility model further discloses a kind of mobile robot being used cooperatively with the cradle.
Description
Technical field
The utility model belongs to the cradle of mobile robot field more particularly to mobile robot.
Background technology
Existing mobile robot is all configured with cradle in its working region, to facilitate it to be returned after completing work
Cradle charges, but mobile robot is easy to rush open cradle during the work time even to elapse a distance, this
Sample will influence mobile robot and even result in mobile robot searching cradle failure in searching cradle efficiency.
There are mainly two types of existing solutions：
First, by the way that cradle at least one end to be resisted against in fixed object to (such as corner or wall side), to avoid mobile machine
People rushes open cradle.But this mode seems not smart enough, and bad experience is brought to user, in addition, when cradle
Have that when leaning against in fixed object on one side, mobile robot can be rushed open from side by cradle.
Second is that emitting comprehensive avoidance signal in cradle top installation comprehensive signal transmitter, mobile robot is connecing
It receives to execute after the signal and turn to or backward movement, see in detail in European patent EP 2273335B1 and Chinese patent
Associated description in CN104095589B.This mode at the top of corresponding mobile robot main disadvantage is that need to install pair
The comprehensive signal receiver answered, this will increase the height of mobile robot, and then limit the working range of mobile robot.Than
Such as, after comprehensive signal receiver being installed on sweeping robot, cleaning of the sweeping robot under sofa or under bed will be limited
Work；After comprehensive signal receiver for another example is installed on grass-removing robot, by limitation mobile robot under the seat of lawn
Lawn-care works.
Therefore, it is necessary to which the cradle to mobile robot is improved.
Utility model content
For the technical problem for solving in background technology, the cradle technical solution of the utility model is as follows：
A kind of cradle, including charging terminal and recharge signal projector and avoid signal projector；It is described to recharge letter
Number transmitter is for guiding mobile robot to be docked with charging terminal；The avoidance signal projector includes multiple, is distributed in and fills
Electric seat lateral periphery, transmitting avoid signal and mobile robot are avoided to be contacted at work with cradle.
For convenience of the installation of multiple signal projectors, in a specific embodiment of the utility model, the multiple time
Signal projector is kept away in flexible circuit board.
Further, the avoidance signal projector is patch type infrared transmitting tube.
Further, for convenience of installing flexible circuit board to cradle, the flexible circuit board is equipped with multiple peaces
Hole is filled, the cradle is equipped with matched mounting post.
Further, the cradle includes horizontal part and vertical portion, and the charging terminal is mounted on horizontal part, described
Avoid signal projector to be evenly distributed on around vertical portion.
Further, the signal transmitting range for recharging signal projector is more than the signal for avoiding signal projector
Transmitting range.
Further, it is described recharge signal projector include that a left side recharges signal transmitting tube, centre recharges signal transmitting tube and
The right side recharges signal transmitting tube, and for the left and right signal transmitting tube that recharges for adjusting mobile robot pose, the centre recharges letter
Number transmitting tube is for making mobile robot and charging terminal Dock With Precision Position.
For the technical problem for solving in background technology, the mobile robot technology scheme of the utility model is as follows：
A kind of mobile robot being used cooperatively with above-mentioned cradle, including be arranged and recharge letter in mobile robot side
Number receiver and the multiple avoidance signal receivers for being distributed in mobile robot side.
Further, the mobile robot is sweeping robot or grass-removing robot.
Compared with prior art, the beneficial effects of the utility model are：
The avoidance signal projector of the utility model cradle is mounted on lateral periphery, can avoid mobile robot and is working
When collide cradle, while avoid the matched mobile robot used top install avoid signal receiver, drop
The low requirement for height of mobile robot, keeps the working region of mobile robot more extensive.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the schematic diagram of the cradle of the utility model preferred embodiment；
Fig. 2 recharges signal and avoidance signal schematic representation for the cradle in Fig. 1；
Fig. 3 is the flexible circuit board schematic diagram of figure cradle；
Fig. 4 is the scheme of installation of flexible circuit board and cradle in Fig. 3；
Fig. 5 is the sweeping robot schematic diagram being used cooperatively with the utility model cradle.
Specific implementation mode
Technical solutions of the utility model are clearly and completely described below in conjunction with the drawings and specific embodiments, are shown
So, embodiment as described herein is only a part of the embodiment of utility model, instead of all the embodiments.Based on this reality
With the specific embodiment of novel description, institute obtained by those of ordinary skill in the art without making creative efforts
There is other embodiment, should all belong in protection domain defined by the utility model claims.
Embodiment 1
As shown in Figures 1 to 4, it is the cradle and its component schematic diagram of the utility model preferred embodiment.
Cradle 1 in the present embodiment includes horizontal part 11 and vertical portion 22, and horizontal part 11 is substantially in 90 in vertical portion 12
Degree, horizontal part 11 are equipped with charging terminal 111, are equipped on vertical portion 12 and recharge signal projector 14 and avoidance signal projector
13。
It please refers to Fig.1, Fig. 2, it is infrared carrier wave sender unit, including position that signal projector 14 is recharged in the present embodiment
In a left side for 12 side of vertical portion recharges signal projector 141, centre recharges signal projector 142 and the right side recharges signal projector
143, the left and right signal for recharging signal projector transmitting is respectively formed 75 ° of signal fields to 85 ° of angular ranges, and centre recharges letter
The signal that number transmitter 142 emits forms 10 ° of signal fields to 30 ° of angular ranges, respectively recharges signal projector and emits different loads
The infrared signal of wave identifies in order to mobile robot；Multiple avoidance signal projectors have been uniformly distributed mostly around vertical portion 12
13；Wherein, the signal transmitting range for recharging signal projector 14 is more than the signal transmitting range for avoiding signal projector 13, is scheming
In 2, the length for recharging the launching site V2 of signal projector is more than the length for the launching site V1 for avoiding signal projector 13.
As shown in figure 3, multiple avoidance signal projectors 13 are in the present embodiment infrared patch transmitting tube, pass through SMT works
Skill is periodically installed in flexible circuit board (FPC) 15, and 15 both ends of flexible circuit board are respectively equipped with mounting hole 151, therebetween
Position is also provided with mounting hole 151 at intervals, and mounting hole 151 is through-hole, avoids signal at interval of two in the present embodiment and sends out
A mounting hole 151 is arranged in emitter.
As shown in figure 4, a left side recharges signal projector 141, centre recharges signal projector 142 and the right side recharges signal projector
On the board 16, circuit board 16 is fixed on again on cradle 1 for 143 installations；12 inside of vertical portion of cradle 1 is equipped with multiple
Mounting post 17, mounting post 17 are substantially in nut shape, i.e. the end of mounting post 17 is slightly larger than columnar part, so as to by flexible wires
Road plate 15 is fixed on cradle 1 and not easy to fall off.15 upper installing hole 151 of flexible circuit board and nut are used in the present embodiment
The mode of the cooperation installation of mounting post 17 of shape, the mounting hole 151 of flexible circuit board 15 is aligned with corresponding mounting post 17
Realize Fast Installation, when flexible circuit board is damaged, the one end that can directly hold flexible circuit board 15 is firmly i.e. detachable, is convenient for
The maintenance of cradle 1.
Embodiment 2
As shown in figure 5, being the mobile robot schematic diagram using the cradle in embodiment 1, the movement in the present embodiment
The artificial sweeping robot 2 (or grass-removing robot) of machine, includes recharging signal receiving device 21 positioned at its side, with
And multiple avoidance signal receiving devices 22 for being evenly distributed on its side, in embodiment 1 recharge sender unit and return
The type for keeping away sender unit is corresponding, and it is infrared carrier wave signal reception pipe to recharge signal receiving device 21, avoids signal and connects
Receiving apparatus 22 is infrared receiving tube.
Recharging signal receiving device 21 and avoiding signal receiving device 22 for the utility model mobile robot is all disposed within
It its side can entry altitude because without setting signal reception device at the top of it, reducing the height of mobile robot
Operation is carried out in smaller working region.
Above disclosed is only the embodiment of technical solutions of the utility model, cannot be new to limit this practicality with this
The interest field of type, therefore equivalent variations made according to the claim of the utility model still belong to the model that the utility model is covered
It encloses.
Claims (9)
1. a kind of cradle (1), including charging terminal (111), it is characterised in that：
The cradle includes recharging signal projector (14) and avoidance signal projector (13)；It is described to recharge signal projector
(14) it is used to that mobile robot to be guided to dock with charging terminal (111)；The avoidance signal projector (13) includes multiple, distribution
In cradle (1) lateral periphery, transmitting avoids signal and mobile robot is avoided to be contacted at work with cradle (1).
2. cradle (1) according to claim 1, it is characterised in that：
The multiple avoidance signal projector (13) is mounted in flexible circuit board (15).
3. cradle (1) according to claim 2, it is characterised in that：
The avoidance signal projector (13) is patch type infrared transmitting tube.
4. cradle (1) according to claim 2 or 3, it is characterised in that：
The flexible circuit board (15) is equipped with multiple mounting holes (151), and the cradle (1) is equipped with matched installation
Column (17).
5. cradle (1) according to claim 1, it is characterised in that：The cradle (1) includes horizontal part (11) and erects
Straight portion (12), the charging terminal (111) are mounted on horizontal part (11), and the avoidance signal projector (13) is evenly distributed on
Around vertical portion (12).
6. cradle (1) according to claim 1, it is characterised in that：
The signal transmitting range for recharging signal projector (14) is more than the signal transmitting of the avoidance signal projector (13)
Distance.
7. cradle (1) according to claim 1, it is characterised in that：
It is described recharge signal projector (14) include that a left side recharges signal transmitting tube (141), centre recharges signal transmitting tube (142) and
The right side recharges signal transmitting tube (143), and the left and right signal transmitting tube (141,143) that recharges is used to adjust mobile robot pose,
The centre recharges signal transmitting tube (142) for making mobile robot and charging terminal (111) Dock With Precision Position.
8. the mobile robot (2) that a kind of cradle using as described in one of claim 1 to 7 charges, feature exists
In：
Including recharging signal receiver (21) and be distributed in mobile robot (2) side in mobile robot (2) side is arranged
Multiple avoidance signal receivers (22).
9. mobile robot according to claim 8, it is characterised in that：
The mobile robot is sweeping robot or grass-removing robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936791.8U CN207785061U (en) | 2017-07-28 | 2017-07-28 | Cradle and mobile robot |
| PCT/CN2018/073886 WO2019019578A1 (en) | 2017-07-28 | 2018-01-23 | Charging base, mobile robot and mobile robot charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720936791.8U CN207785061U (en) | 2017-07-28 | 2017-07-28 | Cradle and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207785061U true CN207785061U (en) | 2018-08-31 |
Family
ID=63274563
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720936791.8U Active CN207785061U (en) | 2017-07-28 | 2017-07-28 | Cradle and mobile robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN207785061U (en) |
| WO (1) | WO2019019578A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109298716A (en) * | 2018-11-23 | 2019-02-01 | 珠海市微半导体有限公司 | A kind of the planning cleaning method and chip of robot |
| CN110597255A (en) * | 2019-09-11 | 2019-12-20 | 珠海市一微半导体有限公司 | Method for establishing safety zone by using seat avoidance signal |
| CN110755000A (en) * | 2019-10-25 | 2020-02-07 | 珠海格力电器股份有限公司 | Sweeping robot control method and device and sweeping robot |
| CN110928296A (en) * | 2019-10-18 | 2020-03-27 | 深圳市银星智能科技股份有限公司 | Method for avoiding charging seat by robot and robot thereof |
| WO2021036643A1 (en) * | 2019-08-26 | 2021-03-04 | 深圳市杉川机器人有限公司 | Charging base, method, and system for realizing robot avoidance based on infrared light |
| CN114846993A (en) * | 2022-06-13 | 2022-08-05 | 美智纵横科技有限责任公司 | Mowing robot and mowing equipment |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109933073B (en) * | 2019-04-01 | 2020-12-01 | 珠海市一微半导体有限公司 | Automatic generation method of robot backseat code |
| CN109991980B (en) * | 2019-04-01 | 2022-07-08 | 珠海一微半导体股份有限公司 | Method for forming signal quantization distribution diagram of charging seat |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| TWM377001U (en) * | 2009-10-16 | 2010-03-21 | Micro Star Int Co Ltd | Electronic device |
| CN201840423U (en) * | 2010-10-11 | 2011-05-25 | 洋通工业股份有限公司 | Charging stand of self-walking dust collector |
| CN103948354B (en) * | 2014-05-05 | 2016-03-09 | 苏州爱普电器有限公司 | A kind of robot for cleaning floor and control method thereof |
| CN104095589B (en) * | 2014-07-17 | 2017-06-30 | 深圳远欧智慧科技有限公司 | Intellective dust collector |
| CN104950889A (en) * | 2015-06-24 | 2015-09-30 | 美的集团股份有限公司 | Robot charging stand and robot provided with same |
-
2017
- 2017-07-28 CN CN201720936791.8U patent/CN207785061U/en active Active
-
2018
- 2018-01-23 WO PCT/CN2018/073886 patent/WO2019019578A1/en active Application Filing
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109298716A (en) * | 2018-11-23 | 2019-02-01 | 珠海市微半导体有限公司 | A kind of the planning cleaning method and chip of robot |
| CN109298716B (en) * | 2018-11-23 | 2022-10-14 | 珠海一微半导体股份有限公司 | Planning cleaning method and chip for robot |
| WO2021036643A1 (en) * | 2019-08-26 | 2021-03-04 | 深圳市杉川机器人有限公司 | Charging base, method, and system for realizing robot avoidance based on infrared light |
| CN110597255A (en) * | 2019-09-11 | 2019-12-20 | 珠海市一微半导体有限公司 | Method for establishing safety zone by using seat avoidance signal |
| CN110597255B (en) * | 2019-09-11 | 2022-08-09 | 珠海一微半导体股份有限公司 | Method for establishing safety zone by using seat avoidance signal |
| CN110928296A (en) * | 2019-10-18 | 2020-03-27 | 深圳市银星智能科技股份有限公司 | Method for avoiding charging seat by robot and robot thereof |
| CN110755000A (en) * | 2019-10-25 | 2020-02-07 | 珠海格力电器股份有限公司 | Sweeping robot control method and device and sweeping robot |
| CN114846993A (en) * | 2022-06-13 | 2022-08-05 | 美智纵横科技有限责任公司 | Mowing robot and mowing equipment |
| CN114846993B (en) * | 2022-06-13 | 2024-02-23 | 美智纵横科技有限责任公司 | Mowing robot and mowing equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019019578A1 (en) | 2019-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207785061U (en) | Cradle and mobile robot | |
| US10074998B2 (en) | Charging system, power supply device and aircraft | |
| CN206302168U (en) | Crusing robot automatic charging laser alignment system | |
| CN106104400B (en) | Self-propelled electronic equipment | |
| CN106356944A (en) | Automatic charging laser aligning system of patrol check robot and aligning method | |
| EP2540205A2 (en) | Step climbing device for moving robots, step climbing system for moving robots and step climbing method of moving robot | |
| CN105161851A (en) | Manual antenna alignment apparatus and method applied to radar simulator calibration process | |
| CN211540183U (en) | Correct pipeline structure and screw machine | |
| CN108258779A (en) | A kind of wireless charging method and mobile wireless charging equipment | |
| CN105101376B (en) | A kind of data processing method and electronic equipment | |
| CN205141716U (en) | A charging seat structure for sweeping floor in robot | |
| CN206618693U (en) | A kind of carborundum feet screening plant | |
| CN207595290U (en) | A kind of unmanned plane quick-detachable battery assembling structure | |
| CN109830998A (en) | Recharging device | |
| KR20190069020A (en) | Water wall device for blocking suspended particles in atmosphere and method for blocking suspended particles using the same | |
| CN105380573B (en) | Device, method and the intellective dust collector of charging equipment are found for intellective dust collector | |
| CN210224264U (en) | Television antenna receiver capable of preventing birds from stepping on | |
| CN212009335U (en) | Automatic duster control system | |
| CN102981158A (en) | Virtual wall system and method thereof | |
| CN210119564U (en) | Calibration device for laser scanning distance measuring sensor | |
| CN108965796B (en) | Anti-interference device for communication equipment | |
| CN201083943Y (en) | Wall loading type video camera mounting seat mounting location plate | |
| CN108209727A (en) | A kind of Intelligent robot for sweeping floor cradle | |
| CN209234161U (en) | A kind of SMT chip mounter | |
| CN206290065U (en) | A kind of communication tower with level correction function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GuangDong BONA Robot Co.,Ltd. Address before: 518000 floor 2 and 3, building D, No. 438, East Ring Road, Shajing street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: GuangDong BONA Robot Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201019 Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU KEYU ROBOT Co.,Ltd. Address before: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee before: GuangDong BONA Robot Co.,Ltd. |