CN105743197A - Mobile robot system and autonomous charging method thereof - Google Patents
Mobile robot system and autonomous charging method thereof Download PDFInfo
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- CN105743197A CN105743197A CN201610312104.5A CN201610312104A CN105743197A CN 105743197 A CN105743197 A CN 105743197A CN 201610312104 A CN201610312104 A CN 201610312104A CN 105743197 A CN105743197 A CN 105743197A
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- charging
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a mobile robot system and an autonomous charging method thereof. The mobile robot system comprises a robot body and a charging adapter. The robot body comprises a charging contact point, an energy storage module and a master control module. The charging contact point is configured to be able to extend to the exterior of the body or retract to the interior of the body. The energy storage module is used for providing a cruising capability for normal operation of the body. The master control module is connected with the energy storage module. The charging adapter comprises a sensing recognition module and a branch control module. The branch control module communicates with the master control module. When the robot body is in a charging state, the charging contact point extends to the exterior of the body and contacts the charging adapter. When the robot body stops charging, the charging contact point retracts to the interior of the body. Compared with the prior art, the charging point of the robot body is configured to be telescopic and is avoided to be exposed outside all the time, and abrasion, oxidation, poor contact and the like are reduced.
Description
Technical field
The present invention relates to the charging technique of a kind of mobile apparatus people, particularly relate to a kind of mobile apparatus people that this mobile apparatus people is carried out recharging and mobile-robot system thereof.
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, it is necessary for adopting 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 is mostly by direct plug-in source adapter or be charged by the charging pile of contact, and docks with charging adapter by laser range finder, vision sensor or Infrared Detectors.In general, existing contact charging pile mainly has three kinds of charging modes: overhead contact charging, underneath type contact charging and the contact charging of side formula.For above-mentioned three kinds of modes, the charge contact contact on mobile apparatus people is all fixed, and the contact contact on charging pile exists certain elasticity.Consequently, it is possible to the height of overhead contact charging requirement charging pile must match with the height of mobile apparatus people, limitation is very big.Underneath type contact charging is then significantly high to the chassis of the mobile apparatus people required distance far from ground, if distance ground is too near, the obstacle that robot can cross over is just very limited；If distance ground is too high, the charge contact contact on charging pile is difficult to the contact contact touching and being reliably connected to robot, and design is caused very big impact.For the contact charging of side formula, contact contact and the charging pile of robot to contact contact mutually in close proximity, robot easily causes dislocation when docking, and causes that charge efficiency is poor.
Additionally, existing mobile apparatus people is also faced with very severe safety problem when being charged.For example, owing to the charging contact position in robot immobilizes so that charging contact itself need always exposed outside, it is easy to wear and tear, aoxidize, the situation such as loose contact.And, on using, also can there is obvious potential safety hazard in exposed charging contact.Furthermore, existing charging contact is all not as big with contact area when contacting contact docking on charging pile, it is easy to produce the puzzlement of position alignment, and charge efficiency when this is for high-power charging will produce bigger adverse effect.
In view of this, how to design a kind of can mobile apparatus people's framework of recharging, 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
Mobile apparatus people for prior art carries out the drawbacks described above existing for recharging by contact charging pile, the invention provides a kind of mobile-robot system and recharging method thereof.
According to one aspect of the present invention, it is provided that a kind of can the mobile-robot system of automatic charging, this mobile-robot system includes robot body and charging adapter, wherein,
Described robot body includes: charging contact, is configured to telescopically elongation to the outside of described robot body or the inside being retracted into described robot body；Energy-storage module, the electric energy that the charge power for storing from described charging adapter converts, thus flying power when providing described robot body properly functioning；Main control module, is connected with described energy-storage module, for monitoring the charging current of described robot body, charging voltage and the real-time current of described energy-storage module, real-time voltage；And
Described charging adapter includes: sensing identification module, for receiving the position signalling from described robot body, and returns a feedback signal to described robot body so that described robot body obtains the positional information of described charging adapter；Sub-control module, communicate with described main control module, for monitoring charging current and the charging voltage of described robot body, wherein, when described robot body is in charged state, described charging contact extends the outside of extremely described robot body and contacts with described charging adapter；When described robot body stops charging, the inside of the described charging contact described robot body of retraction.
An embodiment wherein, described robot body also includes a contact control unit, is fixedly attached to described charging contact and controls described charging contact linearly or along the elongation of spiral type direction to the outside of described robot body.
An embodiment wherein, described charging adapter also includes a charging base and the charging contact one_to_one corresponding of the charging tactile disk of charging base and described robot body.
An embodiment wherein, the area of described charging tactile disk is more than the effective area of described charging contact.
An embodiment wherein, when the charging contact of described robot body is fitted with the charging tactile disk of described charging adapter, described main control module and described sub-control module communicate with power carrier mode, monobus mode or wireless mode.
An embodiment wherein, during communication failure between described main control module and described sub-control module, described robot body regulates the position of described charging contact or the position of drivewheel.
An embodiment wherein, described robot body also includes a position sensor, for sending described position signalling and receiving the feedback signal from described sensing identification module, described robot body obtains the positional information of described charging adapter according to described feedback signal.
An embodiment wherein, described energy-storage module is set of cells or super capacitor group.
An embodiment wherein, described charging contact is positioned at the top of described robot body, bottom or side.
An embodiment wherein, described charging adapter also includes a LCDs, for showing the relevant parameter in described robot body charging process in real time.
According to another aspect of the present invention, it is provided that a kind of recharging method of mobile apparatus people, this mobile apparatus people at least includes charging contact, energy-storage module and main control module, and wherein, this recharging method comprises the following steps:
Robot body obtains the positional information of a charging adapter and near described charging adapter；
When described robot body arrives charge position, the sub-control module of described main control module and described charging adapter sets up communication connection；
When the communication is successful, described charging contact extends the outside of extremely described robot body and contacts with described charging adapter；And
When described robot body stops charging, the inside of the described charging contact described robot body of retraction.
An embodiment wherein, described robot body also includes a contact control unit, and when the communication is successful, described contact control unit controls described charging contact linearly or along the elongation of spiral type direction to the outside of described robot body.
An embodiment wherein, when the charging contact of described robot body contacts with described charging adapter, described main control module and described sub-control module with power carrier mode or, monobus mode or wireless mode communicate.
An embodiment wherein, during communication connection fault between described main control module and described sub-control module, described robot body regulates the position of described charging contact or the position of drivewheel until communicating successfully.
An embodiment wherein, the step of the positional information that above-mentioned robot body obtains charging adapter also includes:
Position sensor on robot body scans and sends a position signalling；
Charging adapter receives described position signalling, and returns a feedback signal to described position sensor；And
Described position sensor obtains the positional information of described charging adapter according to described feedback signal.
Adopt mobile-robot system and the recharging method thereof of the present invention, this system includes robot body and charging adapter, wherein, robot body includes charging contact, energy-storage module and main control module, and charging adapter includes sensing identification module and sub-control module.Charging contact is configured to telescopically to extend to the outside of robot body or is retracted into the inside of robot body.Electric energy that energy-storage module converts for the charge power stored from charging adapter is thus flying power when providing body properly functioning.Main control module is connected with energy-storage module, for the real-time current of the charging current of monitoring robot body, charging voltage and energy-storage module, real-time voltage.Sensing identification module is for receiving the position signalling from robot body, and returns a feedback signal to robot body so that robot body obtains the positional information of charging adapter.Sub-control module and main control module communicate, for charging current and the charging voltage of monitoring robot body.When robot body is in charged state, charging contact elongation to the outside of robot body and contacts with charging adapter；When robot body stops charging, the inside of charging contact retraction robot body.Compared to prior art, the charging contact of the robot body of the present invention is configured to scalable, its charging time elongation to robot body outside and stop charging time retraction robot body inside, thus can avoid charging contact always exposed outside, reduce the probability of the situation such as abrasion, oxidation, loose contact generations.In addition, the area of the charging tactile disk on charging adapter is much larger than the effective area of the charging contact of robot body, robot body is made to need contact docking when charging relatively easy, it is to avoid the bad situation that charge efficiency caused by alignment issues is relatively low.
Accompanying drawing explanation
Reader is after having read the specific embodiment of the present invention with reference to accompanying drawing, it will more clearly understand various aspects of the invention.Wherein,
Figure 1A is shown according to one embodiment of the present invention, can the structural representation of robot body in the mobile-robot system of recharging；
Figure 1B illustrates another view of the robot body of Figure 1A；
What Fig. 2 illustrated Figure 1A can the structural representation of charging adapter in the mobile-robot system of recharging；
What Fig. 3 A illustrated Figure 1A can in the mobile-robot system of recharging, view when robot body contacts with charging adapter and charges；
Fig. 3 B illustrates another view that the robot body of Fig. 3 A contacts with charging adapter；And
Fig. 4 is shown according to another embodiment of the present invention, the FB(flow block) of the recharging method of mobile apparatus people.
Detailed description of the invention
In order to make techniques disclosed in this application content more detailed and complete, can refer to the following various specific embodiments of accompanying drawing and the present invention, labelling identical in accompanying drawing 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 drawing is used only for schematically being illustrated, and draw not according to its life size.
With reference to the accompanying drawings, the detailed description of the invention of various aspects of the present invention is described in further detail.
Figure 1A is shown according to one embodiment of the present invention, can the structural representation of robot body in the mobile-robot system of recharging, Figure 1B illustrates another view of the robot body of Figure 1A.
As described in the background section, the charging contact position on existing robot body often immobilizes, in order to utilize charging adapter to be charged, charging contact need always exposed outside, it is easy to wear and tear, aoxidize, the situation such as loose contact.For being effectively improved drawbacks described above, the present invention propose a kind of can the mobile-robot system of automatic charging.This system includes robot body 1 and charging adapter 2.Robot body and charging adapter respective critical component are discussed in detail individually below.Those skilled in the art is to be understood that; the above-mentioned mobile-robot system comprising robot body and charging adapter is only for example; the structure of other existing or robot bodies of being likely to occur from now on and charging adapter or parts are as being applicable to the present invention; also within should being included in scope, and it is incorporated herein with way of reference at this.
With reference to Figure 1A and Figure 1B, in this embodiment, robot body 1 at least includes charging contact 11, energy-storage module 12 and main control module 13.Specifically, charging contact 11 is configured to telescopically to extend to the outside of robot body 1 or is retracted into the inside of robot body 1.It is preferred that charging contact 11 is positioned at the top of robot body 1, bottom or side.Such as, when robot body 1 stops charging, charging contact 11 is retracted the inside (such as Figure 1A) of robot body 1.When robot body 1 is in charged state, the outside (such as Figure 1B) that charging contact 11 extends to robot body 1.
The electric energy that energy-storage module 12 converts for the charge power stored from charging adapter, thus flying power when providing robot body 1 properly functioning.Such as, energy-storage module 12 is set of cells or super capacitor group.Additionally, the convenient degree of maintenance in order to improve energy-storage module, energy-storage module 12 is configured to be removably installed in robot body 1, when the super capacitor in the battery in set of cells or super capacitor group occurs abnormal, can change immediately.Main control module 13 is connected with energy-storage module 12.Main control module 13 is used for the monitoring robot body 1 charging current in charging process, charging voltage and the real-time current of energy-storage module 12, real-time voltage.
At a specific embodiment, robot body 1 also includes a contact control unit (not shown).Touch-control control unit is fixedly attached to charging contact 11 and controls charging contact 11 linearly or along spiral type direction elongation (or shortening) to outside (or internal) of robot body 1.
At a specific embodiment, robot body 1 also includes a position sensor 14.Position sensor 14 is for sending the position signalling of robot body 1 and receiving the feedback signal of the sensing identification module from charging adapter so that robot body 1 obtains the positional information of charging adapter according to feedback signal.
From the above, the charging contact 11 of the present invention is set to scalable mode, this just to the distance between the height of robot body, the height of charging adapter and the chassis of robot body and ground all without restriction, add the scope of application of recharging solution.Additionally, charging contact 11 is retracted the inside of robot body 1 when stopping charging, can avoid charging contact 11 always exposed outside, reduce the probability of the situation generations such as abrasion, oxidation, loose contact.
What Fig. 2 illustrated Figure 1A can the structural representation of charging adapter in the mobile-robot system of recharging.
With reference to Fig. 2, charging adapter 2 includes sensing identification module 21 and sub-control module 22.Wherein, sensing identification module 21 is for receiving the position signalling from robot body 1, and returns a feedback signal to robot body 1 so that robot body 1 obtains the positional information of charging adapter 2.Such as, the position sensor 14 of robot body 1 sends the position signalling of robot body 1, sensing identification module 21 receives from the position signalling of position sensor 14 and returns a feedback signal, then is received the feedback signal of self-sensing identification module 21 thus obtaining the positional information of charging adapter 2 by position sensor 14.Sub-control module 22 and main control module 13 communicate.Sub-control module 22 is used for charging current and the charging voltage of monitoring robot body 1.Additionally, charging adapter also includes a LCDs, for showing the relevant parameter in robot body charging process in real time.
At a specific embodiment, charging adapter 2 also includes a charging base.The charging tactile disk 23 of this charging base and charging contact 11 one_to_one corresponding of robot body 1.Additionally, the area of charging tactile disk 23 is more than the effective area of charging contact 11.Here, effective area refers to the real contact area between charging contact 11 and charging tactile disk 23.Consequently, it is possible to owing to the area of charging tactile disk 23 is relatively big, when the charging contact 11 of robot body 1 stretches out and contacts, directly docking is very easy for the two, even if the position of robot body 1 is somewhat partially a bit, it is also possible to realize successfully docking.
At a specific embodiment, when the charging contact 11 of robot body 1 is fitted with the charging tactile disk 23 of charging adapter 2, main control module 13 and sub-control module 22 communicate with power carrier mode, monobus mode or wireless mode.Should be understood that, no matter adopt which kind of communication mode, together with when charging, the charging contact of robot body must be touched with the charging tactile disk of charging adapter, in other words, the recharging mode of the present invention is wired charging, and the communication of main control module and sub-control module both can be wired, it is also possible to be wireless.
During communication failure between main control module 13 and sub-control module 22, robot body 1 regulates the position of charging contact 11 or the position of drivewheel.Such as, robot body 1 carry out position adjustment can utilize robot body move or the position of charging contact self is moved and is achieved.Wherein, the driving by drivewheel of moving of robot body completes.Move additionally, charging contact 11 also can carry out position under the driving of motor, make charging contact reliably contact with charging tactile disk.
What Fig. 3 A illustrated Figure 1A can in the mobile-robot system of recharging, and view when robot body contacts with charging adapter and charges, Fig. 3 B illustrates another view that the robot body of Fig. 3 A contacts with charging adapter.
As shown in Figure 3 A and Figure 3 B, when the sub-control module communication success of main control module and the charging adapter of robot body, charging contact 11 extends to the outside of robot body 1 and contacts with the charging tactile disk 23 of charging adapter 2, and the electric energy that the charge power passing through charging tactile disk 23 self-charging adapter 2 in the future converts is sent to energy-storage module and then flying power when providing robot body 1 properly functioning.
Fig. 4 is shown according to another embodiment of the present invention, the FB(flow block) of the recharging method of mobile apparatus people.
With reference to Fig. 4 and in conjunction with Figure 1A, Fig. 2, in this embodiment, the recharging method of mobile apparatus people realizes mainly through step S1～S4.First, in step sl, robot body 1 obtains the positional information of charging adapter 2 and near charging adapter 2.Then, in step s 2, when robot body 1 arrives charge position, the sub-control module 22 of main control module 13 and charging adapter 2 sets up communication connection.Then, in step s3, when the communication is successful, charging contact 11 extends to the outside of robot body 1 and contacts with charging adapter 2.Finally, in step s 4, when robot body 1 stops charging, charging contact 11 is retracted the inside of robot body 1.
At a specific embodiment, when above-mentioned robot body obtains the positional information of charging adapter, first scanned and send a position signalling by the position sensor 14 on robot body, then charging adapter receives this position signalling, and return a feedback signal to this position sensor 14, finally obtained the positional information of charging adapter 2 according to feedback signal by position sensor 14.
Adopt mobile-robot system and the recharging method thereof of the present invention, this system includes robot body and charging adapter, wherein, robot body includes charging contact, energy-storage module and main control module, and charging adapter includes sensing identification module and sub-control module.Charging contact is configured to telescopically to extend to the outside of robot body or is retracted into the inside of robot body.Electric energy that energy-storage module converts for the charge power stored from charging adapter is thus flying power when providing body properly functioning.Main control module is connected with energy-storage module, for the real-time current of the charging current of monitoring robot body, charging voltage and energy-storage module, real-time voltage.Sensing identification module is for receiving the position signalling from robot body, and returns a feedback signal to robot body so that robot body obtains the positional information of charging adapter.Sub-control module and main control module communicate, for charging current and the charging voltage of monitoring robot body.When robot body is in charged state, charging contact elongation to the outside of robot body and contacts with charging adapter；When robot body stops charging, the inside of charging contact retraction robot body.Compared to prior art, the charging contact of the robot body of the present invention is configured to scalable, its charging time elongation to robot body outside and stop charging time retraction robot body inside, thus can avoid charging contact always exposed outside, reduce the probability of the situation such as abrasion, oxidation, loose contact generations.In addition, the area of the charging tactile disk on charging adapter is much larger than the effective area of the charging contact of robot body, robot body is made to need contact docking when charging relatively easy, it is to avoid the bad situation that charge efficiency caused by alignment issues is relatively low.
Above, the specific embodiment of the present invention is described with reference to the accompanying drawings.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. one kind can the mobile-robot system of automatic charging, it is characterised in that this mobile-robot system includes robot body and charging adapter, wherein,
Described robot body includes: charging contact, is configured to telescopically elongation to the outside of described robot body or the inside being retracted into described robot body；Energy-storage module, the electric energy that the charge power for storing from described charging adapter converts, thus flying power when providing described robot body properly functioning；Main control module, is connected with described energy-storage module, for monitoring the charging current of described robot body, charging voltage and the real-time current of described energy-storage module, real-time voltage；And
Described charging adapter includes: sensing identification module, for receiving the position signalling from described robot body, and returns a feedback signal to described robot body so that described robot body obtains the positional information of described charging adapter；Sub-control module, communicates with described main control module, for monitoring charging current and the charging voltage of described robot body,
Wherein, when described robot body is in charged state, described charging contact extends the outside of extremely described robot body and contacts with described charging adapter；When described robot body stops charging, the inside of the described charging contact described robot body of retraction.
2. mobile-robot system according to claim 1, it is characterized in that, described robot body also includes a contact control unit, is fixedly attached to described charging contact and controls described charging contact linearly or along the elongation of spiral type direction to the outside of described robot body.
3. mobile-robot system according to claim 1, it is characterised in that described charging adapter also includes a charging base and the charging contact one_to_one corresponding of the charging tactile disk of described charging base and described robot body.
4. mobile-robot system according to claim 3, it is characterised in that the area of described charging tactile disk is more than the effective area of described charging contact.
5. mobile-robot system according to claim 3, it is characterized in that, when the charging contact of described robot body is fitted with the charging tactile disk of described charging adapter, described main control module and described sub-control module communicate with power carrier mode, monobus mode or wireless mode.
6. mobile-robot system according to claim 5, it is characterised in that during communication failure between described main control module and described sub-control module, described robot body regulates the position of described charging contact or the position of drivewheel.
7. mobile-robot system according to claim 1, it is characterized in that, described robot body also includes a position sensor, for sending described position signalling and receiving the feedback signal from described sensing identification module, described robot body obtains the positional information of described charging adapter according to described feedback signal.
8. mobile-robot system according to claim 1, it is characterised in that described energy-storage module is set of cells or super capacitor group.
9. mobile-robot system according to claim 1, it is characterised in that described charging contact is positioned at the top of described robot body, bottom or side.
10. mobile-robot system according to claim 1, it is characterised in that described charging adapter also includes a LCDs, for showing the relevant parameter in described robot body charging process in real time.
11. the recharging method of mobile apparatus people, this mobile apparatus people at least includes charging contact, energy-storage module and main control module, it is characterised in that this recharging method comprises the following steps:
Robot body obtains the positional information of a charging adapter and near described charging adapter；
When described robot body arrives charge position, the sub-control module of described main control module and described charging adapter sets up communication connection；
When the communication is successful, described charging contact extends the outside of extremely described robot body and contacts with described charging adapter；And
When described robot body stops charging, the inside of the described charging contact described robot body of retraction.
12. the recharging method of mobile apparatus people according to claim 11, it is characterized in that, described robot body also includes a contact control unit, when the communication is successful, described contact control unit controls described charging contact linearly or along the elongation of spiral type direction to the outside of described robot body.
13. the recharging method of mobile apparatus people according to claim 11, it is characterized in that, when the charging contact of described robot body contacts with described charging adapter, described main control module and described sub-control module with power carrier mode or, monobus mode or wireless mode communicate.
14. the recharging method of mobile apparatus people according to claim 11, it is characterized in that, during communication connection fault between described main control module and described sub-control module, described robot body regulates the position of described charging contact or the position of drivewheel until communicating successfully.
15. the recharging method of mobile apparatus people according to claim 11, it is characterised in that the step of the positional information that above-mentioned robot body obtains charging adapter also includes:
Position sensor on robot body scans and sends a position signalling；
Charging adapter receives described position signalling, and returns a feedback signal to described position sensor；And
Described position sensor obtains the positional information of described charging adapter according to described feedback signal.
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| CN111614146A (en) * | 2019-02-22 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | Charging device and method |
| WO2020238309A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Machine room inspection control method and apparatus, device, and storage medium |
| CN112186850A (en) * | 2020-09-28 | 2021-01-05 | 达闼机器人有限公司 | Intelligent robot charging pile |
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| CN106329646A (en) * | 2016-09-14 | 2017-01-11 | 深圳市普渡科技有限公司 | Mobile robot anti-short circuit automatic charging structure |
| CN106329646B (en) * | 2016-09-14 | 2019-02-26 | 深圳市普渡科技有限公司 | A kind of anti-short-circuit automatic charging structure of mobile robot |
| CN106356944A (en) * | 2016-10-14 | 2017-01-25 | 四川超影科技有限公司 | Automatic charging laser aligning system of patrol check robot and aligning method |
| CN106737868A (en) * | 2017-01-16 | 2017-05-31 | 深圳汇创联合自动化控制有限公司 | A kind of mobile-robot system |
| CN106980320A (en) * | 2017-05-18 | 2017-07-25 | 上海思岚科技有限公司 | Robot charging method and device |
| CN106980320B (en) * | 2017-05-18 | 2020-06-19 | 上海思岚科技有限公司 | Robot charging method and device |
| CN109904891A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot charge control apparatus |
| CN110298976A (en) * | 2018-09-06 | 2019-10-01 | 深圳来电科技有限公司 | The charging module of mobile power source leased equipment and its data transmission method between mobile power source |
| CN109171570A (en) * | 2018-09-10 | 2019-01-11 | 广东宏穗晶科技服务有限公司 | One kind is swept the floor the integrated robot that mops floor |
| CN109171570B (en) * | 2018-09-10 | 2020-10-23 | 浙江龙力科技股份有限公司 | Sweeping and mopping integrated robot |
| CN111614146A (en) * | 2019-02-22 | 2020-09-01 | 江苏美的清洁电器股份有限公司 | Charging device and method |
| CN110115547A (en) * | 2019-04-24 | 2019-08-13 | 添可智能科技有限公司 | Cradle and dust catcher charging system for dust catcher |
| CN110115547B (en) * | 2019-04-24 | 2021-08-20 | 添可智能科技有限公司 | Charging seat for dust collector and dust collector charging system |
| WO2020238309A1 (en) * | 2019-05-24 | 2020-12-03 | 北京海益同展信息科技有限公司 | Machine room inspection control method and apparatus, device, and storage medium |
| CN110783975A (en) * | 2019-09-17 | 2020-02-11 | 广西电网有限责任公司柳州供电局 | Automatic charging system suitable for multi-model robots and control method |
| CN110783975B (en) * | 2019-09-17 | 2023-05-30 | 广西电网有限责任公司柳州供电局 | Automatic charging system suitable for multiple types of robots and control method |
| CN110768331A (en) * | 2019-10-24 | 2020-02-07 | 浙江大华机器人技术有限公司 | Robot charging method and related equipment |
| CN110768331B (en) * | 2019-10-24 | 2022-02-15 | 浙江华睿科技股份有限公司 | Robot charging method and related equipment |
| CN112186850A (en) * | 2020-09-28 | 2021-01-05 | 达闼机器人有限公司 | Intelligent robot charging pile |
| WO2022063139A1 (en) * | 2020-09-28 | 2022-03-31 | 达闼机器人有限公司 | Intelligent charging station for robot |
| CN113098155A (en) * | 2021-04-12 | 2021-07-09 | 重庆文理学院 | Wireless charging method and device for robot |
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