CN107256023A - A kind of mobile charging seat, sweeping robot and its charging method - Google Patents
A kind of mobile charging seat, sweeping robot and its charging method Download PDFInfo
- Publication number
- CN107256023A CN107256023A CN201710627265.8A CN201710627265A CN107256023A CN 107256023 A CN107256023 A CN 107256023A CN 201710627265 A CN201710627265 A CN 201710627265A CN 107256023 A CN107256023 A CN 107256023A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- pedestal
- charging
- detector
- controller
- 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.)
- Granted
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 56
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 238000010521 absorption reaction Methods 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000003032 molecular docking Methods 0.000 claims description 5
- 230000007812 deficiency Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- 241001417527 Pempheridae Species 0.000 claims 1
- 230000005284 excitation Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a kind of mobile charging seat, sweeping robot and its charging method, it is related to sweeping robot technical field；Mobile charging seat includes：Pedestal and the detector and warning device being arranged on the pedestal；The detector is used to detect the recurrence charge tunnel for receiving sweeping robot；The warning device is connected with the detector, for when it is described recurrence charge tunnel in have hinder sweeping robot advance docked with pedestal charge barrier when alert.A kind of mobile charging seat that the present invention is provided, it is simple in construction, degree of intelligence is higher, user can be pointed out to clear up the recurrence charge tunnel of sweeping robot at any time, when there are barrier influence sweeping robot recurrence in the passage area, warning device sends out warning message, points out user to clear up the barrier in time, in order to avoid influence charging normal and using for sweeping robot.
Description
Technical field
The present invention relates to sweeping robot technical field, more particularly, to a kind of mobile charging seat, sweeping robot and
Its charging method.
Background technology
At present, as the continuous progress of science and technology, intelligent robot gradually enter into huge numbers of families, in the market is also occurred in that
Many intelligent robots handle daily household affairs instead of people, wherein, sweeping robot is used as one kind of intelligent robot, Neng Goubang
Help others clean the room, substantially increase the life comfortableness and convenience of people, be widely used.
Sweeping robot includes the robot for being responsible for cleaning works, and the cradle matched with robot, and robot leads to
Overcharge seat carries out charging operations.At present, cradle is typically placed in ground, and is connected with ground or wall, robot
Return and charged at cradle when electricity is relatively low.
But, present inventor is had found, existing robot electric quantity is reduced when needing charging, and robot often can not be into
Work(is returned and connected with cradle.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of mobile charging seat, sweeping robot and its charging method
When having the reduction of robot electric quantity present in technology to need charging, robot often can not successfully return to the skill connected with cradle
Art problem.
In order to solve the above technical problems, a kind of mobile charging seat that the present invention is provided, including：Pedestal；
And it is arranged on detector and warning device on the pedestal；
The detector is used to detect the recurrence charge tunnel for receiving sweeping robot；
The warning device is connected with the detector, for sweeping the floor machine when having obstruction in the recurrence charge tunnel
The alert when barrier of charging is docked in people's traveling with pedestal.
The present invention is simple in construction, by setting detector and warning device, and user's cleaning sweeping robot is pointed out at any time
Charge tunnel is returned, when there are barrier influence sweeping robot recurrence in the passage area, warning device is sent out
Warning message, points out user to clear up the barrier in time, in order to avoid influence charging normal and using for sweeping robot.
Further, the detector is detective devices using infrared ray, and it includes：RF transmitter, infrared receiver
And signal processor；The signal output part of the signal processor connects through infrared transmitter and the RF transmitter
Connect；The signal input part of the signal processor is connected through infrared radiation receiving circuit with the infrared receiver, the signal
The feedback signal output of processor is connected with the warning device.
Further, the detector is supersonic sounding device, and it includes：Ultrasonic transmitter, ultrasonic receiver
And signal processor；The signal output part of the signal processor connects through ultrasonic wave transmitting circuit and the ultrasonic transmitter
Connect；The signal input part of the signal processor is connected through ultrasonic wave receiving circuit with the ultrasonic receiver, the signal
The feedback signal output of processor is connected with the warning device.
Further, the warning device is the warning lamp, buzzer or loudspeaker being arranged on the pedestal.
Further, controller, turning and running mechanism are additionally provided with the pedestal；The controller respectively with described turn
Connected to walking mechanism and detector, for the direction that the pedestal is adjusted by the turning and running mechanism or mobile institute
Pedestal is stated, the barrier of charging is docked with pedestal until not having in the recurrence charge tunnel and hindering sweeping robot to advance.
Wherein, the feedback signal output of the detector is connected with the controller, the warning device and controller
Connection.
While cradle sends out warning message, cradle itself of the invention can also attempt self-elimination charging
Problem on obstacle, controller by controlling turning and running mechanism, adjust cradle direction or, cradle is moved to one and opened
Wealthyly, until detector shows that the recurrence charge tunnel is unblocked to controller feedack, i.e., there is not obstruction and sweeps
Floor-washing robot, which is advanced, docks the barrier of charging with pedestal.
Further, the walking mechanism includes：Road wheel, deflecting roller, movable motor and steering motor；The walking electricity
Machine is connected with the road wheel, for driving the pedestal to move forward and backward by driving the road wheel to rotate；
The deflecting roller can be rotatably arranged on the pedestal along vertical axis；
The steering motor is connected with the deflecting roller, for driving deflecting roller to be rotated around vertical axis.
Wherein, the movable motor and steering motor are connected with the controller respectively.
Controller moves the pedestal, or adjustment pedestal direction by controlling movable motor and steering motor.
Further, it is provided with the pedestal for the charging terminal with sweeping robot charging connection.
Further, electromagnet absorption end is provided with the pedestal, when sweeping robot docks charging with the pedestal,
It is provided with sweeping robot and adsorbs the butt end that end absorption is connected with the electromagnet.
Wherein, electromagnet absorption end includes and magnet exciting coil, and magnet exciting coil is connected by the controller with power supply, described
Controller controls the break-make between magnet exciting coil and power supply.
And the butt end on sweeping robot is preferably made up of iron-bearing materials such as stainless steels, after electromagnet absorption end is powered
Sweeping robot absorption can be connected on pedestal.
Further, it is provided with the path memory cell being connected with the controller on the pedestal；Path memory cell
For store the pedestal from home position move finally docked with sweeping robot during mobile route.
By setting path memory cell, (a kind of path memory cell includes the present invention：The storage being connected with controller is set
Standby, d GPS locating module and microprocessor) recordable cradle motion track, it is mobile meet sweeping robot after, can be with
End is adsorbed by electromagnet and sweeping robot is towed back to the charge position artificially initially set up in butt end, so as to avoid robot
Stop position it is improper, influence user pass through.
The invention also discloses a kind of sweeping robot with above-mentioned mobile charging seat.The sweeping robot degree of intelligence
It is higher, it is possible to prevente effectively from electric power is not enough, it is impossible to return charging, the problem of influence is normally used.
Finally, the invention also discloses a kind of charging method of sweeping robot, it comprises the following steps：
Step one：Cradle is connected with sweeping robot wireless signal；
Step 2：When sweeping robot electric power deficiency can not normally return cradle position and be charged, sweeping robot
Sent an SOS to cradle；
Step 3：Cradle is moved from trend sweeping robot direction, is touched after sweeping robot, and sweeping robot turns
It is dynamic, both charging terminal docking；Cradle is connected sweeping robot absorption by electromagnetic absorption device；
Step 4：Cradle carries the charge position progress long-time charging that cradle revert to setting.
Using above-mentioned technical proposal, the present invention has the advantages that：
A kind of mobile charging seat that the present invention is provided, simple in construction, degree of intelligence is higher, at any time user can be pointed out clear
The recurrence charge tunnel of sweeping robot is managed, when there are barrier influence sweeping robot recurrence in the passage area, report
Alarm device sends out warning message, points out user to clear up the barrier in time, in order to avoid influence charging normal for sweeping robot
With use.
Brief description of the drawings
Below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the front view for the mobile charging seat that the embodiment of the present invention 1 is provided；
Fig. 2 be the embodiment of the present invention 1 in detective devices using infrared ray structural representation；
Fig. 3 be the embodiment of the present invention 1 in supersonic sounding device structural representation；
Fig. 4 is the side view for the mobile charging seat that the embodiment of the present invention 1 is provided；
Fig. 5 is the structural representation for the mobile charging seat being configured with the embodiment of the present invention 1 during magnet exciting coil.
Reference：
10- pedestals；11- road wheels；12- deflecting rollers；13- charging terminals；14- electromagnet adsorbs end；20- detectors；21-
Transmitter；22- receivers；30- warning devices.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
With reference to specific embodiment the present invention will be further explained explanation.
Embodiment 1
As shown in figure 1, a kind of mobile charging seat that the present embodiment is provided, including：Pedestal 10；
And it is arranged on detector 20 and warning device 30 on pedestal 10；
Detector 20 is used to detect the recurrence charge tunnel for receiving sweeping robot；
Warning device 30 is connected with detector 20, for when return charge tunnel in have obstruction sweeping robot advance with
The alert during barrier of the docking charging of pedestal 10.
The present invention is simple in construction, by setting detector 20 and warning device 30, points out user to clear up machine of sweeping the floor at any time
The recurrence charge tunnel of people, when there are in the passage area barrier influence sweeping robot return when, warning device 30 to
Outer alert, points out user to clear up the barrier in time, in order to avoid influence charging normal and using for sweeping robot.
As shown in Fig. 2 detector 20 is detective devices using infrared ray, it includes：RF transmitter, infrared receiver with
And signal processor；The signal output part of signal processor is connected through infrared transmitter with RF transmitter；At signal
The signal input part of reason device is connected through infrared radiation receiving circuit with infrared receiver, the feedback signal output of signal processor
It is connected with warning device 30.
Or, as shown in figure 3, detector 20 is supersonic sounding device, it includes：Ultrasonic transmitter, ultrasonic wave connect
Receive device and signal processor；The signal output part of signal processor is connected through ultrasonic wave transmitting circuit with ultrasonic transmitter；
The signal input part of signal processor is connected through ultrasonic wave receiving circuit with ultrasonic receiver, the feedback signal of signal processor
Output end is connected with warning device 30.
As shown in figure 4, transmitter 21 and receiver 22 are separately positioned on the both sides on the top of pedestal 10.Wherein, detector
20 feedback signal output is connected with controller, and warning device 30 is connected with controller.
And warning device 30 is a kind of or several in the warning lamp on pedestal 10, buzzer or loudspeaker to be arranged on
Kind.
Technical solution of the present invention is expanded on further exemplified by following detective devices using infrared ray.
Turning and running mechanism is additionally provided with pedestal 10；Controller is connected with turning and running mechanism and detector 20 respectively,
Direction or mobile pedestal 10 for adjusting pedestal 10 by turning and running mechanism, do not have until returning in charge tunnel
Hinder sweeping robot to advance and the barrier of charging is docked with pedestal 10.
While cradle sends out warning message, cradle itself of the invention can also attempt self-elimination charging
Problem on obstacle, controller by controlling turning and running mechanism, adjust cradle direction or, cradle is moved to one and opened
Wealthyly, until detector 20 is unblocked to controller feedack display recurrence charge tunnel, i.e., there is not obstruction and sweeps the floor
Robot, which advances, docks the barrier of charging with pedestal 10.
Shown in reference picture 1 and 4, walking mechanism includes：Road wheel 11, deflecting roller 12, movable motor (not shown) and steering
Motor (not shown)；Movable motor is connected with road wheel 11, for by driving road wheel 11 to rotate and before and after driving pedestal 10
It is mobile；
Deflecting roller 12 can be rotatably arranged on pedestal 10 along vertical axis；
Steering motor is connected with deflecting roller 12, for driving deflecting roller 12 to be rotated around vertical axis.
As shown in figure 5, movable motor and steering motor are connected with controller respectively.
Controller moves pedestal 10, or the adjustment direction of pedestal 10 by controlling movable motor and steering motor.Walking
Mechanism will not be repeated here for prior art.
It is provided with pedestal 10 for the charging terminal 13 with sweeping robot charging connection.
As shown in figure 4, electromagnet absorption end 14 is provided with pedestal 10, when sweeping robot docks charging with pedestal 10,
It is provided with sweeping robot and adsorbs the butt end that end absorption is connected with electromagnet.
Wherein, electromagnet absorption end 14 includes and magnet exciting coil, and magnet exciting coil is connected by controller with power supply, controller
Control the break-make between magnet exciting coil and power supply.
And the butt end on sweeping robot is preferably made up of iron-bearing materials such as stainless steels, electromagnet absorption end 14 is powered
After can by sweeping robot absorption be connected on pedestal 10.
The path memory cell being connected with controller is provided with pedestal 10；Path memory cell be used for store pedestal 10 from
Move the mobile route during finally being docked with sweeping robot in home position.
By setting path memory cell, (a kind of path memory cell includes the present invention：The storage being connected with controller is set
Standby, d GPS locating module and microprocessor) recordable cradle motion track, it is mobile meet sweeping robot after, can be with
End 14 is adsorbed by electromagnet and sweeping robot is towed back to the charge position artificially initially set up in butt end, so as to avoid machine
The stop position of people is improper, and influence user passes through.
The invention also discloses a kind of sweeping robot with above-mentioned mobile charging seat.The sweeping robot degree of intelligence
It is higher, it is possible to prevente effectively from electric power is not enough, it is impossible to return charging, the problem of influence is normally used.
Embodiment 2
Present embodiment discloses a kind of charging method of sweeping robot, it comprises the following steps：
Step one：Cradle is connected with sweeping robot wireless signal；
Step 2：When sweeping robot electric power deficiency can not normally return cradle position and be charged, sweeping robot
Sent an SOS to cradle；
Step 3：Cradle is moved from trend sweeping robot direction, is touched after sweeping robot, and sweeping robot turns
It is dynamic, both charging terminal docking；Cradle is connected sweeping robot absorption by electromagnetic absorption device；
Step 4：Cradle carries the charge position progress long-time charging that cradle revert to setting.
Using above-mentioned technical proposal, the present invention has the advantages that：
A kind of mobile charging seat that the present invention is provided, simple in construction, degree of intelligence is higher, at any time user can be pointed out clear
The recurrence charge tunnel of sweeping robot is managed, when there are barrier influence sweeping robot recurrence in the passage area, report
Alarm device 30 sends out warning message, points out user to clear up the barrier in time, in case the normal of influence sweeping robot fills
Electricity and use.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of mobile charging seat, it is characterised in that including：Pedestal；
And it is arranged on detector and warning device on the pedestal；
The detector is used to detect the recurrence charge tunnel for receiving sweeping robot；
The warning device is connected with the detector, for having obstruction sweeping robot row in charge tunnel when described return
Alert when entering the barrier that charging is docked with pedestal.
2. mobile charging seat according to claim 1, it is characterised in that the detector is detective devices using infrared ray,
It includes：RF transmitter, infrared receiver and signal processor；The signal output part of the signal processor is through red
Outside line radiating circuit is connected with the RF transmitter；The signal input part of the signal processor is through infrared radiation receiving circuit
It is connected with the infrared receiver, the feedback signal output of the signal processor is connected with the warning device；
Or, the detector is supersonic sounding device, and it includes：Ultrasonic transmitter, ultrasonic receiver and signal
Processor；The signal output part of the signal processor is connected through ultrasonic wave transmitting circuit with the ultrasonic transmitter；It is described
The signal input part of signal processor is connected through ultrasonic wave receiving circuit with the ultrasonic receiver, the signal processor
Feedback signal output is connected with the warning device.
3. mobile charging seat according to claim 1, it is characterised in that controller is additionally provided with the pedestal, is turned
To walking mechanism；The controller is connected with the turning and running mechanism and detector respectively, for being walked by described turn to
Mechanism adjusts the direction or the mobile pedestal of the pedestal, is swept the floor until not having obstruction in the recurrence charge tunnel
Robot, which advances, docks the barrier of charging with pedestal；
Wherein, the feedback signal output of the detector is connected with the controller, and the warning device is connected with controller.
4. mobile charging seat according to claim 3, it is characterised in that the walking mechanism includes：Road wheel, steering
Wheel, movable motor and steering motor；The movable motor is connected with the road wheel, for by driving the road wheel to rotate
And drive the pedestal to move forward and backward；
The deflecting roller can be rotatably arranged on the pedestal along vertical axis；
The steering motor is connected with the deflecting roller, for driving deflecting roller to be rotated around vertical axis；
The movable motor and steering motor are connected with the controller respectively.
5. mobile charging seat according to claim 1, it is characterised in that being provided with the pedestal is used for and sweeper
The charging terminal of device people's charging connection.
6. mobile charging seat according to claim 3, it is characterised in that electromagnet absorption is provided with the pedestal
End, when sweeping robot docks charging with the pedestal, is provided with sweeping robot and connects with electromagnet absorption end absorption
The butt end connect.
7. mobile charging seat according to claim 6, it is characterised in that the electromagnet absorption end includes and excitation wire
Circle, magnet exciting coil is connected by the controller with power supply, the break-make between the controller control magnet exciting coil and power supply.
8. mobile charging seat according to claim 7, it is characterised in that be provided with the pedestal and the controller
The path memory cell of connection；Path memory cell is used to storing the pedestal to be moved finally and sweeping robot from home position
Mobile route during docking.
9. a kind of sweeping robot of the mobile charging seat with described in claim any one of 1-8.
10. a kind of charging method of sweeping robot, it is characterised in that it comprises the following steps：
Step one：Cradle is connected with sweeping robot wireless signal；
Step 2：When sweeping robot electric power deficiency can not normally return cradle position and be charged, sweeping robot is to filling
Electric seat sends an SOS；
Step 3：Cradle is moved from trend sweeping robot direction, is touched after sweeping robot, and sweeping robot is rotated, and two
The charging terminal docking of person；Cradle is connected sweeping robot absorption by electromagnetic absorption device；
Step 4：Cradle carries the charge position progress long-time charging that cradle revert to setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710627265.8A CN107256023B (en) | 2017-07-28 | 2017-07-28 | Charging method of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710627265.8A CN107256023B (en) | 2017-07-28 | 2017-07-28 | Charging method of sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107256023A true CN107256023A (en) | 2017-10-17 |
| CN107256023B CN107256023B (en) | 2023-09-12 |
Family
ID=60026214
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710627265.8A Active CN107256023B (en) | 2017-07-28 | 2017-07-28 | Charging method of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107256023B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109066836A (en) * | 2018-07-16 | 2018-12-21 | 深圳市沃特沃德股份有限公司 | Charging equipment |
| CN109976323A (en) * | 2017-12-27 | 2019-07-05 | 富泰华工业（深圳）有限公司 | Mobile device |
| CN110794840A (en) * | 2019-10-16 | 2020-02-14 | 上海快仓智能科技有限公司 | Control method of automatic guided vehicle, intelligent charging system and intelligent warehouse |
| CN110871819A (en) * | 2018-08-31 | 2020-03-10 | 宁波诠航机械科技有限公司 | Early warning patrol equipment |
| CN112713628A (en) * | 2020-12-24 | 2021-04-27 | 珠海格力电器股份有限公司 | Charging pile for autonomous charging machine, charging control method of charging pile and storage medium |
| CN114601373A (en) * | 2021-10-18 | 2022-06-10 | 北京石头世纪科技股份有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| CN116156681A (en) * | 2022-12-20 | 2023-05-23 | 海尔机器人科技(青岛)有限公司 | Base station and base station movement control method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101221241A (en) * | 2007-01-12 | 2008-07-16 | 凌阳科技股份有限公司 | Television view warning system and method |
| JP2009015611A (en) * | 2007-07-05 | 2009-01-22 | Figla Co Ltd | Charging system, charging unit, and system for automatically charging moving robot |
| CN101502406A (en) * | 2009-02-20 | 2009-08-12 | 泰怡凯电器(苏州)有限公司 | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand |
| CN104821631A (en) * | 2015-05-22 | 2015-08-05 | 上海斐讯数据通信技术有限公司 | User equipment, power supply equipment, charging base and charging system formed thereby |
| CN105406556A (en) * | 2015-12-29 | 2016-03-16 | Tcl集团股份有限公司 | Auxiliary equipment charging system and method |
| CN106094832A (en) * | 2016-07-19 | 2016-11-09 | Tcl集团股份有限公司 | A kind of robot and carry out the method for autonomous wireless charging, system |
| CN106406316A (en) * | 2016-10-26 | 2017-02-15 | 山东大学 | Autonomous charging system and charging method thereof for intelligent home accompanying robot |
| CN106573372A (en) * | 2015-03-31 | 2017-04-19 | 广州艾若博机器人科技有限公司 | Charger, and map-constructing-based charger finding method, device and system |
| CN206946316U (en) * | 2017-07-28 | 2018-01-30 | 小狗电器互联网科技（北京）股份有限公司 | A kind of mobile charging seat and sweeping robot |
-
2017
- 2017-07-28 CN CN201710627265.8A patent/CN107256023B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101221241A (en) * | 2007-01-12 | 2008-07-16 | 凌阳科技股份有限公司 | Television view warning system and method |
| JP2009015611A (en) * | 2007-07-05 | 2009-01-22 | Figla Co Ltd | Charging system, charging unit, and system for automatically charging moving robot |
| CN101502406A (en) * | 2009-02-20 | 2009-08-12 | 泰怡凯电器(苏州)有限公司 | Floor processing system as well as rapid butt-joint method for floor treating device and charging stand |
| CN106573372A (en) * | 2015-03-31 | 2017-04-19 | 广州艾若博机器人科技有限公司 | Charger, and map-constructing-based charger finding method, device and system |
| CN104821631A (en) * | 2015-05-22 | 2015-08-05 | 上海斐讯数据通信技术有限公司 | User equipment, power supply equipment, charging base and charging system formed thereby |
| CN105406556A (en) * | 2015-12-29 | 2016-03-16 | Tcl集团股份有限公司 | Auxiliary equipment charging system and method |
| CN106094832A (en) * | 2016-07-19 | 2016-11-09 | Tcl集团股份有限公司 | A kind of robot and carry out the method for autonomous wireless charging, system |
| CN106406316A (en) * | 2016-10-26 | 2017-02-15 | 山东大学 | Autonomous charging system and charging method thereof for intelligent home accompanying robot |
| CN206946316U (en) * | 2017-07-28 | 2018-01-30 | 小狗电器互联网科技（北京）股份有限公司 | A kind of mobile charging seat and sweeping robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109976323A (en) * | 2017-12-27 | 2019-07-05 | 富泰华工业（深圳）有限公司 | Mobile device |
| CN109066836A (en) * | 2018-07-16 | 2018-12-21 | 深圳市沃特沃德股份有限公司 | Charging equipment |
| CN109066836B (en) * | 2018-07-16 | 2021-09-21 | 深圳市无限动力发展有限公司 | Charging device |
| CN110871819A (en) * | 2018-08-31 | 2020-03-10 | 宁波诠航机械科技有限公司 | Early warning patrol equipment |
| CN110871819B (en) * | 2018-08-31 | 2023-11-14 | 诠航科技有限公司 | Early warning patrol equipment |
| CN110794840A (en) * | 2019-10-16 | 2020-02-14 | 上海快仓智能科技有限公司 | Control method of automatic guided vehicle, intelligent charging system and intelligent warehouse |
| CN112713628A (en) * | 2020-12-24 | 2021-04-27 | 珠海格力电器股份有限公司 | Charging pile for autonomous charging machine, charging control method of charging pile and storage medium |
| CN114601373A (en) * | 2021-10-18 | 2022-06-10 | 北京石头世纪科技股份有限公司 | Control method and device for cleaning robot, cleaning robot and storage medium |
| CN116156681A (en) * | 2022-12-20 | 2023-05-23 | 海尔机器人科技(青岛)有限公司 | Base station and base station movement control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107256023B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107256023A (en) | A kind of mobile charging seat, sweeping robot and its charging method | |
| CN105119338B (en) | Mobile robot charge control system and method | |
| US10555456B2 (en) | Auto mowing system | |
| JP3006986B2 (en) | Robot vacuum cleaner | |
| CN106264358B (en) | Intelligent recharging method of intelligent recharging system | |
| CN106406316B (en) | Autonomous charging system of household intelligent accompanying robot and charging method thereof | |
| CN103891464B (en) | Automatically mow system | |
| CN104416568B (en) | The control method of automatic working system and automatic running device | |
| EP3610344B1 (en) | Mobile power supply device for outdoor power supply | |
| CN205081492U (en) | Mobile robot control system that charges | |
| CN106444736B (en) | Automatic return system and control method | |
| US9420923B2 (en) | Charger system for an automatic cleaner | |
| CN102823576B (en) | Intelligent continuous mouse trap | |
| WO2012146195A1 (en) | Automatic working system, automatic walking device and steering method thereof | |
| CN206946316U (en) | A kind of mobile charging seat and sweeping robot | |
| CN106078760A (en) | A kind of household service robot with path planning function | |
| KR20100123581A (en) | Mobile robot system and control method thereof | |
| CN217949659U (en) | Robot | |
| CN109895642A (en) | A kind of electric car wireless charging positioning system and method | |
| JP2007156884A (en) | Self-propelled cleaner system | |
| CN209683469U (en) | A kind of electric car wireless charging positioning system | |
| CN107854059A (en) | One kind fire extinguishing monitoring sweeping robot | |
| WO2021047068A1 (en) | Automatic working system and control method therefor | |
| CN113944131A (en) | Automatic water adding system of road sweeper, road sweeper and water adding method | |
| US20230234462A1 (en) | Charging system with service vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room D-401, Floor 4, Building 1, Yard 3, Xiadian, Chaoyang District, Beijing, 100026 Patentee after: Beijing dog vacuum cleaner Group Co.,Ltd. Address before: 100101 6, 1 building, 169 Beiyuan Road, Chaoyang District, Beijing. Patentee before: PUPPY ELECTRONIC APPLIANCES INTERNET TECHNOLOGY (BEIJING) Co.,Ltd. |