CN107402574B - Autonomous charging system and method for robot - Google Patents
Autonomous charging system and method for robot Download PDFInfo
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- CN107402574B CN107402574B CN201710724421.2A CN201710724421A CN107402574B CN 107402574 B CN107402574 B CN 107402574B CN 201710724421 A CN201710724421 A CN 201710724421A CN 107402574 B CN107402574 B CN 107402574B
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- 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
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- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- 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
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- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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Abstract
The invention relates to an autonomous charging system and an autonomous charging method for a robot. The robot autonomous charging system comprises a robot main body and a charging pile, wherein the robot main body comprises a control main board, a motor driving module, a travelling mechanism, an electric quantity detection module, a charging module, a SLAM navigation module, a red laser receiving module and a wireless transceiver module, and the control main board comprises a microcontroller, an obstacle detection module and a path planning module; the microcontroller of the control main board is respectively connected with the motor driving module, the electric quantity detection module, the obstacle detection module, the path planning module, the red laser receiving module and the wireless receiving and transmitting module; the travel mechanism is connected with the motor driving module, the charging module is connected with the electric quantity detection module, and the SLAM navigation module is respectively connected with the obstacle detection module and the path planning module. The autonomous charging system of the robot has the advantages of high positioning precision, small influence of vibration, simple structure and high safety coefficient.
Description
Technical Field
The invention relates to the field of robot charging, and particularly discloses an autonomous robot charging system and method.
Background
Nowadays, autonomous mobile robots are rapidly developed, so that functions of the autonomous mobile robots are continuously increased, and application ranges are continuously increased. However, mobile robots generally use an onboard battery as a power source, and generally only provide a running time of several hours, and how to realize long-time and efficient power supply is a problem that must be faced and solved by the robot industrialization. When the robot is insufficient in electric quantity, the robot can automatically return to the charging station to be charged is a practical function of the existing robot, so that the autonomous charging technology is said to be a key for solving the autonomous problem of the robot.
Outside the country, cassini et al devised a method of guiding a robot and a charging station to perform autonomous charging by means of a beam of light, but the method was only suitable for environments where the influence of indoor light intensity is small. The irobot in korea realizes autonomous charging by image recognition, but this requires a high-precision video acquisition and recognition system, long recognition time, and high running cost. In China, the university of Harbin industry developed autonomous charging technology indoors using "Pioneer 3 DX". The robot is a wheeled robot, uses a lead-acid storage battery as an energy source, is provided with a color camera and a odometer and a laser sensor of an omnibearing cradle head, realizes an autonomous charging function by using the equipment, but does not carry out charging device design, has small docking tolerance and is easy to cause charging failure.
In summary, the autonomous charging technology of the present robots has shortcomings, such as insufficient fault tolerance and error correction capability, unreliable guiding device, insufficient docking tolerance of charging station structure, no universal adaptability to environment, and serious consideration and solving of these problems.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an autonomous robot charging system and an autonomous robot charging method which can realize the rapid autonomous docking of a robot and a charging pile, and are accurate in positioning, good in stability and high in efficiency.
The invention is realized in the following way: an autonomous charging system for a robot, characterized by: the robot comprises a robot main body and a charging pile, wherein the robot main body comprises a control main board, a motor driving module, a traveling mechanism, an electric quantity detection module, a charging module, an SLAM navigation module, a red laser receiving module and a wireless receiving and transmitting module, and the control main board comprises a microcontroller, an obstacle detection module and a path planning module; the microcontroller of the control main board is respectively connected with the motor driving module, the electric quantity detection module, the obstacle detection module, the path planning module, the red laser receiving module and the wireless receiving and transmitting module; the advancing mechanism is connected with the motor driving module, the charging module is connected with the electric quantity detection module, the SLAM navigation module is respectively connected with the obstacle detection module and the path planning module, and the charging module is connected with a charging port;
the charging pile includes: the charging pile comprises a charging pile main controller, a charging control module, an AC-DC conversion circuit, a red laser emitter and a power supply manager; the charging pile main controller is respectively connected with the charging control module, the AC-DC conversion circuit, the red laser emitter and the power manager, and the AC-DC conversion circuit is connected with the charging control module;
the microcontroller detects the electric quantity of the charging module in real time through the electric quantity detection module, and the microcontroller acquires the data of the SLAM navigation module through the path planning module and the obstacle detection module for positioning; when the electric quantity detection module detects that the electric quantity is lower than a set value, the microcontroller controls the red laser receiving module to enter a signal receiving state; after the red laser receiving module enters a signal receiving state, receiving a laser signal of a red laser emitter from the charging pile, and controlling a traveling mechanism to adjust the position between the robot main body and the charging pile by the microcontroller according to the position of the laser signal received by the red laser receiving module through the motor driving module so as to enable the charging module to be connected with the charging control module through a charging port; the AC-DC conversion circuit converts power frequency alternating current into direct current; the power manager is used for detecting the load condition of the charging pile.
The red laser receiver comprises 10-256 red laser receiving tubes which are horizontally arranged, and preferably 32-64 red laser receiving tubes; the red laser transmitter transmits laser beams matched with the single red laser receiving tube, and the microcontroller judges the relative position between the robot main body and the charging pile by judging the condition of receiving the laser beams of the red laser receiving tube.
The control main board also comprises an abnormality detection module connected with the microcontroller, wherein the abnormality detection module monitors environment abnormality information in real time and sends the environment abnormality information to the microcontroller.
The obstacle detection module detects a distance between an external obstacle and the robot body and transmits a distance signal to the microcontroller.
The advancing mechanism comprises a driving wheel mechanism and a universal wheel mechanism which are respectively connected with the motor driving module.
A charging method of the autonomous charging system of a robot as described above, characterized by: the method comprises the following steps:
1) Searching a charging pile mode: the SLAM navigation module records the position and the direction of the robot main body in real time, the electric quantity detection module monitors the power supply voltage of the robot main body, and when the power supply voltage is lower than a set value, the microcontroller controls the robot main body to return to the position of the charging pile along the nearest path through the motor driving module, and the mode of searching the charging pile is entered;
2) Positioning the relative position of the robot main body and the charging pile: transmitting red laser through a red laser transmitter of the charging pile, and receiving a red laser signal by a red laser receiving module to position the relative position range of the robot main body relative to the charging pile;
3) Charging and docking: the method comprises the steps of comparing red laser signals received by a red laser receiving module from a red laser emitter at any time, and adjusting the position of a robot main body until the robot main body reaches a set position range, so that a charging module is connected with a charging control module of a charging pile through a charging port;
4) If the charging butt joint is finished, the power manager of the charging pile detects the increase of the circuit load and sends a circuit load increase signal to the charging pile main controller, and the charging pile main controller controls the charging control module to work and enters a charging mode; if the docking fails, returning to the step 3 to recharge the docking;
5) When the power supply detection module of the robot main body detects that the power supply voltage is greater than or equal to a set value, a signal that the power supply voltage is greater than or equal to the set value is sent to the microcontroller, the microcontroller controls the advancing mechanism through the motor driving module to enable the robot main body to leave the charging pile, the charging pile enters a no-load state at the moment, when the power supply manager detects that the charging pile circuit enters the no-load state, the no-load signal is sent to the charging pile main controller, and the charging pile main controller controls the charging control module to stop charging.
The step of adjusting the position of the robot main body in the step 3 is as follows: 3.1 Setting that the robot main body is positioned on the center of the butt joint position of the charging pile when the center of the red laser receiving module receives the red laser emitted by the red laser emitter;
3.2 When the position of the robot main body is adjusted and the robot main body reaches the set position range, the microcontroller sends an operation stopping instruction to the travelling mechanism through the motor driving module;
3.3 The microcontroller controls the advancing mechanism through the motor driving module to enable the robot main body to advance for a distance L;
3.4 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned at the center of the butt joint position, if so, directly entering the step 3.7; if not, entering a step 3.4;
3.5 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned on the right side of the center of the butt joint position, if so, turning left by a certain angle and advancing by a certain distance L, and then entering step 3.7; otherwise, enter step 3.6;
3.6 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned at the left side of the center of the butt joint position, if so, turning to the right by a certain angle and advancing by a certain distance L, and then entering step 3.7;
3.7 After further advancing a distance L, step 4 is entered.
The beneficial effects of the invention are as follows: when the robot main body needs to be charged, the robot main body is guided into the receiving and transmitting range of the red laser receiving module and the red laser transmitter through the SLAM navigation module, the conversion from a long-range docking area to a short-range docking area is realized, in the short-range docking area, the SLAM navigation mode of the SLAM navigation module is switched to a red laser navigation mode, the position of the robot is gradually changed by utilizing the receiving position of red laser between the red laser receiving module and the red laser transmitter, the robot main body is positioned right in front of a charging pile, and finally the charging docking of the robot main body and the charging pile is realized, so that the high-precision positioning between the robot main body and the charging pile is realized.
Drawings
Fig. 1 is a block schematic diagram of the present invention.
Detailed Description
According to fig. 1, the robot autonomous charging system comprises a robot main body and a charging pile, wherein the robot main body comprises a control main board, a motor driving module, a traveling mechanism, an electric quantity detection module, a charging module, an SLAM navigation module, a red laser receiving module and a wireless transceiver module, and the control main board comprises a microcontroller, an obstacle detection membrane block, a path planning module and an abnormality detection module; the microcontroller of the control main board is respectively connected with the motor driving module, the electric quantity detection module, the obstacle detection module, the path planning module, the abnormality detection module, the red laser receiving module and the wireless receiving and transmitting module; the advancing mechanism is connected with the motor driving module, the charging module is connected with the electric quantity detection module, and the SLAM navigation module is respectively connected with the obstacle detection membrane block and the path planning module;
the charging pile includes: the charging pile comprises a charging pile main controller, a charging control module, an AC-DC conversion circuit, a red laser emitter and a power supply manager; the charging pile main controller is respectively connected with the charging control module, the AC-DC conversion circuit, the red laser emitter and the power manager, and the AC-DC conversion circuit is connected with the charging control module.
The microcontroller detects the electric quantity of the charging module in real time through the electric quantity detection module, and the microcontroller acquires the data of the SLAM navigation module through the path planning module and the obstacle detection module for positioning; when the electric quantity detection module detects that the electric quantity is lower than a set value, the microcontroller controls the red laser receiving module to enter a signal receiving state; after the red laser receiving module enters a signal receiving state, receiving a laser signal of a red laser emitter from the charging pile, and controlling a traveling mechanism to adjust the position between the robot main body and the charging pile by the microcontroller according to the position of the laser signal received by the red laser receiving module through the motor driving module so as to enable the charging module to be connected with the charging control module through a charging port; the AC-DC conversion circuit converts power frequency alternating current into direct current.
The red laser receivers comprise 10-256 red laser receiving tubes which are horizontally arranged, preferably 32-64 red laser receiving tubes; the red laser transmitter transmits laser beams matched with the single red laser receiving tube, and the microcontroller judges the relative position between the robot main body and the charging pile by judging the condition of receiving the laser beams of the red laser receiving tube.
The abnormality detection module monitors environment abnormality information in real time and sends the environment abnormality information to the microcontroller. The obstacle detection module detects a distance between an external obstacle and the robot body and transmits a distance signal to the microcontroller. The advancing mechanism comprises a driving wheel mechanism and a universal wheel mechanism which are respectively connected with the motor driving module. The wireless transceiver module is used for communicating with the wireless terminal through the Internet.
A charging method of the autonomous charging system of the robot as described above, comprising the steps of:
1) Searching a charging pile mode: the SLAM navigation module records the position and the direction of the robot main body in real time, the electric quantity detection module monitors the power supply voltage of the robot main body, and when the power supply voltage is lower than a set value, the microcontroller controls the robot main body to return to the position of the charging pile along the nearest path through the motor driving module, and the mode of searching the charging pile is entered;
2) Positioning the relative position of the robot main body and the charging pile: transmitting red laser through a red laser transmitter of the charging pile, and receiving a red laser signal by a red laser receiving module to position the relative position range of the robot main body relative to the charging pile;
3) Charging and docking: the method comprises the steps of comparing red laser signals received by a red laser receiving module from a red laser emitter at any time, and adjusting the position of a robot main body until the robot main body reaches a set position range, so that a charging module is connected with a charging control module of a charging pile through a charging port;
wherein, the step of adjusting the position of the robot main body is:
3.1 Setting that the robot main body is positioned on the center of the butt joint position of the charging pile when the center of the red laser receiving module receives the red laser emitted by the red laser emitter;
3.2 When the position of the robot main body is adjusted and the robot main body reaches the set position range, the microcontroller sends an operation stopping instruction to the travelling mechanism through the motor driving module;
3.3 The microcontroller controls the advancing mechanism through the motor driving module to enable the robot main body to advance for a distance L;
3.4 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned at the center of the butt joint position, if so, directly entering the step 3.7; if not, entering a step 3.4;
3.5 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned on the right side of the center of the butt joint position, if so, turning left by a certain angle and advancing by a certain distance L, and then entering step 3.7; otherwise, enter step 3.6;
3.6 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned at the left side of the center of the butt joint position, if so, turning to the right by a certain angle and advancing by a certain distance L, and then entering step 3.7;
3.7 After further advancing a distance L, step 4 is entered.
4) If the charging butt joint is finished, the power manager of the charging pile detects the increase of the circuit load and sends a circuit load increase signal to the charging pile main controller, and the charging pile main controller controls the charging control module to work and enters a charging mode; if the docking fails, returning to the step 3 to recharge the docking;
5) When the power supply detection module of the robot main body detects that the power supply voltage is greater than or equal to a set value, a signal that the power supply voltage is greater than or equal to the set value is sent to the microcontroller, the microcontroller controls the advancing mechanism through the motor driving module to enable the robot main body to leave the charging pile, the charging pile enters a no-load state at the moment, when the power supply manager detects that the charging pile circuit enters the no-load state, the no-load signal is sent to the charging pile main controller, and the charging pile main controller controls the charging control module to stop charging.
The microcontroller can adopt an ARM chip with the model of STM32F103R8T6 produced by an Italian semiconductor company, and is characterized by high operation speed, built-in 64K Flash, 20K RAM, 12-bit AD, 4 16-bit timers, 3-path USART communication ports and other various resources, and extremely high cost performance.
The charging pile main controller can adopt an ARM7 chip with the model of LPC2368 produced by Philips corporation, and is characterized by stability, reliability and convenient debugging.
The laser transmitting module can adopt a red laser transmitter with the model of Hc5650100D-AL produced by Mzlaser company, and is characterized in that the red laser transmitting accurate 650nm spectral line is matched with the frequency spectrum of the receiving tube, and other interference information can be effectively reduced.
Claims (3)
1. An autonomous charging system for a robot, characterized by: the robot comprises a robot main body and a charging pile, wherein the robot main body comprises a control main board, a motor driving module, a traveling mechanism, an electric quantity detection module, a charging module, an SLAM navigation module, a red laser receiving module and a wireless receiving and transmitting module, and the control main board comprises a microcontroller, an obstacle detection module and a path planning module; the microcontroller of the control main board is respectively connected with the motor driving module, the electric quantity detection module, the obstacle detection module, the path planning module, the red laser receiving module and the wireless receiving and transmitting module; the advancing mechanism is connected with the motor driving module, the charging module is connected with the electric quantity detection module, the SLAM navigation module is respectively connected with the obstacle detection module and the path planning module, and the charging module is connected with a charging port;
the charging pile includes: the charging pile comprises a charging pile main controller, a charging control module, an AC-DC conversion circuit, a red laser emitter and a power supply manager; the charging pile main controller is respectively connected with the charging control module, the AC-DC conversion circuit, the red laser emitter and the power manager, and the AC-DC conversion circuit is connected with the charging control module;
the microcontroller detects the electric quantity of the charging module in real time through the electric quantity detection module, and the microcontroller acquires the data of the SLAM navigation module through the path planning module and the obstacle detection module for positioning; when the electric quantity detection module detects that the electric quantity is lower than a set value, the microcontroller controls the red laser receiving module to enter a signal receiving state; after the red laser receiving module enters a signal receiving state, receiving a laser signal of a red laser emitter from the charging pile, and controlling a traveling mechanism to adjust the position between the robot main body and the charging pile by the microcontroller according to the position of the laser signal received by the red laser receiving module through the motor driving module so as to enable the charging module to be connected with the charging control module through a charging port; the AC-DC conversion circuit converts power frequency alternating current into direct current; the power supply manager is used for detecting the load condition of the charging pile;
the red laser receiver comprises 10-256 red laser receiving tubes which are horizontally arranged; the red laser transmitter transmits laser beams matched with the single red laser receiving tube, and the microcontroller judges the relative position between the robot main body and the charging pile by judging the condition of the red laser receiving tube for receiving the laser beams;
the control main board also comprises an abnormality detection module connected with the microcontroller, wherein the abnormality detection module monitors environment abnormality information in real time and sends the environment abnormality information to the microcontroller;
the obstacle detection module detects a distance between an external obstacle and the robot body and transmits a distance signal to the microcontroller.
2. The robotic autonomous charging system of claim 1, wherein: the advancing mechanism comprises a driving wheel mechanism and a universal wheel mechanism which are respectively connected with the motor driving module.
3. A charging method of an autonomous charging system of a robot according to any one of claims 1 to 2, characterized by: the method comprises the following steps:
searching a charging pile mode: the SLAM navigation module records the position and the direction of the robot main body in real time, the electric quantity detection module monitors the power supply voltage of the robot main body, and when the power supply voltage is lower than a set value, the microcontroller controls the robot main body to return to the position of the charging pile along the nearest path through the motor driving module, and the mode of searching the charging pile is entered;
positioning the relative position of the robot main body and the charging pile: transmitting red laser through a red laser transmitter of the charging pile, and receiving a red laser signal by a red laser receiving module to position the relative position range of the robot main body relative to the charging pile;
charging and docking: the method comprises the steps of comparing red laser signals received by a red laser receiving module from a red laser emitter at any time, and adjusting the position of a robot main body until the robot main body reaches a set position range, so that a charging module is connected with a charging control module of a charging pile through a charging port;
if the charging butt joint is finished, the power manager of the charging pile detects the increase of the circuit load and sends a circuit load increase signal to the charging pile main controller, and the charging pile main controller controls the charging control module to work and enters a charging mode; if the docking fails, returning to the step 3 to recharge the docking;
when the power supply detection module of the robot main body detects that the power supply voltage is greater than or equal to a set value, a signal of which the power supply voltage is greater than or equal to the set value is sent to the microcontroller, the microcontroller controls the travelling mechanism through the motor driving module to enable the robot main body to leave the charging pile, at the moment, the charging pile enters a no-load state, when the power supply manager detects that the charging pile circuit enters the no-load state, the no-load signal is sent to the charging pile main controller, and the charging pile main controller controls the charging control module to stop charging;
the step of adjusting the position of the robot main body in the step 3 is as follows:
3.1 Setting that the robot main body is positioned on the center of the butt joint position of the charging pile when the center of the red laser receiving module receives the red laser emitted by the red laser emitter;
when the position of the robot main body is adjusted and the robot main body reaches the set position range, the microcontroller sends an operation stopping instruction to the travelling mechanism through the motor driving module;
the microcontroller controls the advancing mechanism through the motor driving module to enable the robot main body to advance for a distance L;
3.4 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned at the center of the butt joint position, if so, directly entering the step 3.7; if not, entering a step 3.4;
3.5 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned on the right side of the center of the butt joint position, if so, turning left by a certain angle and advancing by a certain distance L, and then entering step 3.7; otherwise, enter step 3.6;
3.6 Judging whether the red laser received by the red laser receiving module of the robot main body is positioned at the left side of the center of the butt joint position, if so, turning to the right by a certain angle and advancing by a certain distance L, and then entering step 3.7;
3.7 After further advancing a distance L, step 4 is entered.
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| CN104029207B (en) * | 2013-03-08 | 2017-05-10 | 科沃斯机器人股份有限公司 | Laser-guided walking operation system for self-moving robot and control method for same |
| CN104298233A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Mobile robot self-charging system |
| CN103645733B (en) * | 2013-12-02 | 2014-08-13 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN103997082B (en) * | 2014-04-21 | 2016-01-13 | 伍小军 | Mobile robot's recharging device and recharging method thereof |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
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2017
- 2017-08-22 CN CN201710724421.2A patent/CN107402574B/en active Active
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Denomination of invention: Autonomous charging system and method for robots Granted publication date: 20231110 Pledgee: Industrial Bank Co.,Ltd. Shanghai Hongkou sub branch Pledgor: SHANGHAI HRSTEK Co.,Ltd. Registration number: Y2024310000266 |