CN111884350A - Charging system and charging method for robot automatic alignment charging - Google Patents
Charging system and charging method for robot automatic alignment charging Download PDFInfo
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- CN111884350A CN111884350A CN202010691262.2A CN202010691262A CN111884350A CN 111884350 A CN111884350 A CN 111884350A CN 202010691262 A CN202010691262 A CN 202010691262A CN 111884350 A CN111884350 A CN 111884350A
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/005—Mechanical details of housing or structure aiming to accommodate the power transfer means, e.g. mechanical integration of coils, antennas or transducers into emitting or receiving devices
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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
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
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Abstract
The invention discloses a charging system and a charging method for automatic alignment charging of a robot, wherein the robot moves to the front of a charging pile after detecting that the robot needs to be charged; measuring the distance values between the charging receiving module and the charging transmitting module of the charging pile through the two distance measuring sensors, and calculating the angle deviation between the charging receiving module and the charging transmitting module according to the measured distance values; accordingly, the charging receiving module of the robot is adjusted to be in a parallel state with the charging transmitting module of the charging pile; and moving to the optimal charging distance; the charging pile control box detects whether a charging receiving module of the robot is aligned with a charging transmitting module of the charging pile or not, and if not, the X-direction adjusting assembly is controlled to adjust the charging pile body to the X-direction position until the charging pile body and the charging pile body are aligned. The robot and the charging pile can be automatically aligned, the alignment is accurate, the follow-up charging is facilitated, and the optimal charging efficiency is ensured.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a charging system and a charging method for realizing automatic alignment.
Background
With the development of the robot technology, various types of robot products are integrated into various industries to replace manual work for work and service. What supporting robot is indispensable is exactly to fill electric pile, and it charges the electric energy for the robot battery, guarantees that the robot lasts work. And the robot will charge, must remove the position of filling electric pile earlier, the on-vehicle end positioner of robot is like laser radar, GPS etc. can guide the robot to reach before filling electric pile, but there is the counterpoint error, some producers can be wider than on-vehicle module of charging of filling electric pile and doing in structural design, make its positioning accuracy that can fault-tolerant robot itself, or at the level and set up spring assembly around filling electric pile central direction, make it have certain fault-tolerant rate, the problem of the location of charging can be solved to a certain extent to this kind of passive form locate mode, but fill electric pile overall dimension can do bigger, the robot need frequently adjust the gesture near filling electric pile, it is suitable with filling electric pile counterpoint until on-vehicle module of charging. Because the counterpoint precision is not high, and charging efficiency is not high, and frequent striking can cause to vibrate robot and inside components and parts among the counterpoint process, influences overall stability.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides the charging pile capable of automatically aligning in a faster alignment mode and the charging method, the robot is relatively heavy, the posture can be adjusted more difficultly, on the contrary, the charging pile can be moved more flexibly, and the charging pile and the robot can be accurately aligned by matching with the positioning of the sensor, so that the follow-up charging is convenient, and the optimal charging efficiency is ensured.
The technical scheme is as follows:
a charging system with automatic robot alignment charging function comprises a charging pile and a robot;
the robot comprises a charging receiving module arranged at a charging position of the robot and distance measuring sensors arranged at two sides of the charging receiving module and used for measuring the distance between the charging receiving module of the robot and a charging transmitting module of a charging pile;
the robot determines the angle deviation between the charging receiving module and the charging transmitting module of the charging pile according to the distance measured by the two distance measuring sensors, and moves to a state that the charging receiving module is parallel to the charging transmitting module of the charging pile;the charging receiving module of the robot and the charging transmitting module of the charging pile are arranged on the Y direction Distance and moving to the optimal charging distance;
the charging pile comprises an X-direction adjusting assembly fixedly mounted and a charging pile body fixedly mounted on the X-direction adjusting assembly and capable of moving in the X direction under the control of the X-direction adjusting assembly; fill electric pile body including installing the transmission module that charges in the X side and detecting and judging the receiving module that charges of robot with fill electric pile control box whether the transmission module that charges of electric pile is adjusted well, fill electric pile control box with X is to adjustment subassembly communication connection, under the aforesaid judgement is not adjusted well the condition, control X is to adjustment subassembly adjustment it is in to fill electric pile body is in the ascending position of X side, until the receiving module that charges of robot with fill electric pile's the transmission module that charges and adjust well.
A proximity sensor in communication connection with the charging pile control box is mounted on one side, located on the charging emission module, of the charging pile, and a bulge is arranged at a corresponding position of a charging position of the robot; the charging pile control box determines whether a charging receiving module of the robot is aligned with a charging transmitting module of the charging pile or not according to whether the proximity sensor detects a signal protruding from the robot or not; the detection distance of the proximity sensor is set to be 0-15 mm.
The charging receiving module on the robot adopts a wireless charging receiving module, and the charging transmitting module on the charging pile adopts a wireless charging transmitting module; energy is transferred between the wireless charging transmitting module and the wireless charging receiving module through a magnetic resonance technology;
the charging control box is in communication connection with the wireless charging transmitting module, reads the resonant voltage of the wireless charging transmitting module, and judges whether the charging receiving module of the robot is aligned with the charging transmitting module of the charging pile or not according to whether the resonant voltage approaches to a typical value or not.
The robot and the charging pile are communicated through a wireless communication module arranged in the robot; the robot sends a charging request to the charging pile when needing to be charged, and the charging control box of the charging pile controls the wireless charging transmitting module to be started and carries out alignment detection; and sends the registration information to the robot.
The robot monitors the information of a battery in the robot in real time and acquires the resonance voltage of a wireless charging receiving module of the robot; and sending information to the charging pile when charging is completed.
The X-direction adjusting assembly comprises an X-direction driving assembly and an X-direction sliding assembly, and the charging pile body is fixedly mounted on the X-direction driving assembly and the X-direction sliding assembly and moves along the X direction under the driving of the X-direction driving assembly.
The X-direction driving assembly adopts a lead screw driving mode, a belt transmission mode, a linear motor or a gear rack mode, and the X-direction sliding assembly adopts a guide rail sliding block structural mode or a guide shaft and linear bearing structural mode.
Fill and still be equipped with Z on the electric pile body and to the adjustment subassembly, Z includes to the adjustment subassembly:
the Z-direction guide rails are arranged on the charging pile body and are positioned at the left side and the right side of the charging emission module;
the Z-direction sliding block is slidably mounted on the Z-axis sliding block and is used for fixedly mounting the charging emission module;
the Z-direction adjusting block is fixedly connected with the charging emission module and internally provided with an internal thread in the vertical direction;
z is to adjusting screw, and the upper end is rotated and is installed fill on the electric pile body, the lower extreme with Z is to the regulating block through screw-thread fit connection.
A charging method for robot automatic alignment charging comprises the following steps:
(1) after the robot detects that the robot needs to be charged, the robot plans a motion path by using a navigation planning map of the robot and moves to the front of a charging pile; measuring the distance value between a charging receiving module on the robot and a charging transmitting module of a charging pile through two distance measuring sensors on the robot, and calculating the angle deviation between the charging receiving module of the robot and the charging transmitting module of the charging pile according to the measured distance value;
(2) the robot plans a robot movement path according to the angle deviation obtained by calculation in the step (1), and adjusts a charging receiving module of the robot to be in a parallel state with a charging transmitting module of a charging pile;
(3)the robot measures the charging receiving module of the robot and the charging of the charging pile according to the distance measuring sensor The distance of the emission module in the Y direction is up, and the emission module moves to the optimal charging distance;
(4) charging pile control box judges whether the charging receiving module of the robot and the charging transmitting module of the charging pile are aligned or not according to the resonance voltage of the charging transmitting module or the signal acquired by the proximity sensor, if not, the X-direction adjusting assembly is controlled to adjust the position of the charging pile body in the X-direction until the charging receiving module of the robot and the charging transmitting module of the charging pile are aligned.
Detecting whether a distance value between a charging receiving module of the robot and a charging transmitting module of the charging pile in the Y direction meets an optimal charging distance through a ranging sensor on the robot, wherein the optimal charging distance is 0-10 mm; and if the optimal charging distance is not met, the robot plans the moving distance of the robot in the Y direction according to the distance difference between the distance and the optimal charging distance, and controls the robot to move towards the charging pile until the optimal charging distance is reached.
Has the advantages that: according to the robot and the charging pile, whether the robot and the charging pile are aligned in the X direction or not is judged by reading the charging resonance voltage or the charging current when the robot performs wireless charging, whether the optimal charging distance between the robot and the charging pile is achieved or not is judged, and the charging pile is controlled to move left and right in the X direction according to the judgment result, so that the robot and the charging pile are aligned, automatic alignment between the robot and the charging pile is realized, the alignment is accurate, the subsequent charging is facilitated, and the optimal charging efficiency is ensured.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of the robot.
Fig. 3 is an exploded view of a charging pile.
FIG. 4 is a system control block diagram
FIG. 5 is a flowchart of the robot charging alignment process
Fig. 6 is a schematic view of a workflow.
Fig. 7 is a schematic view of a workflow two.
Fig. 8 is a third schematic of the workflow.
Fig. 9 is a four schematic view of the workflow.
In the figure, 1, a robot, 2, a charging pile, 3, a robot control system, 4, a distance measuring sensor bracket, 5, a distance measuring sensor, 6, a wireless charging receiving module, 7, an upper shell, 8, a Z-direction adjusting screw, 9, a Z-direction adjusting block, 10, a wireless charging transmitting module, 11, a Z-direction guide rail, 12, a Z-direction sliding block, 13, a Z-direction connecting plate, 14, a motor fixing flange, 15, a motor, 16, a bottom shell, 17, an X-direction sliding block connecting plate, 18, an X-direction sliding block, 19, an X-direction guide rail, 20, a lead screw nut connecting plate, 21, a lead screw nut, 22, a lead screw and 23, a charging pile control box and 24 side shells are arranged.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Fig. 1 is a schematic perspective view of the present invention, and as shown in fig. 1, a charging-related aspect of the present invention includes a robot 1 and a charging pile 2. Fig. 2 is a schematic perspective view of the robot, and as shown in fig. 2, the wireless charging receiving module 6 is installed at the tail of the robot 1, two ranging sensors 5 are respectively installed at two sides of the wireless charging receiving module, the ranging sensors 5 are fixed at the tail of the robot 1 through ranging sensor supports 4 and located at two sides of the wireless charging receiving module 6, and the robot control system 3 is arranged in the robot 1.
Fig. 3 is an exploded view of a charging pile, and according to the coordinate system shown in fig. 1, as shown in fig. 3, the charging pile 2 includes a bottom shell 16, an upper shell 7, an X-direction adjusting assembly, a charging pile control box 23, a Z-direction adjusting assembly, and a wireless charging transmitting module 10. The bottom shell 16 is fixedly arranged at a set position for installing the charging pile and is positioned at the bottom of the charging pile 2, the X-direction adjusting assembly is fixedly arranged above the bottom shell 16 and comprises an X-direction guide rail sliding block assembly and a lead screw driving assembly, and the X-direction guide rail sliding block assembly comprises an X-direction guide rail 19, an X-direction sliding block 18 and an X-direction sliding block connecting plate 17; the X-direction guide rails 19 are symmetrically fixed on the front side and the rear side of the bottom shell 16, the X-direction slide block 18 is slidably mounted on the X-direction guide rails 19, and the X-direction slide block connecting plate 17 is fixed on the X-direction slide block 18; the screw driving assembly comprises a screw 22, a motor 15, a screw nut 21 and a screw nut connecting plate 20; the screw 22 is fixedly arranged on the bottom shell 16 at a position between the two X-direction guide rails 19 through a transmission seat, the motor 15 is fixedly arranged at one end of the screw 22 through a motor fixing flange 14, and an output shaft of the motor 15 is connected with the screw 22 through a coupler and can drive the screw 22 to rotate; the screw nut 21 is installed on the screw rod 22 through threaded fit and can move left and right on the screw rod 22 when the screw rod 22 rotates, the screw nut connecting plate 20 is fixedly connected with the screw nut 21, the side shell 24 is fixed on the X-direction slider connecting plate 17 and the screw nut connecting plate 20 and can move left and right along the X-direction along with the X-direction slider connecting plate 17 and the screw nut connecting plate 20 under the drive of the motor 15, a groove is formed in the front side face of the side shell 24, the wireless charging and transmitting module 10 is installed in the groove, and the upper shell 7 covers the side shell 24. A charging pile control box 23 is fixedly installed in the side shell 24, as shown in fig. 4, the charging pile control box 23 is respectively in communication connection with the wireless charging transmitting module 10 and the motor 15, transmits a control signal to the wireless charging transmitting module 10 to control the on/off of the wireless charging transmitting module, reads the resonant voltage of the wireless charging transmitting module 10, and judges whether the robot 1 is aligned with the charging pile 2 in the X direction or not according to the resonant voltage. If the charging pile is not aligned, a control signal is sent to the motor 15 to control the motor 15 to rotate, and the wireless charging transmitting module 10 on the charging pile 2 is driven to move left and right by the screw rod sliding block assembly. Meanwhile, the charging pile control box 23 reads the resonant voltage of the wireless charging transmitting module 10 in real time until the resonant voltage approaches to a typical value, namely, the robot 1 and the charging pile 2 are aligned in the X direction.
The Z-direction adjusting assembly comprises a Z-direction guide rail 11, a Z-direction slider 12, a Z-direction slider connecting plate 13, a Z-direction adjusting block 9 and a Z-direction adjusting screw 8, wherein the Z-direction guide rail 11 is fixed at two sides of the front side surface of the side shell 24, the Z-direction slider 12 is slidably arranged on the Z-direction guide rail 11 and can slide upwards and downwards along Z, and the slider connecting plate 13 is fixedly arranged on the Z-direction slider 12; wireless transmitting module 10 that charges is located the leading flank of side shell 24, its both sides are fixed to connecting plate 13 with Z respectively, wireless transmitting module 10 rear side that charges is fixed with Z to regulating block 9, be equipped with the ascending internal thread of vertical side in Z to regulating block 9, Z passes epitheca 7 and is connected through screw-thread fit with Z to regulating block 9 to adjusting screw 8, can make Z reciprocate to the regulating block through rotatory Z to adjusting screw 8, and then drive wireless transmitting module 10 that charges reciprocates along Z, receive module 6 highly uniform that charges with the wireless of robot 1 with the adjustment wireless transmitting module 10 that charges.
As shown in the system control block diagram of fig. 4, energy is transferred between the wireless charging transmitting module 10 and the wireless charging receiving module 6 through a magnetic resonance technology, and data transmission is performed between the wireless charging transmitting module 10 and the wireless charging receiving module 6 through wireless communication, the charging control box 23 is mainly in communication with the wireless charging transmitting module 10 through a serial port, the wireless charging transmitting module 10 is controlled to be turned on and off, resonance voltage of the wireless charging transmitting module 10 is read, the control motor 15 is controlled to rotate, the robot control system 3 is in communication with the wireless charging receiving module 6 through the serial port, the wireless charging receiving module 6 is controlled to be turned on and off, resonance voltage of the wireless charging receiving module 6 is read, the battery supplies power to the robot, bus communication can be performed between the robot control system 3 and the battery, and information such as battery.
The robot control system 3 can calculate an angle deviation between the robot 1 and the wireless charging transmitting module 10 of the charging pile 2 according to a distance value between the tail of the robot 1 and the wireless charging transmitting module 10 of the charging pile 2, which is measured by the two ranging sensors 5 at the tail of the robot 1, plan a motion path of the robot 1 according to the angle deviation, and adjust the body of the robot 1 to be parallel to the wireless charging transmitting module 10 of the charging pile 2; after the X-direction adjusting assembly of the charging pile 2 controls the wireless charging transmitting module 10 of the charging pile 2 to move left and right until the robot 1 and the charging pile 2 are aligned in the X direction, detecting whether the distance value between the robot 1 and the wireless charging transmitting module 10 of the charging pile 2 in the Y direction meets the optimal charging distance or not by using the distance measuring sensor 5, wherein the optimal charging distance is 0-10 mm; when the distance between the robot 1 and the wireless charging transmitting module 10 of the charging pile 2 in the Y direction does not meet the optimal charging distance, the robot control system 3 plans the moving distance of the robot 1 in the Y direction according to the distance difference between the distance and the optimal charging distance, and sends a control instruction to the robot 1, so that the robot 1 continuously approaches the charging pile 2 until the optimal charging distance is reached.
Fig. 5 is a robot charging alignment flowchart. As shown in fig. 5, after the robot 1 detects that it needs to be charged, it plans a movement path of the robot by using a robot navigation planning map, and moves the robot 1 to a position in front of the charging pile 2 and at a certain distance from the charging pile 2. Because of the problem of self navigation accuracy, a certain angle and position deviation may exist between the body of the robot 1 and the charging pile 2, at this time, the distance value between the tail of the robot 1 and the wireless charging transmitting module 10 of the charging pile 2 is measured by two distance measuring sensors 5 at the tail of the robot 1, and is respectively set as S1 and S2, and is sent to the robot control system 3 inside the robot 1, the robot control system 3 can calculate the angle deviation between the robot 1 and the wireless charging transmitting module 10 of the charging pile 2 according to the distance value, as shown in fig. 6, and plan the movement path of the robot 1 according to the angle deviation, and adjust the body of the robot 1 to be parallel to the wireless charging transmitting module 10 of the charging pile 2, as shown in fig. 7; then, a distance measuring sensor 5 is used for detecting whether the distance value between a wireless charging receiving module 6 of the robot 1 and a wireless charging transmitting module 10 of the charging pile 2 in the Y direction meets the optimal charging distance, and in the invention, the optimal charging distance is 0-10 mm; when the distance between the robot 1 and the wireless charging transmitting module 10 of the charging pile 2 in the Y direction does not satisfy the optimal charging distance, the robot control system 3 plans the moving distance of the robot 1 in the Y direction according to the distance difference between the distance and the optimal charging distance, and sends a control instruction to the robot 1, so that the robot 1 continues to approach the charging pile 2, as shown in fig. 8, until the optimal charging distance is reached. The relative positions of the robot 1 and the charging pile 2 are shown in fig. 9.
In the invention, the X-direction adjusting assembly adopts a lead screw driving mode to be matched with the guide rail sliding block, but the invention is not limited to the mode, the lead screw driving mode can be replaced by a belt transmission mode, a linear motor mode, a gear rack mode and the like, and the guide rail sliding block can be replaced by a guide shaft and a linear bearing.
In the invention, the charging pile control box 23 judges whether the robot 1 and the charging pile 2 are aligned in the X direction or not by reading a resonance voltage or current, but the invention is not limited to the detection of the resonance voltage or the current, namely, the detection of the resonance voltage or the current is replaced by a proximity sensor, namely, the proximity sensor is arranged on the front side surface of the side shell 24 of the charging pile 2, a protruding area is arranged at the same height position at the tail part of the robot 1 so as to facilitate the detection of the proximity sensor, when the protruding area approaches to the proximity sensor for a corresponding distance, the proximity sensor obtains a proximity signal and sends the proximity signal to the charging pile control box 23, the charging pile control box 23 sends a control signal to the motor 15 so as to stop the motor 15 to. In the present invention, the detection distance of the proximity sensor is 0 to 15 mm.
According to the invention, whether the robot 1 and the charging pile 2 are aligned in the X direction is judged by reading the charging resonance voltage or current when the robot carries out wireless charging, and the charging pile 2 is controlled to move left and right in the X direction according to the judgment result, so that the robot 1 and the charging pile 2 are aligned, and the automatic alignment between the robot 1 and the charging pile 2 is realized; and then judging whether the optimal charging distance between the robot and the robot is reached or not, and controlling the robot to move in the Y direction according to the optimal charging distance. The invention has accurate alignment, is convenient for subsequent charging and can ensure the optimal charging efficiency.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and the equivalents are protected by the present invention.
Claims (10)
1. The utility model provides a charging system that robot automatic alignment charges which characterized in that: comprises a charging pile (2) and a robot (1);
the robot (1) comprises a charging receiving module arranged at a charging position of the robot (1) and distance measuring sensors (5) arranged at two sides of the charging receiving module and used for measuring the distance between the charging receiving module of the robot (1) and a charging transmitting module of a charging pile (2);
the robot (1) determines the angle deviation between a charging receiving module and a charging transmitting module of the charging pile (2) according to the distance measured by the two distance measuring sensors (5), and moves to a state that the charging receiving module is parallel to the charging transmitting module of the charging pile (2); measuring the distance between a charging receiving module of the robot (1) and a charging transmitting module of the charging pile (2) in the Y direction according to a distance measuring sensor (5), and moving to the optimal charging distance;
the charging pile (2) comprises an X-direction adjusting assembly fixedly mounted and a charging pile body fixedly mounted on the X-direction adjusting assembly and capable of moving in the X direction under the control of the X-direction adjusting assembly; fill electric pile body including installing the ascending emission module that charges in X side and detecting and judging the receiving module that charges of robot (1) with fill electric pile control box (23) whether the emission module that charges of electric pile (2) is adjusted well, fill electric pile control box (23) with X is to adjustment subassembly communication connection, under the aforesaid judgement is not adjusted well the condition, control X is to adjustment subassembly adjustment fill electric pile body is in the ascending position of X side, until the receiving module that charges of robot (1) with the emission module that charges of charging of electric pile (2) is adjusted well.
2. The robot automatic alignment charging system according to claim 1, wherein: a proximity sensor in communication connection with the charging pile control box (23) is installed on one side, located on the charging emission module, of the charging pile (2), and a protrusion is arranged at a corresponding position of a charging position of the robot (1); the charging pile control box (23) determines whether a charging receiving module of the robot (1) is aligned with a charging transmitting module of the charging pile (2) according to whether the proximity sensor detects a signal protruding on the robot (1); the detection distance of the proximity sensor is set to be 0-15 mm.
3. The robot automatic alignment charging system according to claim 1, wherein: a wireless charging receiving module (6) is adopted by a charging receiving module on the robot (1), and a wireless charging transmitting module (10) is adopted by a charging transmitting module on the charging pile (2); energy is transferred between the wireless charging transmitting module (10) and the wireless charging receiving module (6) through a magnetic resonance technology;
the charging control box (23) is in communication connection with the wireless charging transmitting module (10), reads the resonance voltage of the wireless charging transmitting module (10), and judges whether the charging receiving module of the robot (1) is aligned with the charging transmitting module of the charging pile (2) according to whether the resonance voltage approaches a typical value.
4. The robot automatic alignment charging system according to claim 3, wherein: the robot (1) and the charging pile (2) are communicated through a wireless communication module arranged in the robot; the robot (1) sends a charging request to the charging pile (2) when charging is needed, and the charging control box (23) of the charging pile (2) controls the wireless charging transmitting module (10) to be started and carries out alignment detection; and sends the registration information to the robot (1).
5. The robot automatic alignment charging system according to claim 4, wherein: the robot (1) monitors the information of a battery in the robot in real time and acquires the resonance voltage of a wireless charging receiving module (6) of the robot; and sending information to the charging pile (2) when the charging is completed.
6. The robot automatic alignment charging system according to claim 1, wherein: the X-direction adjusting assembly comprises an X-direction driving assembly and an X-direction sliding assembly, and the charging pile body is fixedly mounted on the X-direction driving assembly and the X-direction sliding assembly and moves along the X direction under the driving of the X-direction driving assembly.
7. The robot automatic alignment charging system according to claim 6, wherein: the X-direction driving assembly adopts a lead screw driving mode, a belt transmission mode, a linear motor or a gear rack mode, and the X-direction sliding assembly adopts a guide rail sliding block structural mode or a guide shaft and linear bearing structural mode.
8. The robot automatic alignment charging system according to claim 1, wherein: fill and still be equipped with Z on the electric pile body and to the adjustment subassembly, Z includes to the adjustment subassembly:
the Z-direction guide rails (11) are arranged on the charging pile body and are positioned at the left side and the right side of the charging emission module;
the Z-direction sliding block (12) is slidably mounted on the Z-axis sliding block (12) and is used for fixedly mounting the charging emission module;
the Z-direction adjusting block (9) is fixedly connected with the charging emission module and internally provided with an internal thread in the vertical direction;
z is to adjusting screw (8), and the upper end is rotated and is installed fill on the electric pile body, the lower extreme with Z is to regulating block (9) through screw-thread fit connection.
9. A charging method of a charging system for automatic alignment charging by using the robot as claimed in any one of claims 1 to 8, wherein: the method comprises the following steps:
(1) after the robot detects that the robot needs to be charged, the robot plans a motion path by using a navigation planning map of the robot and moves to the front of a charging pile; measuring the distance value between a charging receiving module on the robot and a charging transmitting module of a charging pile through two distance measuring sensors on the robot, and calculating the angle deviation between the charging receiving module of the robot and the charging transmitting module of the charging pile according to the measured distance value;
(2) the robot plans a robot movement path according to the angle deviation obtained by calculation in the step (1), and adjusts a charging receiving module of the robot to be in a parallel state with a charging transmitting module of a charging pile;
(3) the robot measures the distance between a charging receiving module of the robot and a charging transmitting module of the charging pile in the Y direction according to a distance measuring sensor, and moves to the optimal charging distance;
(4) charging pile control box judges whether the charging receiving module of the robot and the charging transmitting module of the charging pile are aligned or not according to the resonance voltage of the charging transmitting module or the signal acquired by the proximity sensor, if not, the X-direction adjusting assembly is controlled to adjust the position of the charging pile body in the X-direction until the charging receiving module of the robot and the charging transmitting module of the charging pile are aligned.
10. The robot charging method by automatic alignment charging according to claim 9, wherein: detecting whether a distance value between a charging receiving module of the robot and a charging transmitting module of the charging pile in the Y direction meets an optimal charging distance through a ranging sensor on the robot, wherein the optimal charging distance is 0-10 mm; and if the optimal charging distance is not met, the robot plans the moving distance of the robot in the Y direction according to the distance difference between the distance and the optimal charging distance, and controls the robot to move towards the charging pile until the optimal charging distance is reached.
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| CN112332558A (en) * | 2020-11-27 | 2021-02-05 | 亿嘉和科技股份有限公司 | Wireless charging system and method |
| CN112803619A (en) * | 2020-11-25 | 2021-05-14 | 深圳亿嘉和科技研发有限公司 | Wireless charging system and wireless charging alignment method |
| CN112821519A (en) * | 2020-12-22 | 2021-05-18 | 广州赛特智能科技有限公司 | Automatic pile charging system and method for robot |
| CN113364087A (en) * | 2021-06-01 | 2021-09-07 | 北京京东乾石科技有限公司 | Charging simulation test device and charging simulation test system |
| CN114103703A (en) * | 2021-11-19 | 2022-03-01 | 上海擎朗智能科技有限公司 | Automatic charging method, mobile charging equipment and automatic charging system |
| CN114389384A (en) * | 2022-01-17 | 2022-04-22 | 北京小龙潜行科技有限公司 | Wireless charging alignment distance regulating and controlling device for track robot |
| CN114400733A (en) * | 2021-12-16 | 2022-04-26 | 杭州电子科技大学 | Robot for automatic charging of unmanned aerial vehicle |
| CN114683303A (en) * | 2022-04-08 | 2022-07-01 | 北京三快在线科技有限公司 | Delivery robot and cargo delivery system |
| CN115675150A (en) * | 2022-10-31 | 2023-02-03 | 国网湖南省电力有限公司 | Adsorption type automatic charging device for unmanned vehicle and intelligent control method |
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2020
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| CN114103703A (en) * | 2021-11-19 | 2022-03-01 | 上海擎朗智能科技有限公司 | Automatic charging method, mobile charging equipment and automatic charging system |
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| CN114389384A (en) * | 2022-01-17 | 2022-04-22 | 北京小龙潜行科技有限公司 | Wireless charging alignment distance regulating and controlling device for track robot |
| CN114389384B (en) * | 2022-01-17 | 2024-05-28 | 北京小龙潜行科技有限公司 | Wireless charging alignment distance regulating and controlling device for track robot |
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