CN117728527A - Autonomous charging system of mobile robot - Google Patents
Autonomous charging system of mobile robot Download PDFInfo
- Publication number
- CN117728527A CN117728527A CN202311036752.9A CN202311036752A CN117728527A CN 117728527 A CN117728527 A CN 117728527A CN 202311036752 A CN202311036752 A CN 202311036752A CN 117728527 A CN117728527 A CN 117728527A
- Authority
- CN
- China
- Prior art keywords
- module
- charging
- mobile robot
- mobile
- autonomous
- 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.)
- Pending
Links
- 230000005389 magnetism Effects 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The invention relates to the field of charging systems, in particular to an autonomous charging system of a mobile robot, which comprises a charging pile, wherein a prompting lamp is arranged at the top of the charging pile, an electric quantity checking module, a main switch and a power module are arranged on the side wall of the charging pile, a driving module is arranged in the middle of the charging pile, a charging column is arranged at the bottom of the charging pile, charging interfaces are arranged on the charging column, a push rod module is arranged at the bottom of each charging interface, a mobile module is arranged at the bottom of the charging pile, and a magnetic attraction groove is formed in the mobile module. According to the invention, the electric quantity checking module is arranged on the charging pile, when the electric quantity checking module detects that the electric quantity of the mobile robot is full, the mobile robot pushes the mobile robot out of the charging interface through the push rod module below the charging interface, so that the charging robot is separated from a charging state, and when the mobile robot is full, the mobile robot can be separated from the charging state in time and leaves the charging pile, so that the mobile robot can be protected.
Description
Technical Field
The invention relates to the technical field of charging systems, in particular to an autonomous charging system of a mobile robot.
Background
With the advent of the intelligent age, robots have been increasingly driven into people's lives, service robots in life are increasingly used in a wider range, and our society is entering the age of intelligent robots. For example, common service robots include meal delivery robots, chat robots, shopping guide robots and the like, and these intelligent robots generally comprise a large amount of electric equipment, have high power consumption and need to be charged frequently, and currently, autonomous charging sweeping robots are already in the market, but have the defects of low recharging efficiency, low precision and the like. Therefore, how to make a robot quickly and effectively automatically charge is a urgent problem in the robot field.
The reliable indoor omnidirectional mobile robot autonomous charging system disclosed by the publication No. CN 207718228U can enable the mobile robot to accurately charge in alignment with the charging system, but can not timely power off the mobile robot after long-time charging, so that the damage of the mobile robot caused by burning out of an internal circuit board of the robot due to scalding after long-time charging of the robot is avoided.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an autonomous charging system of a mobile robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the mobile robot autonomous charging system comprises a charging pile, wherein a prompting lamp is arranged at the top of the charging pile, an electric quantity checking module, a main switch and a power module are arranged on the side wall of the charging pile, a driving module is arranged in the middle of the charging pile, a charging column is arranged at the bottom of the charging pile, charging interfaces are arranged on the charging column, and a push rod module is arranged at the bottom of each charging interface;
the bottom of filling electric pile is provided with the mobile module, and the magnetism is inhaled the groove to the inside of mobile module, and fills the bottom of electric pile and be provided with the power cord.
Further, the charging pile, the indicator light, the main switch, the charging interface, the infrared sensor, the mobile module, the driving module, the electric quantity checking module and the power supply module are in control connection.
Furthermore, the power module adopts a polymer lithium battery pack as a storage battery pack, and the maximum storage capacity is 1200WH.
Furthermore, the infrared sensor is used for environmental scanning, describes the surrounding environment according to the credit of the return pulse, provides magnetic force for the magnetic attraction groove, and drives the robot to move in the moving module.
Further, the electric quantity inspection module monitors the electric quantity through a coulometer, the coulometer calculates a residual electric quantity value by adopting a current integration method, and the detected electric quantity value is communicated to the push rod module through TTL.
Further, the driving module is used for driving the robot to move in the moving module until the robot is connected into the charging interface.
Furthermore, the machine driving module is connected with the mobile module through a CAN bus, and realizes the real-time data interaction transmission setting with the upper computer through the Ethernet.
Further, the control camera is connected with the electric quantity checking module on the charging pile in a detection mode and is used for observing whether the mobile robot is in a power-off state or not.
Further, the bottom of the magnetic attraction groove of the mobile module is rotationally connected with a driving roller set through a rotating shaft, and the rotating shaft is in control connection with the driving module through the Ethernet.
Further, the bottom of push rod mechanism is provided with drive spring, and fixed plate is connected at drive spring's top, and the fixed plate is connected with the push rod through the connecting rod, and drive spring passes through the electrical signal and is connected with drive module.
The beneficial effects of the invention are as follows: through set up the electric quantity inspection module on filling electric pile, when electric quantity inspection module detects mobile robot electric quantity and is full of for mobile robot is released mobile robot from the interface that charges through the push rod module of interface below that charges, makes the charge robot break away from the state of charge, makes when mobile robot can in time break away from the state of charge and leave when being full of electricity and fills electric pile, makes mobile robot obtain the protection.
Drawings
Fig. 1 is a schematic structural diagram of an autonomous charging system of a mobile robot according to the present invention;
FIG. 2 is a schematic diagram illustrating an internal structure of a mobile module according to the present invention;
FIG. 3 is a schematic structural view of a push rod module according to the present invention;
FIG. 4 is an enlarged view of FIG. A according to the present invention;
fig. 5 is a schematic structural diagram of an autonomous charging system according to the present invention.
In the figure: 1 charging pile, 2 indicator lamp, 3 master switch, 4 power cord, 5 interface, 6 push rod modules, 61 drive spring, 62 fixed plate, 63 connecting rod, 64 push rod, 7 charging column, 8 infrared sensor, 9 moving module, 91 pivot, 92 driving roller group, 10 magnetism inhale groove, 11 drive module, 12 electric quantity inspection module, 13 power module, 14 control camera.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1-5, the autonomous charging system of the mobile robot comprises a charging pile 1, wherein a prompting lamp 2 is arranged at the top of the charging pile 1, an electric quantity checking module 12, a main switch 3 and a power module 13 are arranged on the side wall of the charging pile 1, a driving module 11 is arranged in the middle of the charging pile 1, a charging column 7 is arranged at the bottom of the charging pile 1, charging interfaces 5 are arranged on the charging column 7, and a push rod module 6 is arranged at the bottom of each charging interface 5;
the bottom of charging stake 1 is provided with movable module 9, and the inside of movable module 9 has seted up magnetism and has inhaled groove 10, and the bottom of charging stake 1 is provided with power cord 4.
The charging pile 1, the prompting lamp 2, the main switch 3, the charging interface 5, the infrared sensor 8, the mobile module 9, the driving module 11, the electric quantity checking module 12 and the power supply modules 13 are in control connection.
The power module 13 uses a polymer lithium battery pack as a storage battery pack, and the maximum charge capacity is 1200WH.
Meanwhile, the infrared sensor 8 is used for environmental scanning, describes the surrounding environment according to the credit of the return pulse, provides magnetic force for the magnetic attraction groove 10, and drives the robot to move in the moving module 9.
In addition, the electric quantity checking module 12 monitors the electric quantity through a coulometer, the coulometer calculates the residual electric quantity value by adopting a current integration method, and the detected electric quantity value is communicated to the push rod module 6 through the TTL 232.
Moreover, the driving module 11 is used for driving the robot to move in the moving module 9 until the robot is connected into the charging interface 5, and the driving module 11 is connected with the moving module 9 through a CAN bus and realizes real-time data interaction transmission setting with an upper computer through Ethernet.
The control camera 14 is connected with the electric quantity checking module 12 on the charging pile 1 in a detection mode and is used for observing whether the mobile robot is in a power-off state.
In addition, the bottom of the magnetic attraction groove 10 of the mobile module 9 is rotationally connected with a driving roller set 92 through a rotating shaft 91, the rotating shaft 91 is in control connection with the driving module 11 through the Ethernet, and the mobile robot moves to the charging interface 5 on the charging column 7 through the driving roller set 92.
The bottom of push rod mechanism 6 is provided with drive spring 61, and fixed plate 62 is connected at drive spring 61's top, and fixed plate 62 is connected with push rod 64 through connecting rod 63, and drive spring 61 is connected with drive module 11 through the electrical signal, and drive module 11 controls the flexible fore-and-aft movement that drives push rod 64 of drive spring 61 for mobile robot can be pushed to breaking away from under the condition of being full of electricity and charges interface 5.
In the invention, the driving module 11 is realized by a special driving controller, and the controller realizes position closed loop through the code disc, thereby achieving the purpose of accurately controlling the moving part; the infrared sensor 8 can detect the mobile robot within the range of 1.5 meters, the position and the posture of the mobile robot relative to the charging pile 1 are determined through infrared positioning, and then the real-time posture adjustment is carried out through driving control, so that the mobile robot reaches the position of about 0.8 meter right in front of the charging pile 1.
Then, through the butt joint of the sending end and the receiving end of the infrared sensor 8, the linear distance of the mobile robot relative to the charging pile 1 is accurately judged, data measured by the sensor are transmitted to the driving module 11 through 2.4G, then the speed is adjusted in real time to approach the magnetic attraction groove 10 in the target moving module 9, and finally the mobile robot moves to the charging interface 5 on the charging column 7 through the magnetic attraction groove 10, so that autonomous charging is realized.
When the electric quantity inspection module 12 on the mobile robot detects that the electric quantity is full, the mobile robot pushes the mobile robot out of the charging interface 5 through the push rod module 6 below the charging interface 5, so that the charging robot is separated from a charging state, the charging robot is navigated to a visual identification range on the charging pile 1 through the infrared sensor 8, finally, the linear position distance between the mobile robot and the charging seat is measured through the infrared sensor 8 on the charging pile 1, and then the mobile robot is separated from the mobile module 9 through the anticlockwise rotation of the driving roller group 92 at the bottom of the magnetic attraction groove 10 by controlling the mobile module 9, so that the mobile robot is overcharged, and unnecessary dangerous situations are prevented.
According to the invention, the electric quantity checking module 12 is arranged on the charging pile 1, when the electric quantity checking module 12 detects that the electric quantity of the mobile robot is full, the mobile robot pushes the mobile robot out of the charging interface 5 through the push rod module 6 below the charging interface 5, so that the charging robot is separated from a charging state, and when the mobile robot is full, the mobile robot can be separated from the charging state in time and leaves the charging pile 1, so that the mobile robot can be protected.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. The mobile robot autonomous charging system comprises a charging pile (1), and is characterized in that a prompting lamp (2) is arranged at the top of the charging pile (1), an electric quantity checking module (12), a main switch (3) and a power module (13) are arranged on the side wall of the charging pile (1), a driving module (11) is arranged in the middle of the charging pile (1), a charging column (7) is arranged at the bottom of the charging pile (1), charging interfaces (5) are arranged on the charging column (7), and a push rod module (6) is arranged at the bottom of each charging interface (5);
the bottom of charging stake (1) is provided with movable module (9), and magnetism is inhaled groove (10) has been seted up to the inside of movable module (9), and the bottom of charging stake (1) is provided with power cord (4).
2. The mobile robot autonomous charging system according to claim 1, wherein the charging pile (1), the indicator light (2), the main switch (3), the charging interface (5), the infrared sensor (8), the mobile module (9), the driving module (11), the electric quantity checking module (12), the power module (13) and the control camera (14) are in control connection setting.
3. The autonomous mobile robot charging system according to claim 1, wherein said power module (13) employs a polymer lithium battery pack as a storage battery pack, with a maximum charge capacity of 1200WH.
4. The autonomous charging system of mobile robots according to claim 1, characterized by the fact that said infrared sensor (8) is used for environmental scanning and describes the surrounding environment according to the return pulse credit, providing magnetic force in said magnetic attraction tank (10), driving the robot to move in the mobile module (9).
5. The autonomous mobile robot charging system according to claim 1, wherein said charge checking module (12) implements charge monitoring by means of a coulometer which calculates the remaining charge value by means of a current integration method, the detected charge value being communicated to said push rod module (6) by means of TTL 232.
6. Mobile robot autonomous charging system according to claim 1, characterized by the fact that said driving module (11) is adapted to drive the robot to move within the mobile module (9) until access into the charging interface (5).
7. The autonomous charging system of mobile robots according to claim 1, wherein said machine driving module (11) is connected to the mobile module (9) through a CAN bus and performs data interaction transmission setting with an upper computer in real time through ethernet.
8. The autonomous charging system of mobile robots according to claim 1, characterized by the fact that said control camera (14) is connected with the detection of the electric quantity checking module (12) on said charging pile (1) for observing whether the mobile robot is in a power-off state.
9. The autonomous charging system of mobile robots according to claim 1, characterized in that the bottom of the magnetic attraction tank (10) of the mobile module (9) is rotatably connected with a driving roller set (92) through a rotating shaft (91), and the rotating shaft (91) is in control connection with the driving module (11) through an ethernet.
10. Mobile robot autonomous charging system according to claim 1, characterized by the fact that the bottom of said pusher mechanism (6) is provided with a driving spring (61), the top of the driving spring (61) is connected with a fixed plate (62), the fixed plate (62) is connected with a pusher (64) through a connecting rod (63), and the driving spring (61) is connected with the driving module (11) through an electrical signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311036752.9A CN117728527A (en) | 2023-08-16 | 2023-08-16 | Autonomous charging system of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311036752.9A CN117728527A (en) | 2023-08-16 | 2023-08-16 | Autonomous charging system of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117728527A true CN117728527A (en) | 2024-03-19 |
Family
ID=90204004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311036752.9A Pending CN117728527A (en) | 2023-08-16 | 2023-08-16 | Autonomous charging system of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117728527A (en) |
-
2023
- 2023-08-16 CN CN202311036752.9A patent/CN117728527A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106786882B (en) | A kind of universal automatic butt charging unit suitable for indoor mobile robot | |
| US11247568B2 (en) | Systems and methods for charging an electric vehicle at a charging station | |
| CN107528370A (en) | A kind of automatic charging system and control method of intelligent security guard robot | |
| CN108973724B (en) | Full-automatic charging system suitable for various electric vehicles and implementation method thereof | |
| CN207718228U (en) | A kind of reliable indoor omni-directional mobile robots recharging system | |
| RU2589028C2 (en) | Method and charging station for electric power accumulator charging | |
| CN111923007B (en) | Inspection robot | |
| CN105048540A (en) | Charging device of greenhouse automatic inspection platform | |
| CN110435475A (en) | A kind of AGV automatic charge device and method | |
| CN104483969B (en) | The automatic patrol robot of road | |
| CN105553033A (en) | Charging pile and mobile robot | |
| CN105691227A (en) | Novel wireless charging device for electric automobile | |
| CN106532375A (en) | Omnidirectional charging base of mobile robot and independent charging method of omnidirectional charging base | |
| CN110279996A (en) | Golf robot control system based on UWB location navigation | |
| CN206283060U (en) | A kind of mobile robot omnidirectional charging device | |
| CN117728527A (en) | Autonomous charging system of mobile robot | |
| CN113141044A (en) | Automatic charging system of track robot | |
| CN108075514A (en) | The control method and control system of automatic charging, for electric installation and ground robot | |
| CN114243827A (en) | Fill electric pile controller | |
| CN210258071U (en) | Mobile robot fills electric pile | |
| CN210570803U (en) | Electric power system monitoring and collecting device | |
| CN210957843U (en) | Charging system of power transmission line inspection robot | |
| CN115867458A (en) | Charging of a battery for a mobile robot | |
| CN211508646U (en) | Mobile robot charging device | |
| CN209709763U (en) | Charging mechanism for transmission line polling robot |
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 |