CN201996471U - Charging system for sweeping robot - Google Patents

Charging system for sweeping robot Download PDF

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Publication number
CN201996471U
CN201996471U CN2011201203310U CN201120120331U CN201996471U CN 201996471 U CN201996471 U CN 201996471U CN 2011201203310 U CN2011201203310 U CN 2011201203310U CN 201120120331 U CN201120120331 U CN 201120120331U CN 201996471 U CN201996471 U CN 201996471U
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China
Prior art keywords
signal
cleaning robot
signal receiver
charging
mounted
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CN2011201203310U
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Chinese (zh)
Inventor
梁先华
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深圳市银星智能电器有限公司
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Abstract

The utility model discloses a charging system for a sweeping robot, which comprises the sweeping robot and a charge stand. A recharging signal receiver and a powered terminal are mounted on the sweeping robot, a recharging signal transmitter and a charging terminal are mounted on the charge stand, and the recharging signal receiver of the sweeping robot consists of a first signal receiver and a second signal receiver which are respectively mounted on the left side and the right side of the sweeping robot. The sweeping robot moves forward to the charge stand after the two signal receivers simultaneously receive a recharging signal of the charge seat, so that the sweeping robot is in precise butt joint with the charge seat. The charging system has the advantages of simple structure and precision in butt joint.

Description

扫地机器人用充电系统 Cleaning robot charging system

技术领域 FIELD

[0001] 本实用新型涉及用于室内清洁的扫地机器人,特别是扫地机器人的充电系统。 Cleaning robot [0001] The present invention relates to a cleaning chamber, in particular the charging system of the cleaning robot. 背景技术 Background technique

[0002] 随着科学技术的发展,机器人技术越来越成熟,在市面上出现了很多用于清洁地面的扫地机器人,由于其方便性及实用性,为广大消费者所欢迎,具有广阔的市场空间。 [0002] With the development of science and technology, robotics technology becomes more mature, a lot of cleaning robot for cleaning the floor in the market, due to its convenience and practicality, is welcomed by the majority of consumers, and has broad market space.

[0003] 在现有的扫地扫地人在其电量不足或低于预定设定值的时候会自动返回充电座, 与此相关技术可在中国专利申请号为ZL98813347. 4、名称为“移动机器人及其控制系统的改进”的专利文献中以及中国专利申请号为ZL200510060850. 1、名称为“自动吸尘器的充电装置及其对接方法”的专利文献中查询到,但上述移动机器人或自动吸尘器都不能与充电座实现精确对位,移动机器人或自动吸尘器在充电时存在与充电座接触不良的情况,进而导致移动机器人或自动吸尘器不能正常工作。 [0003] In the conventional sweeping sweeping it will return automatically when power is low or below a predetermined set value of the charging base, with this related art can be Chinese Patent Application No. ZL98813347. 4, entitled "Mobile Robot and improvement of the control system ", and China Patent Document Patent application No. ZL200510060850. 1, entitled" automatic cleaner and a charging device docking method "in Patent Document queried, but the moving robot or the automatic cleaner can not charging stand precise alignment, the mobile robot or automatic cleaner presence of poor contact with the charging dock during charging, leading to mobile robots or automatic cleaner does not work.

实用新型内容 SUMMARY

[0004] 本实用新型所要解决的技术问题是克服背景技术中的缺陷,提供一种结构简单、 对位精确的扫地机器人用充电系统。 [0004] The present invention is to solve the technical problem is to overcome the shortcomings of the background art, provide a simple, precise alignment of the cleaning robot charging system.

[0005] 为了达到以上目的,本实用新型采用的技术方案如下: [0005] To achieve the above object, the present invention adopts the technical solution as follows:

[0006] 一种扫地机器人用充电系统,包括扫地机器人和充电座,所述扫地机器人上安装有回充信号接收器及受电端子,所述充电座上安装有回充信号发射器及充电端子,所述扫地机器人的回充信号接收器包括分别安装在其左右两侧的第一信号接收器和第二信号接收器。 [0006] A cleaning robot charging system comprising a charging base and the cleaning robot, the cleaning of the seat back is attached to the charging signal and a charging terminal of a transmitter mounted on a robot with a signal receiver and backfilled receiving terminals, the charge the cleaning robot comprises a refill signal receiver are mounted in the first signal receiver and the left and right sides of the second signal receiver.

[0007] 在本实用新型的优化方案中,所述扫地机器人安装有呈半环形的前撞,所述第一信号接收器和第二信号接收器分别安装在前撞的两末端。 [0007] In the present invention optimized embodiment, the cleaning robot mounted with a semi-circular front collision, the first signal receiver and a second signal receiver are mounted at both ends of the front collision.

[0008] 在本实用新型的进一步优化方案中,所述充电座还安装有静止位信号发射器22 均采用红外信号发射器,其中,回充信号发射器22发射的信号强度要大于静止位信号发射器21的信号强度,如图3所示,回充信号发射器22形成的回充信号区域220大于静止位信号发射器21形成的静止位信号区域210 ;所述扫地机器人10包括大致呈半环形的前撞15、 第一信号接收器11、第二信号接收器12、静止位信号接收器14以及与充电座的充电端子23 对接的受电端子13,其中,前撞15位于扫地机器人10工作时运动方向的前方位置,用于在碰到障碍时发送信号给扫地机器人10的主控系统以使其避开障碍;第一信号接收器11、第二信号接收器12分别位于前撞15的两端部;静止位信号接收器14安装在前撞15的中间位置,位于第一信号接收器11和第二信号接收器12的之间;为了防止受电端子13 [0008] In the present invention further optimized embodiment, the charging station is also mounted stationary signal transmitter 22 are infrared signal transmitter, wherein the signal transmitter 22 backfilled with signal strength greater than a stationary transmission signal signal strength of the transmitter 21, shown in Figure 3, the signal charge back region 22 backfilled signal transmitter 220 is formed larger than the static rest position a signal transmitter signal area formed 21210; the cleaning robot 10 comprises a substantially semi- annular front striker 15, the first signal receiver 11, a second signal receiver 12, a stationary signal receiver 14 and the charging terminals 23 and the charging base power receiving mating terminals 13, wherein the striker 15 is located before the cleaning robot 10 when the movement of the working direction a front position for the main control system sends a signal to the cleaning robot 10 so as to avoid obstacles to the obstacles encountered; before a first signal receiver 11, a second signal receiver 12 are located at the striker 15 both end portions; stationary signal receiver 14 mounted on the front striker 15 is an intermediate position situated between the first 12 and second 11 signal receiver signal receiver; receiving terminals 13 in order to prevent 在扫地机器人10在工作时与障碍碰撞,本实施例中的受电端子13安装在扫地机器人10相对前撞15的另一侧。 10 collide with obstacles during operation in the cleaning robot, the present embodiment by embodiment electrical terminal 13 is mounted in the cleaning robot 10 relative to the front striker 15 in the other side.

[0009] 本实用新型扫地机器人用充电系统的工作过程如下: [0009] The cleaning robot according to the present invention with the charging system during operation is as follows:

[0010] 如图4所示,扫地机器人10在第一信号接收器11位于充电座20的回充信号区域220内,而第二信号接收器12没有位于回充座20的回充信号区域220内时,扫地机器人10 的主控系统控制其在保持第一信号接收器11接收到回充信号的同时沿顺时针旋转一定角度并向前运动,直到第二信号接收器12接收到回充座20的回充信号为止,如图5所示,然后扫地机器人10再沿当前方向向前运动。 [0010] As shown in FIG. 4, the cleaning robot 10 in the region of the charging signal refill seat 20 of the first signal receiver 11220, and the second signal receiver 12 is not located back-filled seat back filled region 20 of the signal 220 when the cleaning robot main control system 10 controls the clockwise rotation angle and forward movement of the refill while receiving the signal receiver 11 holds the first signal, the second signal until the receiver receives the refill seat 12 Until refill signal 20, as shown in Figure 5, the cleaning robot 10 and then along the current direction of forward motion.

[0011] 如图5所示,扫地机器人10在第二信号接收器12位于充电座20的回充信号区域220内,而第一信号接收器12没有位于回充座20的回充信号区域220内时,扫地机器人10 的主控系统控制其在保持第二信号接收器12接收到回充信号的同时沿逆时针旋转一定角度并向前运动,直到第一信号接收器11接收到回充座20的回充信号为止,如图6所示,然后扫地机器人10再沿当前方向向前运动。 [0011] 5, the cleaning robot 10 is backfilled signal region refill seat 20 of the second signal receiver 12 located within the backfilled area signal 220 of the charging dock 20, the first signal receiver 12 is not located at 220 when the cleaning robot which is the main control system 10 is controlled while maintaining the second signal receiver receives a signal 12 to the refill rotates counterclockwise angle and moved forward until the first signal receiver 11 receives the refill seat Until refill signal 20, shown in FIG. 6, the cleaning robot 10 and then along the current direction of forward motion.

[0012] 如图7所示,当扫地机器人10的静止位信号接收器14位于回充座20的禁止位信号区域210内时,扫地机器人10的主控系统控制其顺时针或逆时针旋转180°,然后再直线后退(相对前撞15的反方向)使其受电端子13与充电座20的充电端子23实现精确对接。 When [0012] As shown, when the cleaning robot 10 is stationary signal receiver 14 is positioned within the refill 7 prohibition region 210 signal 20, the cleaning robot main control system 10 which control 180 rotated clockwise or counterclockwise °, and then straight back (in the opposite direction relative to the front striker 15) so that a charging power receiving terminal 13 and terminal 23 of the charging stand 20 to achieve precise docking. 发射器,所述扫地机器人上的前撞上安装有对应的静止位信号接收器,所述受电端子安装在扫地机器人上相对前撞的另一侧。 Transmitter, the front sweeping mounted on the robot hit signal corresponding to stationary receiver, the power receiving terminals mounted on the other side of the cleaning robot opposite front collision.

[0013] 本实用新型中的回充信号优选红外信号。 [0013] The present invention backfilled signal is preferably an infrared signal.

[0014] 对比现有技术,本实用新型的有益效果在于: [0014] Compare the prior art, the beneficial effects of the present invention comprising:

[0015] 本实用新型扫地机器人用充电系统通过在扫地机器人两侧各安装一个回充信号接收器,所述扫地机器人在两个回充信号同时接收到充电座的回充信号后向前运动以实现扫地机器人与充电座的精确对接。 In the forward movement [0015] In the present invention, the cleaning robot cleaning robot each mounted on both sides of a refill signal receiver, the signal sweeping robot backfilled backfilled two signals received at the same time to the charge system for charging stand by cleaning robot for precise docking with the charging cradle. 本实用新型具有结构简单、对接精确的优点。 The present invention has a simple structure, the advantages of precise docking.

附图说明 BRIEF DESCRIPTION

[0016] 图1是本实用新型较佳实施例的扫地机器人用充电系统的示意图; [0016] FIG. 1 is a cleaning robot according to the present invention, a schematic diagram of a preferred embodiment of the charging system;

[0017] 图2是图1中的扫地机器人的示意图; [0017] FIG. 2 is a schematic diagram in FIG. 1 of the cleaning robot;

[0018] 图3是图1中的充电座的示意图; [0018] FIG. 3 is a schematic view of the charging stand of FIG. 1;

[0019] 图4是本实用新型较佳实施例的扫地机器人的第一信号接收器接收到回充信号时的示意图; [0019] FIG. 4 is a schematic view of the refill signal present invention a preferred embodiment of the cleaning robot of the first signal received by the receiver;

[0020] 图5是本实用新型较佳实施例的扫地机器人的第二信号接收器接收到回充信号时的示意图; [0020] FIG. 5 is a schematic view of the refill signal present invention a preferred embodiment of the cleaning robot of the second signal received by the receiver;

[0021] 图6是本实用新型较佳实施例的扫地机器人的第一、第二信号接收器同时接收到回充信号时的示意图; [0021] FIG. 6 of the present invention is a first, a second signal receiver in the preferred embodiment of the cleaning robot while the received signal schematic view of the refill;

[0022] 图7是本实用新型较佳实施例的扫地机器人接收到静止位信号时的示意图。 [0022] FIG. 7 is a schematic diagram of the present invention, the preferred embodiment of the cleaning robot to the rest of the signal received. 具体实施方式 Detailed ways

[0023] 下面结合具体实施方式并对照附图对本实用新型扫地机器人用充电系统进行进一步详细说明。 [0023] below with reference to the drawings and specific embodiments of the cleaning robot of the present invention will be further described by the charging system.

[0024] 请参考图1至图7,为本实用新型的一个较佳实施例。 [0024] Please refer to FIG. 1 to FIG. 7, a preferred embodiment of the novel present invention.

[0025] 本实用新型扫地机器人用充电系统包括扫地机器人10和充电座20,如图1、图2 所示,所述充电座20包括静止位信号发射器21、回充信号发射器22以及充电端子23,本实施例中的静止位信号发射器21及回充信号。 [0025] The cleaning robot according to the present invention with the cleaning robot 10 includes a charging system and a charging base 20, as shown in FIG 1, FIG. 2, the charging stand 20 includes a stationary signal transmitter 21, backfilling signal transmitter 22 and the charging terminal 23 in the embodiment of the stationary signal transmitter 21 and signal backfilling the present embodiment.

Claims (4)

1. 一种扫地机器人用充电系统,包括扫地机器人和充电座,所述扫地机器人上安装有回充信号接收器及受电端子,所述充电座上安装有回充信号发射器及充电端子,其特征在于:所述扫地机器人的回充信号接收器包括分别安装在其左右两侧的第一信号接收器和第二信号接收器。 A cleaning robot charging system, and charging the cleaning robot includes a seat mounted on a cleaning robot with a refill signal receiver and the power terminal, the base is attached to the charging signal transmitters and backfilled charging terminal, characterized in that: said cleaning robot comprises a refill signal receiver are mounted on left and right sides of the first signal receiver and a second signal receiver.
2.根据权利要求1所述的扫地机器人用充电系统,其特征在于:所述扫地机器人安装有呈半环形的前撞,所述第一信号接收器和第二信号接收器分别安装在前撞的两末端。 The cleaning robot according to the charging system of claim 1, wherein: said cleaning robot mounted with a semi-circular front collision, the first signal receiver and a second signal receiver are mounted on the front striker the two ends.
3.根据权利要求2所述的扫地机器人用充电系统,其特征在于:所述充电座还安装有静止位信号发射器,所述扫地机器人上的前撞上安装有对应的静止位信号接收器,所述受电端子安装在扫地机器人相对前撞的另一侧。 The cleaning robot according to the charging system of claim 2, wherein: the charging base further signal transmitter is attached to the rest position, said front sweeping mounted on the robot hit the rest position corresponding to the signal receiver , the other side said power receiving terminal is mounted in front of the cleaning robot relative collision.
4.根据权利要求1至3任意一项所述的扫地机器人用充电系统,其特征在于:所述回充信号为红外信号。 1 to 3 according to the cleaning robot according to any one of claims charging system, wherein: said signal is an infrared signal backfilled.
CN2011201203310U 2011-04-21 2011-04-21 Charging system for sweeping robot CN201996471U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102707237A (en) * 2012-05-21 2012-10-03 南通铭德机床有限公司 Display device for electric quantity of intelligent sweeping machine
CN103356131A (en) * 2013-07-24 2013-10-23 莱克电气股份有限公司 Seizing-elimination processing method of robot dust collector
CN105242674A (en) * 2015-11-20 2016-01-13 江苏美的清洁电器股份有限公司 Sweeping robot back charging system and back charging control method thereof
CN105334850A (en) * 2014-08-07 2016-02-17 苏州宝时得电动工具有限公司 Automatic movement device
CN105761363A (en) * 2016-02-19 2016-07-13 海信集团有限公司 Self-service charging method for mobile equipment, mobile equipment and fixed charging pile
CN106111580A (en) * 2016-08-17 2016-11-16 上海电机学院 A kind of solar panel intelligent cleaning device
CN106235954A (en) * 2016-09-22 2016-12-21 蔡展 A kind of automatic cleaning machine people and charging system thereof
US9989968B2 (en) 2015-11-20 2018-06-05 Jiangsu Midea Cleaning Appliances Co., Ltd. Going back and charging system for sweeping robot and method for controlling the same

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102707237A (en) * 2012-05-21 2012-10-03 南通铭德机床有限公司 Display device for electric quantity of intelligent sweeping machine
CN103356131A (en) * 2013-07-24 2013-10-23 莱克电气股份有限公司 Seizing-elimination processing method of robot dust collector
CN103356131B (en) * 2013-07-24 2016-01-13 莱克电气股份有限公司 For the processing method of getting rid of poverty of robot cleaner
CN105334850A (en) * 2014-08-07 2016-02-17 苏州宝时得电动工具有限公司 Automatic movement device
CN105242674A (en) * 2015-11-20 2016-01-13 江苏美的清洁电器股份有限公司 Sweeping robot back charging system and back charging control method thereof
CN105242674B (en) * 2015-11-20 2017-03-08 江苏美的清洁电器股份有限公司 Sweeping robot recharges electric system and its recharges control method
US9989968B2 (en) 2015-11-20 2018-06-05 Jiangsu Midea Cleaning Appliances Co., Ltd. Going back and charging system for sweeping robot and method for controlling the same
CN105761363A (en) * 2016-02-19 2016-07-13 海信集团有限公司 Self-service charging method for mobile equipment, mobile equipment and fixed charging pile
CN105761363B (en) * 2016-02-19 2018-08-14 海信集团有限公司 A kind of self-service charging method of mobile device, mobile device and fixed charging pile
CN106111580A (en) * 2016-08-17 2016-11-16 上海电机学院 A kind of solar panel intelligent cleaning device
CN106235954A (en) * 2016-09-22 2016-12-21 蔡展 A kind of automatic cleaning machine people and charging system thereof

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