CN205791621U - The cradle of a kind of robot and automatic charging system - Google Patents
The cradle of a kind of robot and automatic charging system Download PDFInfo
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- CN205791621U CN205791621U CN201620492391.8U CN201620492391U CN205791621U CN 205791621 U CN205791621 U CN 205791621U CN 201620492391 U CN201620492391 U CN 201620492391U CN 205791621 U CN205791621 U CN 205791621U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
This utility model provides the cradle of a kind of robot, including housing and the controller and signal receiving unit, wireless signal transmitter and the charging terminal that are arranged on housing；Signal receiving unit at least includes that left and right signal receives unit, and left and right signal receives the signal receiving angle scope of unit and defines region, three, left, center, right in housing front region respectively；Left and right regions is region in guided robot tends to, and middle region is docked with cradle for guided robot；Wireless signal transmitter sends corresponding feedback signal to robot for connecing the situation each receiving signal in response to signal receiving unit；Charging terminal is for charging to robot.This utility model also provides for the automatic charging system of robot.This utility model avoids needs infrared transmitting tube to keep bigger launching power and add the problem in the service life consuming energy and reducing infrared transmitting tube in prior art, and can reach the effect of effective guided robot automatic charging.
Description
Technical field
This utility model relates to the automatic charging technology of self-propelled electric equipment, particularly relates to cradle and the automatic charging system of a kind of robot.
Background technology
Current self-propelled robot uses battery to power, and when its electricity deficiency, can automatically return to cradle and be charged.The United States Patent (USP) of Patent No. US8749196B2 discloses a kind of cradle and automatic charging system, this patent mainly launches infrared signal by two, the left and right on cradle infrared transmitting tube, two infrared signal areas of coverage and middle left-right signal overlay region about formation, robot finds the left-right signal overlay region of centre by the guiding of two signals in left and right, and according to the guiding of left-right signal overlay region thus dock with cradle, the problem that such mode can effectively solve the automatic charging of robot, however it is necessary that the infrared transmitting tube on cradle persistently launches infrared signal.Infrared signal in order to allow infrared transmitting tube launch can cover whole work space so that robot is found, and needs the transmitting power that infrared transmitting tube holding is bigger, thus adds power consumption and reduce the service life of infrared transmitting tube.
Summary of the invention
The problem existed for prior art, this utility model provides a kind of and distinct technical scheme of prior art, and the program need not arrange the infrared transmitting tube persistently launching signal on cradle, and can reach technique effect same as the prior art.This utility model is achieved in that
The cradle of a kind of robot, including housing, described housing defines the profile of described cradle and the installing space of miscellaneous part；It is characterized in that: the controller also including being arranged on described housing and the signal receiving unit, wireless signal transmitter and the charging terminal that electrically connect with described controller:
Described controller is for coordinating and control each parts being electrically connected；
Described signal receiving unit at least two, it is respectively defined as left and right signal and receives unit, described left and right signal receives unit and has each self-corresponding signal receiving angle scope at the left and right sides in described housing front respectively, and defining region, three, left, center, right in described housing front region, described middle region is less than described left and right regions；Described left and right regions tends to described middle region for guided robot, described middle region aligns described cradle for guided robot thus tends to described cradle and dock with described cradle, and the signal receiving angle scope that described left region and right region are at least partly received unit by described left and right signal defines；
Described wireless signal transmitter is used for responding each described signal receiving unit and each receives the situation of signal and send corresponding feedback signal to robot；
Described charging terminal for the charging terminal docking corresponding with robot thus charges to robot.
In one embodiment, the overlapping region that described middle region is received by described left and right signal between the receiving angle scope of unit defines.
In one embodiment, described left region and right region are separated from each other, and described middle region is between described left and right regions.
In one embodiment, described cradle the most also includes that being located at described left and right signal receives the middle signal receiving unit in the middle of unit；Described left region and right region are separated from each other, and described middle region is between described left and right regions, and the signal receiving angle scope of described middle signal receiving unit is at least partially disposed at described middle region.
Further, described signal receiving unit is IR signal reception unit or ultrasound signal receipt unit.Described wireless signal transmitter is 2.4G wireless signal transmitting module.
Specifically, being provided with two arms stretching to described cradle front bottom described cradle, described charging terminal is the metal bump being located at described arm afterbody upper end.
Further, the receiving angle scope of described left signal reception unit at least covers the leftmost scope in described housing left forward side；Described right signal receives the receiving angle scope of unit can cover the leftmost scope in described housing right forward side；The receiving angle of described middle signal receiving unit can cover the region of described housing dead ahead 1 ~ 30 °.
nullThis utility model also provides for the automatic charging system of a kind of robot，Including cradle mentioned above，And the robot separated with described cradle，Described robot is provided with sender unit and wireless signal receiver，Described sender unit includes being located at centre position, described robot front end and for launching the first emitter of signal along described robot dead ahead and being located at second emitter for launching omnidirectional signal at described robot top，Described sender unit is for launching signal to the signal receiving unit of described cradle，Described wireless signal receiver is for receiving the feedback signal that the wireless signal transmitter on described cradle sends，According to described feedback signal, described robot judges described robot is positioned at which region in described cradle front，And make corresponding action: if described cradle only left signal receives unit and receives the signal that described first emitter is launched，The most described robot turns to mobile thus close described middle region to left front；If described cradle only right signal receives unit and receives the signal that described first emitter is launched, the most described robot turns to mobile thus close described middle region to right front；If described robot is positioned at middle region, the most described robot keeps trend front, current direction to move thus near described cradle, and finally docks with described cradle.
In one embodiment, described first emitter and the second emitter are the mutually different Infrared Projector of signal launched.
The cradle of the robot that this utility model provides and automatic charging system, provide a kind of technical scheme unlike the prior art, the infrared transmitting tube of signal is persistently launched owing to need not to arrange on cradle, and the sender unit in robot only just launches signal finding cradle when, therefore avoid in prior art and need infrared transmitting tube to keep bigger transmitting power persistently to launch signal and add the problem in the service life of power consumption and reduction infrared transmitting tube, and the effect of effective guided robot automatic charging can be reached.
Accompanying drawing explanation
Fig. 1 show the schematic perspective view of the cradle of a kind of robot that this utility model embodiment provides；
Fig. 2 show the schematic top plan view of the cradle shown in Fig. 1；
The circuit of controller and each parts that Fig. 3 show the cradle shown in Fig. 1 is connected block diagram；
Fig. 4 to Figure 11 show the schematic diagram of the cradle shown in Fig. 1 and robot composition automatic charging system；
Figure 12 show the workflow schematic diagram of the cradle shown in Fig. 1；
Figure 13 show the signal that robot launches in automatic charging system and is electrically charged the schematic diagram that seated connection is received after reflection；
Figure 14 show cradle and robot in another embodiment and forms the schematic diagram of automatic charging system；
Figure 15 show the top view plane schematic diagram of the cradle that another embodiment provides；
The circuit of controller and each parts that Figure 16 show the cradle shown in Figure 14 is connected block diagram；
Figure 17 show the workflow schematic diagram of the cradle shown in Figure 15.
Detailed description of the invention
So that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with drawings and Examples, this utility model is described in further details.
Embodiment one:
Referring to figs. 1 to Fig. 3, cradle 100 includes that housing 120, described housing 120 define profile and the installing space of miscellaneous part of described cradle 100；Cradle 100 also includes being arranged on shown in controller 140(Fig. 3 of described housing 120) and two signal receiving units 160 and 180(Fig. 2 of electrically connecting with controller 140 shown in), shown in wireless signal transmitter 130(Fig. 3) and charging terminal 150.
Controller 140 is for coordinating and control all parts being electrically connected.
Two signal receiving units 160,180 are respectively defined as left signal and receive unit 160 and right signal reception unit 180.As depicted in figs. 1 and 2, using the side at charging terminal 150 place of cradle 100 for front side as reference, left signal receives unit 160 and is arranged on the left side of cradle 100；Right signal receives unit 180 and is arranged on the right side (due to the schematic top plan view that Fig. 2 is cradle 100, therefore the left and right sides of the cradle 100 shown in Fig. 2 and the left and right sides of reader are in opposite direction) of cradle 100.In the present embodiment, signal receiving unit 160,180 is IR signal reception unit, and on cradle, the front end in described left and right signal reception unit 160,180 is provided with a light penetrating panel 101；Incoming signal from cradle 100 front can be received unit through light penetrating panel 101 by left and right signal and receive.Left and right signal receives unit 160,180 and has each self-corresponding signal receiving angle scope at the left and right sides in housing 120 front respectively.The signal receiving angle of signal receiving unit is the biggest, is more easy to receive the signal that robot launches, the most more it is easy to robot and is quickly found out cradle, the signal receiving angle scope of the unit of left signal reception the most in the present embodiment can cover the whole region (at least covering the leftmost scope in housing left forward side) in cradle 100 left forward side, and the signal receiving angle scope of right signal reception unit can cover the whole region in cradle 100 right forward side (at least covering the rightmost scope in housing right forward side).Can be by arranging baffle plate in signal receiving unit front end or optical lens limits signal receiving angle and the direction of signal receiving unit.Left and right signal receives the receiving angle scope of unit 160,180 and defines region, three, left, center, right in housing 120 front end area, described left and right regions tends to described middle region for guided robot, described middle region aligns cradle 100 for guided robot thus tends to cradle 100 and move and finally dock with cradle 100, and what is called docking refers to that the charging terminal that the charging terminal of robot is corresponding with cradle 100 contacts thus to robot charging.In the present embodiment, as depicted in figs. 1 and 2, most of receiving angle scope that left and right regions is received unit 160 and 180 by left and right signal respectively defines, and the overlapping region that middle region is received between the receiving angle scope of unit 160,180 by left and right signal defines.The scope in middle region is less than the scope in left and right region, owing to middle region is mainly used for what guided robot accurately docked with cradle, therefore in the scope in region should not be too big, can accurately dock with cradle and to be advisable by guided robot.
Wireless signal transmitter 130 electrically connects with controller 140, corresponding feedback signal is sent for being respectively received the situation of signal in response to two signal receiving units 160 and 180 to robot, such as, when left signal receive unit 160 receive signal time, wireless signal transmitter 130 to robot send a feedback signal (being defined as left feedback signal) make robot know left signal receive unit 160 have received robot launch signal；When right signal receive unit 180 receive signal time, wireless signal transmitter 130 to robot send another feedback signal (being defined as right feedback signal) make robot know right signal receive unit 180 have received robot launch signal.In the present embodiment, wireless signal transmitter is 2.4G wireless transmission signal module, can also use the such as wireless transmitter module such as bluetooth, WIFI present in prior art in other embodiments.
Charging terminal 150 electrically connects with controller 140, for the charging terminal docking corresponding with robot thus charges to robot.In the present embodiment, it is provided with bottom cradle 100 shown in two arm 121(Fig. 2 extended forwards), charging terminal 150 is the metal bump being located at arm 121 afterbody upper end.In other embodiments, charging terminal can also be located at other positions of cradle, as long as when robot docks with cradle, it is possible to the charging terminal that robot is corresponding is docked with the charging terminal of cradle.
As shown in Fig. 4 to Figure 11, cradle 100 and robot 200 with the use of time, forming an automatic charging system, including above-described cradle 100 and the robot 200 that separates with cradle 100, robot 200 is provided with shown in sender unit 220 and wireless signal receiver 240(Fig. 4).Sender unit 220 is for launching signal to the signal receiving unit 160,180 of cradle 100；Owing to signal receiving unit 160,180 is IR signal reception unit, the signal that therefore sender unit 220 is launched is infrared signal.This utility model, in addition to can using infrared signal, can also use laser signal in other embodiments, and ultrasonic signal etc. has the signal of directivity.
As shown in Figure 5 and Figure 6, sender unit 220 includes being located at centre position, robot 200 front end and for launching along described robot dead ahead shown in first emitter 222(Fig. 5 of signal) and be located at described robot 200 top nose for launching shown in second emitter 224(Fig. 6 of omnidirectional signal).So-called omnidirectional signal refers to the signal (shown in Fig. 6) launched centered by the second emitter 224 to around 360 ° of directions.Shown in wireless signal receiver 240(Fig. 4) for receiving the feedback signal that the wireless signal transmitter 130 on cradle 100 is launched, robot 200 makes corresponding action in response to received each feedback signal.
Clean robot 200 need not charging when electricity abundance, then signal the most do not launched by the first emitter 222 and the second emitter 224；When the electricity deficiency of robot 200 needs charging, then the second emitter 224 starts to launch signal, due to the second emitter transmitting is omnidirectional signal, as long as therefore cradle 100 is at the near its circumference of robot 200, then signal receiving unit 160,180 is easy to receive the signal that the second emitter 224 is launched.As it is shown in fig. 7, robot 200 all can be electrically charged seat 100 receive at cradle 100 front various location, the signal that the second emitter 224 in robot 200 is launched.Wireless signal transmitter 130 receives the signal of the second emitter 224 transmitting in response to signal receiving unit 160,180 and sends corresponding feedback signal to robot 200.Robot 200 can only determine after receiving the feedback signal that wireless signal transmitter 130 is launched that robot 200 has come into the receiving in the range of signal of cradle 100, i.e. can only determine that cradle 100 is positioned at the vicinity of robot 200, but the signal launched due to the second emitter 224 is omnidirectional, and therefore robot 200 can't determine cradle 100 is positioned at which orientation of robot 200.Now the first emitter 222 of robot 200 starts to launch signal, owing to the first emitter 222 is not omnidirectional emission signal, but at the dead ahead transmitting signal of robot 200, as long as the signal that therefore the first emitter 222 is launched is electrically charged seat 100 and receives, and produce corresponding feedback signal and be sent to robot 200, then robot 200 i.e. can confirm that cradle 100 is positioned at the front region of robot 200.The signal that in the present embodiment, the first emitter 222 is launched with the second emitter 224 is the same, and in order to avoid producing interference when launching signal the most simultaneously, the when that therefore signal being launched by the first emitter 222, the second emitter 224 stops emission signal.
In other embodiments, the signal that the first emitter 222 and the second emitter 224 can also be made to launch is different from each other (in this case, first emitter 222 and the second emitter 224 can launch signal simultaneously), with cradle 100 in season receiving the first emitter 222 and produce different feedback signals during unlike signal that the second emitter 224 is launched respectively, which signal receiving unit making robot know cradle 100 have received the signal which signal projector is launched, the feedback signal that so can be easy to the signal that robot launches according to the first emitter 222 judges cradle 100 is positioned at which direction of robot 200.
As shown in Figure 8 A, in the present embodiment, when signal launched by the first emitter 222, robot 200 rotates in place (clockwise or counterclockwise) so that signal 360 ° of scanning around robot that the first emitter 222 is launched.As shown in Figure 8 B, during robot 200 rotates, if receiving the feedback signal that cradle 100 sends, then stop the rotation to determine that cradle 100 is positioned at robot 200 front.
Robot 200 can confirm, according to the feedback signal that the signal that the first emitter 222 is launched by cradle produces, which district that robot 200 is positioned in region, left, center, right, cradle 100 front.
As shown in figure 12, cradle 100 is when being not received by any signal that robot 200 launches, it is in holding state, receive, when the left signal of cradle 100 receives unit 160, the signal that the first emitter 222 is launched, then the wireless signal transmitter 130 on cradle 100 launches left feedback signal to robot 200；Receive, when the right signal of cradle 100 receives unit 180, the signal that the first emitter 222 is launched, then the wireless signal transmitter 130 on cradle 100 launches right feedback signal to robot 200.As shown in Figure 9, if robot only receives left feedback signal and does not receive right feedback signal, then robot 200 can determine whether that it is positioned at the left region of cradle 100, and then robot 200 turns to mobile (moving along the direction such as the instruction of figure hollow core arrow) thus near middle region to left front；As shown in Figure 10, if robot 200 only receives right feedback signal and does not receive left feedback signal, then robot 200 can determine whether that it is positioned at the right region of cradle 100, then robot 200 to right front turn to mobile (along as moved in the direction of figure hollow core arrow instruction) thus close as described in middle region；As shown in figure 11, owing to middle region is by a left side, right signal receives unit 160, region definition that what the receiving angle scope of 180 was adjacent partly overlap, therefore when robot 200 is positioned at middle region, the signal that first emitter 222 and the second emitter 224 are launched all can be the most left, right signal receives unit 160, 180 receive, if therefore robot 200 receives left feedback signal and right feedback signal in certain position, then robot 200 can determine whether that it is positioned at middle region, then robot 200 keep current direction move tend to front move (along as moved in the direction of figure hollow core arrow instruction) thus close as described in cradle 100.If robot is when middle region is moved, may depart from region and enter left/right region, robot can be returned under the guiding in left/right region in region.The repeatable above-mentioned action of robot 200 is also finally docked with cradle 100.
Further; cradle 100 would be normally located at the position by wall, and the signal that the first emitter 222 is launched may be electrically charged the signal receiving unit of seat and receive after being reflected by wall or other barriers so that robot produces erroneous judgement; for purposes of illustration only, by above-mentioned situation referred to as reflection erroneous judgement situation.Specifically, situation as shown in fig. 13 that, when robot 200 is positioned at right region, in the signal that secondary signal emitter 222 is launched, signal X1 is received unit 160 by left signal after being reflected by wall 300 and receives, robot 200 so can be caused to receive left feedback signal in this position so that robot produces erroneous judgement.In order to avoid the generation of the problems referred to above, the method that reduction emission current described below can be used: when robot 200 does not receives the feedback signal that cradle 100 is launched, the signal projector of robot 200 is with specified emission maximum current emission signal；When robot 200 receives the feedback signal that cradle 100 is launched, robot 200 reduces signal projector 220(and includes the first emitter 222 and the second emitter 224) emission current until a certain marginal value, this marginal value is the minima that just can receive the feedback signal that cradle 100 is launched.So it is possible that two kinds of situations, a kind of situation is, if robot 200 is now physically located in left region or right region, along with sender unit 220 reduces emission current, the signal transmission distance that signal projector is launched will be more and more less, the transmission range needed due to reflected signal is long, therefore certain marginal value has been arrived, only having the signal receiving unit closest to robot 200 and just can receive the signal that robot 200 launches, this marginal value is the minima that just can receive the feedback signal that cradle 100 is launched.Thus cradle 100 can judge which region robot 200 is positioned at；Another kind of situation is, if robot is now physically located in the middle region shown in Fig. 2, along with sender unit 220 reduces emission current, the signal transmission distance that signal projector is launched will be more and more less, almost equal from the distance of robot 200 owing to receiving unit 160 and 180 at middle region left-right signal, therefore certain marginal value has been arrived, two signal receiving units just can receive the signal that robot launches, and this marginal value is the minima that just can receive the feedback signal that cradle 100 is launched.Thus robot can further confirm that it is positioned at middle region.
Embodiment two:
As shown in figure 14, the present embodiment and the difference of embodiment one are that the left region of the present embodiment cradle 100 and right region are separated from each other, middle region, between region, left and right, can arrange baffle plate with region in isolating by receiving in left and right signal between unit 160,180.When first signal projector 222 of robot 200 launches signal in middle region, will be unable to receive the feedback signal that cradle 100 sends.Middle region is the narrow regions of the dead ahead of cradle, robot 200 is when finding cradle 100, omnidirectional signal is persistently launched by the second emitter 224, and in the interior space random walk, after receiving the feedback signal that cradle 100 sends, robot 200 determines that cradle is near about.Robot can launch signal by the first emitter 222, robot 200 rotates in place simultaneously, the signal that first emitter 222 is launched is scanned around robot 200, after receiving the feedback signal that cradle 100 sends, robot 200 stops the rotation, it is possible to determine that cradle 100 is positioned at the front of robot.When robot 200 receives, in left region (or right region), the feedback signal that cradle 100 is launched, then robot 200 confirms that it is positioned at left region (or right region), then robot 200 (or right) front to the left is moved, when in moving process, robot 200 no longer receives the feedback signal that cradle 100 sends, then region during robot 200 confirms its entrance.Robot 200 can constantly adjust the position of self, moves back and forth between middle region and region, left and right, thus generally under the guiding in middle region in mobile, and the guiding in middle region next step by step near cradle, and finally dock with cradle.
Embodiment three:
As shown in figure 15, the present embodiment is unlike embodiment one, in the present embodiment, left region and the right region of cradle 100 are separated from each other, middle region is between region, left and right, and on cradle, having three signal receiving units, the left signal except having been described above in embodiment one receives in addition to unit 160 and right signal reception unit 180, an also middle signal receiving unit 170 being located between signal receiving unit 160 and 180.Figure 16 show the controller shown in Figure 14 and is connected block diagram with the circuit of each parts.The signal receiving angle scope of middle signal receiving unit 170 is at least partially disposed in middle region.Signal receiving unit 170 receives after robot 200 launches signal, cradle sends a feedback signal (being defined as middle feedback signal) to inform that signal receiving unit 170 in robot has been received by the signal that robot launches to robot, then robot 200 can determine whether that it is positioned at middle region.The transmitting angular range of middle signal receiving unit 170 can cover whole middle region, it is also possible to the subregion being positioned at axis in region in only covering.Can arrange baffle plate (not shown) in middle signal receiving unit 170 front end, baffle plate forms a slit (not shown) in middle signal receiving unit 170 front end, and the signal that robot 200 launches is received by middle signal receiving unit 170 through this slit.Slit can limit in the signal receiving angle scope of signal receiving unit 170.The receiving angle scope of middle signal receiving unit 170 is can accurately dock with cradle 100 and to be advisable by guided robot 200.
The cradle of the robot that this utility model provides and automatic charging system, provide a kind of technical scheme unlike the prior art, owing to need not arrange the infrared transmitting tube persistently launched on cradle, and the sender unit in robot only just launches signal finding cradle when, therefore avoid in prior art and need infrared transmitting tube to keep bigger launching power and add the problem in the service life consuming energy and reducing infrared transmitting tube, and the effect of effective guided robot automatic charging can be reached.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, those skilled in the art can also make some differentiation according to the description of above example；All made in design of the present utility model amendment, improvement, equivalent etc., should be included in protection domain of the present utility model.Accompanying drawing of the present utility model is the schematic diagram for aiding in illustrating the technical solution of the utility model, it is illustrated that ratio, size etc. is not in order to limit this utility model.
Claims (10)
1. a cradle for robot, including housing, described housing defines the profile of described cradle and the installing space of miscellaneous part；It is characterized in that: the controller also including being arranged on described housing and the signal receiving unit, wireless signal transmitter and the charging terminal that electrically connect with described controller:
Described controller is for coordinating and control each parts being electrically connected；
Described signal receiving unit at least two, it is respectively defined as left and right signal and receives unit, described left and right signal receives unit and has each self-corresponding signal receiving angle scope at the left and right sides in described housing front respectively, and defining region, three, left, center, right in described housing front region, described middle region is less than described left and right regions；Described left and right regions tends to described middle region for guided robot, described middle region aligns described cradle for guided robot thus tends to described cradle and dock with described cradle, and the signal receiving angle scope that described left region and right region are at least partly received unit by described left and right signal defines；
Described wireless signal transmitter is used for responding each described signal receiving unit and each receives the situation of signal and send corresponding feedback signal to robot；
Described charging terminal for the charging terminal docking corresponding with robot thus charges to robot.
Cradle the most according to claim 1, it is characterised in that: the overlapping region that described middle region is received between the receiving angle scope of unit by described left and right signal defines.
Cradle the most according to claim 1, it is characterised in that: described left region and right region are separated from each other, and described middle region is between described left and right regions.
Cradle the most according to claim 1, it is characterised in that: also include that being located at described left and right signal receives the middle signal receiving unit in the middle of unit；Described left region and right region are separated from each other, and described middle region is between described left and right regions, and the signal receiving angle scope of described middle signal receiving unit is at least partially disposed at described middle region.
Cradle the most according to claim 1, it is characterised in that: described signal receiving unit is IR signal reception unit or ultrasound signal receipt unit.
Cradle the most according to claim 1, it is characterised in that: described wireless signal transmitter is 2.4G wireless signal transmitting module.
Cradle the most according to claim 1, it is characterised in that: being provided with two arms stretching to described cradle front bottom described cradle, described charging terminal is the metal bump being located at described arm afterbody upper end.
8. according to the cradle described in any one of claim 1 to 7, it is characterised in that: described left signal receives the receiving angle scope of unit and at least covers the leftmost scope in described housing left forward side；Described right signal receives the receiving angle scope of unit and at least covers the rightmost scope in described housing right forward side.
9. the automatic charging system of a robot, it is characterized in that: include the cradle described in any one of claim 1 to 8, and the robot separated with described cradle, described robot is provided with sender unit and wireless signal receiver, and described sender unit includes being located at centre position, described robot front end and for launching the first emitter of signal along described robot dead ahead and being located at second emitter for launching omnidirectional signal at described robot top,Described sender unit is for launching signal to the signal receiving unit of described cradle, described wireless signal receiver is for receiving the feedback signal that the wireless signal transmitter on described cradle sends, according to described feedback signal, described robot judges described robot is positioned at which region in described cradle front, and make corresponding action, finally dock with described cradle.
Automatic charging system the most according to claim 9, it is characterised in that: described first emitter and the second emitter are for launching the mutually different Infrared Projector of signal.
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| CN201620492391.8U CN205791621U (en) | 2016-05-26 | 2016-05-26 | The cradle of a kind of robot and automatic charging system |
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| CN201620492391.8U CN205791621U (en) | 2016-05-26 | 2016-05-26 | The cradle of a kind of robot and automatic charging system |
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| CN105958578A (en) * | 2016-05-26 | 2016-09-21 | 台州市霸业智能科技有限公司 | Charging socket for robot, automatic charging system and automatic charging method |
| CN108107440A (en) * | 2017-11-30 | 2018-06-01 | 北京理工华汇智能科技有限公司 | Cradle is to the method and its device of robot transmitting distance measuring signal |
| CN109508014A (en) * | 2018-12-24 | 2019-03-22 | 珠海市微半导体有限公司 | A kind of the laser aiming recharging method and chip of mobile robot |
| CN110311432A (en) * | 2019-05-31 | 2019-10-08 | 深圳瑞科时尚电子有限公司 | One kind is from charging of mobile devices seat and from mobile apparatus assembly |
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| CN111880524A (en) * | 2020-06-12 | 2020-11-03 | 珠海市一微半导体有限公司 | Charging seat, recharging docking system and laser docking method |
| CN112596519A (en) * | 2020-12-14 | 2021-04-02 | 京东数科海益信息科技有限公司 | Guide control method and device, charging pile and robot |
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| CN105958578A (en) * | 2016-05-26 | 2016-09-21 | 台州市霸业智能科技有限公司 | Charging socket for robot, automatic charging system and automatic charging method |
| CN105958578B (en) * | 2016-05-26 | 2019-01-04 | 台州市霸业智能科技有限公司 | The cradle and automatic charging system and method for a kind of robot |
| CN108107440A (en) * | 2017-11-30 | 2018-06-01 | 北京理工华汇智能科技有限公司 | Cradle is to the method and its device of robot transmitting distance measuring signal |
| CN109508014A (en) * | 2018-12-24 | 2019-03-22 | 珠海市微半导体有限公司 | A kind of the laser aiming recharging method and chip of mobile robot |
| CN109508014B (en) * | 2018-12-24 | 2022-03-29 | 珠海一微半导体股份有限公司 | Laser guide recharging method and chip of mobile robot |
| CN110311432A (en) * | 2019-05-31 | 2019-10-08 | 深圳瑞科时尚电子有限公司 | One kind is from charging of mobile devices seat and from mobile apparatus assembly |
| CN111358369A (en) * | 2020-03-09 | 2020-07-03 | 广东美的制冷设备有限公司 | Recharging system, control method thereof, controller and computer readable storage medium |
| CN111880524A (en) * | 2020-06-12 | 2020-11-03 | 珠海市一微半导体有限公司 | Charging seat, recharging docking system and laser docking method |
| WO2021248844A1 (en) * | 2020-06-12 | 2021-12-16 | 珠海一微半导体股份有限公司 | Charging connection system and laser connection method |
| CN112596519A (en) * | 2020-12-14 | 2021-04-02 | 京东数科海益信息科技有限公司 | Guide control method and device, charging pile and robot |
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