CN208316349U - The wireless charging system of mobile robot - Google Patents
The wireless charging system of mobile robot Download PDFInfo
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- CN208316349U CN208316349U CN201820875700.9U CN201820875700U CN208316349U CN 208316349 U CN208316349 U CN 208316349U CN 201820875700 U CN201820875700 U CN 201820875700U CN 208316349 U CN208316349 U CN 208316349U
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Abstract
The utility model embodiment discloses a kind of wireless charging system of mobile robot, belongs to Intelligent logistics technical field, which includes: mobile robot, and the mobile robot is equipped with rechargable power supplies and wireless charging receiving terminal；Workspace, the mobile robot are waited in line when executing task in the workspace, are equipped with wireless charging transmitting terminal in the workspace；Stand in channel area, the mobile robot are advanced in the path of travel area when executing task, and the path of travel area is equipped with one or more charged areas, are equipped with wireless charging transmitting terminal in the charged area；The mobile robot executes wireless charging operation when the workspace is waited in line and/or at the charged area being advanced through in the path of travel area.By the scheme of the application, the working efficiency of mobile robot is improved.
Description
Technical Field
The utility model relates to an intelligence commodity circulation technical field especially relates to mobile robot's wireless charging system.
Background
With the development of electronic commerce, new retail modes are continuously created, the shopping concepts of people are continuously changed, the consumption experience is more and more emphasized, and the timeliness plays a crucial role in the user experience.
Warehousing services, an important link behind consumer services, play a crucial role in the timeliness of goods. At present, large logistics enterprises at home and abroad try to accelerate the handling speed of a warehouse to improve the timeliness of goods and reduce the transportation time of goods. The mainstream intelligent warehousing scheme at present mainly comprises an automatic three-dimensional warehouse solution and an intelligent warehousing robot solution. All of them adopt a form of 'goods to people' for directly transporting goods to a goods picker, wherein the automatic three-dimensional warehouse has high goods picking efficiency and high throughput, but has high construction and maintenance cost and inflexible use. Although the goods picking efficiency of the intelligent storage robot is lower than that of an automatic three-dimensional warehouse, the intelligent storage robot is flexible in use mode, low in input cost, high in input-output ratio and flexible in operation and maintenance.
The intelligent warehousing robot solution for the goods-to-people robot is widely popularized, and the robot usually works by using a battery carried by the robot, so that the condition that the battery is dead in the goods conveying process of the robot can be caused by the limitation of conveying mileage or the weight of the goods during the goods conveying process of the robot. Or, in order to ensure that the robot for transporting the goods has sufficient electric quantity, the robot needs to go to a preset destination in advance for charging under the condition of remaining a certain electric quantity, and the frequent charging operation of the robot can reduce the utilization rate of the robot.
SUMMERY OF THE UTILITY MODEL
In the existing automatic warehouse robot system, in general, if reasonable electric quantity and path planning are not performed, the robot may run out of electric quantity in the half-way of transportation. Meanwhile, the robot is frequently charged, and the service efficiency of the robot is also affected. In addition, in order to cooperate with the robot for charging, special charging areas need to be arranged, and the arrangement of the charging areas also occupies the robot.
In view of this, the embodiment of the present invention provides a wireless charging system for a mobile robot, which at least partially solves the problems existing in the prior art.
An embodiment of the utility model provides a mobile robot's wireless charging system, include:
the mobile robot is provided with a rechargeable power supply and a wireless charging receiving end;
a working area in which the mobile robot queues up while performing a task;
a travel passage zone in which the mobile robot travels while performing a task;
the working area is provided with a wireless charging transmitting terminal, and/or the travelling channel area is provided with one or more charging areas, and the charging areas are provided with wireless charging transmitting terminals;
the mobile robot performs wireless charging operations while waiting in line at the work area and/or while traveling through a charging area in the travel corridor area.
According to the utility model discloses a concrete implementation mode, the system still includes:
a server controlling a wireless charging operation of the mobile robot.
According to a specific implementation manner of the embodiment of the present invention, the server obtains a current electric quantity value of the mobile robot that is executing a task;
when the current electric quantity value is smaller than a first threshold value, the server sends a charging instruction to the mobile robot which is executing the task, and the mobile robot which is executing the task executes wireless charging operation when the mobile robot queues in a working area and waits and/or travels through a charging area in the travel passage area according to the charging instruction.
According to a specific implementation of the embodiment of the present invention,
the server acquires the current electric quantity value of the mobile robot waiting in line in a working area;
and when the current electric quantity value is smaller than a second threshold value, the server sends a charging instruction to the mobile robot waiting in line in the working area, and the mobile robot executes wireless charging operation when waiting in line in the working area according to the charging instruction.
According to a specific implementation of the embodiment of the present invention,
the server acquires a current electric quantity value of the mobile robot to be assigned with the task, when the current electric quantity value is smaller than a third threshold value, the server preferentially assigns the task to the mobile robot and sends a task instruction and a charging instruction to the mobile robot, and the mobile robot executes wireless charging operation when waiting in a queue in a working area and/or passing through a charging area in the travelling channel area according to the charging instruction.
According to the utility model discloses a concrete implementation mode, include the route of marcing among the task instruction, the route of marcing passes through the charging area in the passageway district of marcing.
According to a specific implementation manner of the embodiment of the present invention, the mobile robot detects the current electric quantity value of the rechargeable power source in real time and sends the current electric quantity value to the server;
or,
and the server sends a reporting instruction to the mobile robot, and the mobile robot detects the current electric quantity value of the rechargeable power supply according to the reporting instruction and reports the current electric quantity value to the server.
According to the utility model discloses a concrete implementation mode, mobile robot acquires in real time rechargeable power supply's current electric quantity value works as when current electric quantity value is less than the fourth threshold value, mobile robot lines up waiting in the workspace and/or passes through advancing the wireless operation of charging of automatic execution during the charging area in the passageway district.
According to the utility model discloses a concrete implementation mode, when current electric quantity value is greater than or equal to the fifth threshold value, mobile robot passes through advancing the passageway district is automatic to be avoided the region of charging, perhaps, mobile robot queues up waiting in the workspace and/or passes through advancing not carry out wireless charging operation when advancing the region of charging in the passageway district.
According to the utility model discloses a concrete implementation mode, when current electric quantity value is greater than or equal to the sixth threshold value, mobile robot moves with first speed.
According to the utility model discloses a specific implementation mode, when current electric quantity value is less than the sixth threshold value, mobile robot marchs through the charging area in the passageway district of marcing with the second speed, the second speed is less than first speed.
According to the utility model discloses a concrete implementation mode, the server is based on current electric quantity value controls the transmission power of wireless transmitting terminal that charges.
The embodiment of the utility model provides a pair of mobile robot's wireless charging system, through set up wireless module of charging on the robot, the robot that can make in work, in the workspace alright with charge the operation, utilize the robot to queue up or transport the interstitial time of goods, carry out effectual charge management for the robot need not to charge the operation when the electric quantity is low, and then has improved the efficiency of transporting of robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wireless charging system of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a target shelf structure provided by an embodiment of the present invention;
fig. 4 is a schematic view of a wireless charging process performed by a server-controlled mobile robot according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a wireless charging system for a mobile robot, including a mobile robot 1, a work area 4, and a traveling passage area 6.
The mobile robot 1 is responsible for transporting articles, the mobile robot 1 can communicate with the server 3, and the mobile robot 1 can acquire form contents through communication connection with the server 3. The contents of the form may be an order of goods to be sorted according to the needs of the user, the form may contain various types of articles (goods to be sorted), and the articles to be sorted on the same form need to be packaged by one or more appliances (e.g., turnover boxes). The items corresponding to the forms are usually placed by using a storage container (e.g., a transfer box), and after the mobile robot 1 acquires the contents of the forms, the storage container 4 associated with the forms can be selected and transported. As an example, referring to fig. 2, the mobile robot 1 has a gripping device 104 and a plurality of temporary storage locations 1031.
The mobile robot 1 is provided with a power supply, the power supply provides a power source for the mobile robot, and the power supply can be charged in a wired or wireless mode, so that the mobile robot is provided with a wireless charging receiving end 1001. The wireless charging receiving terminal 1001 may perform wireless charging in various ways. For example, the coupling may be performed by various means such as electromagnetic coupling, photoelectric coupling, or electromagnetic resonance.
A work area 4 is provided near the operation table, the operation table is used for allocating articles to be transported to the mobile robot 1, the work area 4 is applied to a plurality of scenarios of article transportation, for example, the work area 4 may be used for article sorting, or other application scenarios of operating articles, and the application scenario of the work area 4 is not limited herein. For example, when the sorting method is applied to a sorting scene, the working area 4 may be a sorting platform, and the traveling passage area 6 may be an intermediate passage formed by the partitions arranged in the matrix on the sorting platform; in the case of picking scenarios, the working area 4 may be a picking workstation and the travel lane area 6 may be an intermediate lane formed by rectangular shelves.
When the mobile robot 1 performs a task, it is generally necessary to wait for the operation desk to perform task allocation on the mobile robot 1 in the working area 4 (for example, allocating an article to be transported, or sorting an article transported on the mobile robot 1, etc.), and at this time, the mobile robot 1 generally needs to wait for a period of time in the working area 4, and therefore, a wireless charging transmitting terminal 5 is provided below the working area 4.
The wireless charging transmitting terminal 5 can perform wireless transmission in various modes such as electromagnetic coupling, photoelectric coupling, electromagnetic resonance and the like.
Taking electromagnetic coupling as an example, the wireless charging transmitting terminal 5 includes a coil inside, and the coil may be any one of a ring coil, a solenoid coil, or a figure-8 coil, only from the winding manner of the coil. The annular coil is the magnetic coupling structure which is adopted at the earliest time, and is convenient to wind and simple to analyze. The solenoid coil can adopt a typical 'copper-clad-iron' structure, and the magnetic force lines of the solenoid coil are concentrated, so that the coupling coefficient is high. The 8-shaped coil is similar to the annular coil and is formed by connecting two annular coils in series in an opposite direction to generate magnetic fields in opposite directions.
The mobile robot 1 generally carries articles from the goods shelf 2 to the operation table, and for this purpose, the system is provided with a traveling passage area 6 in which the mobile robot 1 travels when performing tasks, the traveling passage area being provided with one or more charging areas in which wireless charging transmitters 5 are provided. By arranging a plurality of charging areas in the traveling passage area 6, the robot can charge while working in the process of carrying articles in the traveling passage area.
Referring to fig. 2, an embodiment of the present invention provides a mobile robot 1, including a driving device 101, a body 102, a receiving device 103, and a gripping device 104.
The driving device 101 is a driving component of the mobile robot 1, and as an example, the driving device 101 may include one or more wheels, and the mobile robot 1 is moved by rolling of the wheels. The driving device 101 may be disposed at a bottom of the mobile robot 1. Of course, the driving device 101 may be provided in other parts of the mobile robot 1.
The mobile robot 1 can communicate with a server that performs article transportation scheduling, and the communication method may be a wired method or a wireless method. By communicating with the scheduling server, the mobile robot 1 can know an article transportation task including destination coordinates assigned to the mobile robot 1 and a specific ID identification (e.g., article number, etc.) of a target article, and the driving device 101 automatically moves the mobile robot 1 to a preset position based on the task received by the mobile robot 1.
The body 102 is an integral support member of the mobile robot 1, and as one case, the body 102 is disposed above the driving device 101, and the body 102 is used to support the mobile robot 1.
In order to facilitate the transportation of the articles, a containing device 103 for placing one or more articles is disposed on the mobile robot 1, the containing device 103 is disposed on the body 102, the containing device 103 has one or more temporary storage locations 1031, and each temporary storage location 1031 can place one or more articles 3 to be transported.
After the driving device 101 transports the mobile robot 1 to a preset position, the target item is automatically selected by the grasping device 104. The grabbing device 104 selects a target item from the item storage device corresponding to the preset position based on the task received by the mobile robot 1, and automatically places the selected target item in the temporary storage location 1031 of the accommodating device 103.
The gripping device 104 can be realized in various ways, according to the embodiment of the present invention, the gripping device 104 includes a telescopic assembly 1042, the telescopic assembly 1042 selects a target object from the object storage device, in order to cooperate with the telescopic assembly 1042, the gripping device 104 can further include a telescopic support 1043, and the telescopic support 1043 is used for supporting the telescopic assembly 1042.
The target article height among the article strorage device is different, in order to place the target article of co-altitude not in keeping in the position, according to the utility model discloses a concrete implementation of embodiment, grabbing device 104 includes elevating module 1045, elevating module 1045 will telescopic component 1042 promote to with the height that the target article matches, elevating module 1045 can be any device that can carry out the height and go up and down.
Grabbing device 104 is selecting the in-process of article, based on actual needs, needs carry out the attitude adjustment, according to the utility model discloses a concrete implementation of embodiment, article automatic conveying equipment still includes: the rotating member 105, the accommodating device 103 and the grasping device 104 are disposed above the rotating member 105.
The telescopic assembly 1042 can adopt a plurality of modes to select objects, according to the embodiment of the present invention, the telescopic assembly 1042 comprises a clamping portion 1041, the clamping portion 1041 selects the target object from the object storage device corresponding to the preset position by clamping.
It is understood that the structure of the mobile robot shown above is only schematic, and the solution of the present invention is not limited to the structure of the mobile robot.
Fig. 3 is a schematic diagram of the shelf 2 according to the embodiment of the present invention, and the storage container and the sorting container may be a specific implementation form of the shelf 2, and the shelf 2 stores the articles 7. In a particular embodiment, the pallet 2 comprises a plurality of storage bins, each capable of containing an item 7. In addition, in certain embodiments, the items 7 may also be suspended from hooks or bars within the shelf 2 or on the shelf 2. The items 7 can be placed on the shelf 2 in any suitable manner on the interior or exterior surface of the shelf 2. The pallet 2 can be rolled, carried, or otherwise moved by the mobile robot 1. In order to facilitate the movement of the pallet 2 by the handling robot, the pallet 2 comprises one or more supports 202 and temporary pallet identification points 201 for identifying the temporary pallet, and the item storage system may comprise any suitable number of pallets 2.
Item 7 represents any item suitable for storing, sorting, or transporting in an automated inventory, warehouse, manufacturing, and/or parts handling system, which may be any material, and may be a living or inanimate object. As an example, the item 7 may represent an item of a commodity stored in a warehouse. The mobile robot 1 may retrieve a designated shelf 2, which shelf 2 contains a particular item 7 associated with the customer order to be packaged for delivery to the customer or other party.
As another example, the item 7 may represent baggage stored in a baggage facility at an airport. The mobile robot 1 can retrieve the racks 2 containing the baggage to be transported, tracked. This may include selecting a particular baggage item for explosives screening, moving a baggage item associated with a flight that has switched gates, or removing baggage items belonging to passengers that have missed a flight.
As yet another example, the item 7 may represent various components of a manufacturing kit. More specifically, these components may represent components intended to be included in an assembled product, such as computer components for a customized computer system. In such an embodiment, the mobile robot 1 may retrieve the specific component identified by the specification associated with the customer order.
As yet another example, the item 7 may represent a person. For example, in a hospital environment, the shelf 2 may represent a bed containing a particular patient. Thus, the item storage system may be configured to provide a safe and effective system for moving hospital beds, which limits the possibility of patient injury and reduces the possibility of errors due to human error. In general, items 7 may be any suitable items suitable for storage in any suitable form of shelf 2.
In operation, the mobile robot 1 is able to move between points within a workspace associated with an item storage system and, when coupled to a rack 2, is able to transport the rack 2 between locations within the workspace and may also acquire picked objects on the target rack by way of the grasping device. Based on the received command, the mobile robot 1 may determine a movement destination of the mobile robot 1. For example, in a particular embodiment, the mobile robot 1 may receive information identifying the destination of the mobile robot 1 from an administrator or management device (e.g., server 3) of the item storage system. The mobile robot 1 may receive information via a wireless interface, a wired connection or using any other suitable means to facilitate communication with an operator or management device of the item storage system. Generally, the mobile robot 1 may be controlled to any desired place in whole or in part based on a command of a control management device or an operator.
By judging the current remaining capacity of the mobile robot, it can be determined whether the mobile robot needs to perform a charging operation, that is, the mobile robot 1 can be made to perform a wireless charging operation while waiting in a queue in the work area and/or while traveling through a charging area in the travel passage area.
Be provided with a plurality of mobile robot 1 in the system usually, need carry out charge-discharge control to all mobile robot in the system, for this reason, according to the utility model discloses a concrete implementation of embodiment, the system still includes: a server 3, the server 3 controlling a wireless charging operation of the mobile robot 1. The server 3 is connected to the mobile robot in a wired or wireless communication manner.
The server 3 can perform charging control on the mobile robot 1 according to various strategies, and the current remaining electric quantity value of the mobile robot is an important basis for the server 3 to formulate a control strategy. According to the utility model discloses a concrete implementation mode, the server acquires and is carrying out the task mobile robot's current electric quantity value.
When the current electric quantity value is smaller than a first threshold value, the server 3 sends a charging instruction to the mobile robot 1 which is executing the task, and the mobile robot 1 which is executing the task executes a wireless charging operation when queuing in a work area and/or traveling through a charging area in the traveling passage area according to the charging instruction. The server 3 may determine the wireless charging area matched with the mobile robot 1 in various ways. For example, the server 3 may search for a wireless charging area that is closest to the mobile robot 1 and is in an idle state, and designate that the mobile robot 1 moves to the wireless charging area.
According to the condition of the remaining capacity of the mobile robot 1, the server 3 can control the mobile robot to perform the charging operation or not, according to the embodiment of the present invention, the server obtains the current electric quantity value of the mobile robot 1 waiting in line in the working area 4, when the current electric quantity value is smaller than the second threshold value (for example, 30%), the server 3 sends the charging instruction to the mobile robot 1 waiting in line in the working area 4, and the mobile robot 1 performs the wireless charging operation according to the charging instruction when waiting in line in the working area 4.
As another case, the server 3 may also determine the priority of charging for the mobile robot 1 according to the remaining power condition of the mobile robot 1, according to a specific implementation manner of the embodiment of the present invention, the server acquires the current power value of the mobile robot 1 to be assigned with the task, when the current power value is smaller than the third threshold, the server 3 preferentially assigns the task to the mobile robot 1 and sends the task instruction and the charging instruction to the mobile robot 1, and the mobile robot 1 performs the wireless charging operation according to the charging instruction while queuing in the working area 4 and/or while traveling through the charging area in the traveling passage area 6. Through the arrangement mode, the mobile robot which urgently needs to be charged can be ensured to be charged preferentially.
The mobile robot 1 needs to perform charging operation in the process of transporting articles, and when the server 3 performs charging planning on the mobile robot 1, the server needs to set a motion path of the mobile robot 1 at the same time, so that the mobile robot can be ensured to achieve the purpose of charging while working. According to the utility model discloses a concrete implementation mode, include the route of advancing in this task instruction, should advance the route and pass through the charging area in the passageway district 6 of advancing.
The electric quantity value of the mobile robot 1 can be transmitted to the server 3 in various ways, as an example, the mobile robot 1 can monitor the current electric quantity condition of the mobile robot at any time, and when the mobile robot 1 finds that the electric quantity of the mobile robot is too low to be charged, the mobile robot 1 can actively report the current electric quantity value condition and actively transmit the current electric quantity value to the server 3. According to the utility model discloses a concrete implementation mode, mobile robot 1 real-time detection rechargeable power supply's current electric quantity value and with current electric quantity value send for server 3.
In addition, the server 3 may also estimate the power usage of the mobile robot 1 according to the operating condition of the mobile robot 1, and when the server 3 estimates that the power of the mobile robot 1 is not much left, the server 3 sends a report instruction to the mobile robot 1, and the mobile robot 1 detects the current power of the rechargeable power supply according to the report instruction and reports the current power to the server 3.
By setting different situations to report the electric quantity value, the phenomenon that a meaningless electric quantity value is sent frequently can be avoided, and the performance influence or interference of frequent data requests on the server 3 or the mobile robot 1 is reduced.
In addition to the charging operation by the control of the server 3, the mobile robot 1 may search for a charging area by itself to perform self-charging. As an example, the mobile robot 1 may obtain position coordinates of all chargeable areas in the system from the server 3 in advance, and when the mobile robot 1 finds that it is in a low battery condition, it goes to the chargeable areas to perform charging operation. According to the utility model discloses a concrete implementation mode, mobile robot 1 acquires rechargeable power supply's current electric quantity value in real time, and when current electric quantity value was less than the fourth threshold value, mobile robot 1 was queued waiting at workspace 4 and/or when the charging area in the district 6 is gone through to advance automatic execution wireless operation of charging.
Not all mobile robots need to be charged, and mobile robots that do not need to be charged can avoid the charging mobile robots by themselves in order to avoid the charging mobile robots from affecting the charging mobile robots. According to the utility model discloses a concrete implementation mode, when current electric quantity value is greater than or equal to the fifth threshold value, mobile robot 1 avoids the region of charging automatically when advancing through marching passageway district 6, perhaps, mobile robot 1 does not carry out wireless charging operation when queuing waiting in workspace 4 and/or when advancing through the region of charging in marching passageway district 6. Therefore, a large number of chargeable areas are saved actively, and convenience is provided for the mobile robot needing to be charged.
The charging area is generally of a certain length, and the mobile robot 1 needs to move while being charged, and for this purpose, a moving speed needs to be set for the mobile robot in a charged state. According to the utility model discloses a concrete implementation mode, when current electric quantity value is greater than or equal to the sixth threshold value, mobile robot 1 moves with first speed, and first speed can be normal speed.
According to a specific implementation manner of the embodiment of the present invention, when the current electric quantity value is smaller than the sixth threshold value, the mobile robot 1 travels through the charging area in the travel passage zone 6 at the second speed, which is smaller than the first speed, for example, the second speed is 50% of the first speed.
Besides the control of charging by controlling the moving speed of the mobile robot, the charging efficiency can also be controlled by controlling the transmitting power of the wireless charging transmitting terminal. According to the utility model discloses a concrete implementation mode, server 3 is based on mobile robot 1's current electric quantity value, controls the transmitting power of wireless transmitting terminal that charges. For the mobile robot 1 with low electric quantity, the wireless charging transmitting terminal is controlled to charge with higher transmitting frequency, and for the electric quantity, the normal operation of the mobile robot 1 is not influenced, and the wireless charging transmitting terminal adopts lower transmitting frequency to perform charging operation. By controlling the wireless charging transmitting terminal to perform charging operation with different transmitting powers, on one hand, energy can be saved, and on the other hand, damage to a battery on the mobile robot caused by excessive charging power can be prevented.
The embodiment of the utility model provides a pair of mobile robot's wireless charging system, through set up wireless module of charging on the robot, the robot that can make in work, in the workspace alright with charge the operation, utilize the robot to queue up or transport the interstitial time of goods, carry out effectual charge management for the robot need not to charge the operation when the electric quantity is low, and then has improved the efficiency of transporting of robot.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
While ordinal numbers such as "first," "second," etc., will be used to describe various components, those components are not limited herein. The term is used only to distinguish one element from another. For example, a first component could be termed a second component, and, similarly, a second component could be termed a first component, without departing from the teachings of the present inventive concept. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, numbers, steps, operations, components, elements, or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, elements, or groups thereof.
Terms used herein, including technical and scientific terms, have the same meaning as terms commonly understood by one of ordinary skill in the art, unless otherwise defined. It will be understood that terms defined in commonly used dictionaries have meanings that are consistent with their meanings in the prior art.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A wireless charging system for a mobile robot, comprising:
the mobile robot is provided with a rechargeable power supply and a wireless charging receiving end;
a working area in which the mobile robot queues up while performing a task;
a travel passage zone in which the mobile robot travels while performing a task;
the working area is provided with a wireless charging transmitting terminal, and/or the travelling channel area is provided with one or more charging areas, and the charging areas are provided with wireless charging transmitting terminals;
the mobile robot performs wireless charging operations while waiting in line at the work area and/or while traveling through a charging area in the travel corridor area.
2. The wireless charging system for a mobile robot according to claim 1, further comprising:
a server controlling a wireless charging operation of the mobile robot.
3. The wireless charging system for a mobile robot according to claim 2,
the server acquires a current electric quantity value of the mobile robot which is executing a task;
when the current electric quantity value is smaller than a first threshold value, the server sends a charging instruction to the mobile robot which is executing the task, and the mobile robot which is executing the task executes wireless charging operation when the mobile robot queues in a working area and waits and/or travels through a charging area in the travel passage area according to the charging instruction.
4. The wireless charging system for a mobile robot according to claim 3,
the server acquires the current electric quantity value of the mobile robot waiting in line in a working area;
and when the current electric quantity value is smaller than a second threshold value, the server sends a charging instruction to the mobile robot waiting in line in the working area, and the mobile robot executes wireless charging operation when waiting in line in the working area according to the charging instruction.
5. The wireless charging system for a mobile robot according to claim 2,
the server acquires a current electric quantity value of the mobile robot to be assigned with the task, when the current electric quantity value is smaller than a third threshold value, the server preferentially assigns the task to the mobile robot and sends a task instruction and a charging instruction to the mobile robot, and the mobile robot executes wireless charging operation when waiting in a queue in a working area and/or passing through a charging area in the travelling channel area according to the charging instruction.
6. The wireless charging system for a mobile robot according to claim 5, wherein the task instruction includes a travel path that passes through a charging area in the travel passage section.
7. The wireless charging system for a mobile robot according to claim 6,
the mobile robot detects the current electric quantity value of the chargeable power supply in real time and sends the current electric quantity value to the server;
or,
and the server sends a reporting instruction to the mobile robot, and the mobile robot detects the current electric quantity value of the rechargeable power supply according to the reporting instruction and reports the current electric quantity value to the server.
8. The wireless charging system for a mobile robot according to claim 2, wherein:
the mobile robot acquires the current electric quantity value of the rechargeable power supply in real time, and when the current electric quantity value is smaller than a fourth threshold value, the mobile robot waits in a queue in a working area and/or automatically executes wireless charging operation when traveling through a charging area in the traveling passage area.
9. The wireless charging system for a mobile robot according to claim 8, wherein:
when the current electric quantity value is larger than or equal to a fifth threshold value, the mobile robot automatically avoids the charging area when traveling through the traveling passage area, or the mobile robot does not perform wireless charging operation when waiting in a queue in a working area and/or traveling through the charging area in the traveling passage area.
10. The wireless charging system for a mobile robot according to any one of claims 3 to 9, wherein:
when the current electric quantity value is greater than or equal to a sixth threshold value, the mobile robot operates at a first speed.
11. The wireless charging system for a mobile robot according to claim 10, wherein:
when the current charge value is less than a sixth threshold, the mobile robot travels through a charging zone in the travel corridor at a second speed, the second speed being less than the first speed.
12. The wireless charging system for a mobile robot according to any one of claims 3 to 6, wherein:
and the server controls the transmitting power of the wireless charging transmitting terminal based on the current electric quantity value.
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| CN108551192A (en) * | 2018-06-06 | 2018-09-18 | 北京极智嘉科技有限公司 | The wireless charging system of mobile robot |
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