CN208522506U - Self-propelling device and wireless charging system based on self-propelling device - Google Patents
Self-propelling device and wireless charging system based on self-propelling device Download PDFInfo
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- CN208522506U CN208522506U CN201821341029.6U CN201821341029U CN208522506U CN 208522506 U CN208522506 U CN 208522506U CN 201821341029 U CN201821341029 U CN 201821341029U CN 208522506 U CN208522506 U CN 208522506U
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Abstract
The utility model embodiment discloses a kind of self-propelling device and the wireless charging system based on self-propelling device, the self-propelling device include: be provided with electric energy receiving coil by electric module and the first infrared induction module at relative position on the outside of the electric energy receiving coil；The second infrared induction module that first infrared induction module is configured to enclose at the relative position of outside with the electric energy transmitting for being located at charging module in working region locating for the self-propelling device carries out cooperation contraposition, so that the electric energy transmitting coil of the electric energy receiving coil by electric module and the charging module is connected to each other, to carry out wireless charging to the self-propelling device.The merchandising machine people of the utility model embodiment can be realized the automatic butt of the electric energy receiving coil and the electric energy transmitting coil of the charging module of working region locating for merchandising machine people by electric module of merchandising machine people itself, and wireless charging is realized in the case where docking, improve merchandising machine task efficiency.
Description
Technical field
The utility model embodiment is related to wireless charging technical field more particularly to a kind of self-propelling device and based on self-powered
The wireless charging system of dynamic equipment.
Background technique
With economic continuous development, the cost of labor during warehouse logistics is higher and higher.In order to reduce warehouse logistics
Cost of labor in the process starts to execute corresponding warehouse logistics operation by self-propelling device in warehouse logistics, from driving
Equipment includes but is not limited to the transfer robot used during warehouse logistics and unmanned fork lift etc..
Although self-propelling device can be substituted well and manually be operated in warehouse logistics, due to it is existing from
Driving equipment is powered using battery, therefore there is still a need for passing through manually to charge, to a certain extent still can lost labor
Resource, and need just complete to charge by cable in charging process, in some particular surroundings, especially warehouse logistics
In environment, excessive cable will affect normal traveling of self-propelling device during warehouse logistics.For this reason, it may be necessary to improve machine
The charging modes of people, to meet normal work of the self-propelling device under warehouse logistics environment.
Utility model content
A kind of self-propelling device and the wireless charging system based on self-propelling device are provided in the utility model embodiment, with
It realizes to the wireless charging of self-propelling device, improves the working efficiency of self-propelling device.
In a first aspect, the self-propelling device provided in the utility model embodiment, comprising: be provided with electric energy receiving coil
By electric module and the first infrared induction module at relative position on the outside of the electric energy receiving coil；
The charging mould that first infrared induction module is configured to and is located in working region locating for the self-propelling device
The second infrared induction module at the electric energy transmitting circle outside relative position of block carries out cooperation contraposition, so that described by electric module
Electric energy receiving coil and the electric energy transmitting coil of the charging module are connected to each other, to carry out wireless charging to the self-propelling device
Electricity.
Optionally, described to be included: by electric module
Filter rectifier is electrically connected with the electric energy receiving coil；
The filter rectifier receives the radio of the electric energy transmitting coil transmitting by the electric energy receiving coil
Can, and rectification is filtered to the radio energy, to pass through the radio energy after filter rectification on the self-propelling device
Battery charge.
It is optionally, described by electric module further include:
Electric quantity detecting circuit, for detecting the remaining capacity of battery on the self-propelling device, in the surplus of the battery
The self-propelling device is reminded to need to carry out wireless charging when remaining low battery.
It is optionally, described by electric module further include:
Battery capacity indication lamp, for showing the remaining capacity of battery on the self-propelling device.
Optionally, first infrared induction module includes multiple infrared receivers, between multiple infrared receivers
It is arranged at the outside relative position by the electric energy receiving coil of electric module by the way of array arrangement；
Each RF transmitter for including in each infrared receiver and second infrared induction module is in quantity and position
It sets and is arranged in a one-to-one correspondence.
Optionally, the self-propelling device further includes navigation module；The navigation module guides the self-propelling device
To the electric energy transmitting coil position of the charging module.
Optionally, the electric energy receiving coil by electric module is located at the bottom surface of the self-propelling device, and be located at institute
The electric energy transmitting coil stated on the ground in working region locating for self-propelling device is used cooperatively.
Optionally, the electric energy receiving coil by electric module is located at the side of the self-propelling device, and be located at institute
The electric energy transmitting coil stated on the metope in working region locating for self-propelling device is used cooperatively.
Second aspect, the wireless charging system based on self-propelling device provided in the utility model embodiment, comprising: from
The charging unit of working region locating for driving equipment and the self-propelling device；
The self-propelling device include: be provided with electric energy receiving coil by electric module and be located at the electric energy receiving coil
The first infrared induction module at the relative position of outside；
The charging unit includes: to be provided with the charging module of electric energy transmitting coil and be located at outside the electric energy transmitting coil
The second infrared induction module at the relative position of side；
First infrared induction module is configured to carry out cooperation contraposition with second infrared induction module, so that described
It is connected to each other by the electric energy receiving coil of electric module and the electric energy transmitting coil of the charging module, passes through the electric energy transmitting coil
Circle transmitting radio energy is received to the electric energy, to carry out wireless charging to the self-propelling device.
Optionally, the charging module includes:
AC frequency conversion circuit is connect with the electric energy transmitting coil；
The electric energy of extraneous power supply is converted to the radio energy of predeterminated frequency by the AC frequency conversion circuit, and is transmitted to described
Electric energy transmitting coil, radio energy is emitted to exterior space by the electric energy transmitting coil.
Optionally, first infrared induction module includes multiple infrared receivers, between multiple infrared receivers
It is arranged at the outside relative position by the electric energy receiving coil of electric module by the way of array arrangement；
Second infrared induction module includes multiple RF transmitters, uses array between multiple RF transmitters
At the outside relative position for the electric energy transmitting coil that the charging module is arranged in the mode of formula arrangement；
Each infrared receiver is arranged in a one-to-one correspondence in quantity and position with each RF transmitter.
Optionally, the system also includes:
Charging server, the charging server and the self-propelling device communication connection；
The charging server receives the charge request that the self-propelling device is sent, and responds the charge request to institute
It states self-propelling device and returns to charging instruction.
Optionally, the electric energy transmitting coil of the charging module is located at the ground of working region locating for the self-propelling device
On, and be used cooperatively with the electric energy receiving coil for being located at the self-propelling device bottom surface.
Optionally, the electric energy transmitting coil of the charging module is located at the metope of working region locating for the self-propelling device
On, and be used cooperatively with the electric energy receiving coil for being located at the self-propelling device side.
The self-propelling device provided in the utility model embodiment and the wireless charging system based on self-propelling device, setting
Have electric energy receiving coil by electric module and the first infrared induction at relative position on the outside of the electric energy receiving coil
Module；First infrared induction module is configured to and is located at charging module locating for the self-propelling device in working region
The second infrared induction module at the relative position of electric energy transmitting circle outside carries out cooperation contraposition, so that the electric energy by electric module
The electric energy transmitting coil of receiving coil and the charging module is connected to each other, to carry out wireless charging to the self-propelling device.This
The self-propelling device of utility model embodiment can be realized electric energy receiving coil by self-propelling device itself by electric module with
The automatic butt of the electric energy transmitting coil of the charging module of working region locating for self-propelling device, and realized in the case where docking
Wireless charging improves the working efficiency of self-propelling device.
Detailed description of the invention
Fig. 1 is a kind of system structure diagram of the cargo radio frequency provided in the utility model embodiment；
Fig. 2 is a kind of structural representation of the self-propelling device of the carry out wireless charging provided in the utility model embodiment
Figure；
Fig. 3 is that a kind of self-propelling device provided in the utility model embodiment carries out the schematic diagram of wireless charging；
Fig. 4 is the arrangement of the first infrared induction module and the second infrared induction module that provide in the utility model embodiment
It is aligned schematic diagram；
Fig. 5 is that the self-propelling device provided in the utility model embodiment uses the charging schematic diagram of side charging；
Fig. 6 is that the self-propelling device provided in the utility model embodiment uses the charging schematic diagram of bottom surface charging.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant to the utility model is illustrated only for ease of description, in attached drawing rather than entire infrastructure.
Self-propelling device can for logistics transfer robot, fork truck or other be used in warehouse logistics carry out cargo remove
The robot of fortune.The self-propelling device Transport cargo rack to work station picking or can get in stocks in warehouse, and carry out other
Logistics operation.Below by taking the operative scenario that cargo sorts as an example, the specific knot of the wireless communication system of the self-propelling device is introduced
Structure and workflow.
Fig. 1 is a kind of system structure diagram of the cargo radio frequency provided in the utility model embodiment.Referring to figure
1, cargo radio frequency 100 includes: self-propelling device 110, control system 120, shelf area 130 and work station 140, shelf area
130 are provided with multiple shelf 131, are placed with various cargos on shelf 131, for example, as being placed with for seeing in supermarket is each
The shelf of kind commodity are the same, are arranged into array format between multiple shelf 131.In general, being provided in the side in shelf area 130 more
A work station 140.In cargo radio frequency, work station 140 also referred to as sorts station.
Staff makes control system 120 work by station 160, and control system 120 and self-propelling device 110 carry out
Wireless communication, self-propelling device 110 execute cargo and carry task under the control of control system 120.For example, self-propelling device
110 can travel along the empty space (a part of 110 transit passage of self-propelling device) in shelf array, move to target
Target shelf 131 are lifted using lifting mechanism in the lower section of shelf 131, and are transported to the work station 140 being assigned to.At one
In example, self-propelling device 110 has lifting mechanism, and has the function of independent navigation, self-propelling device 110 can travel to
The lower section of target shelf 131, and lifted entire shelf 131 using lifting mechanism, enable shelf 131 with lifting
The lifting mechanism of function moves up and down.In one example, the two dimensional code that self-propelling device 110 can take according to camera
Information moves forward, and the shelf 131 that can be prompted according to the route running that control system 120 determines to control system 120
Below.Target shelf 131 are transported to work station 140 by self-propelling device 110, picking personnel 141 at work station 140 or are picked
Robot is selected from sorting cargo on shelf 131 and is put into waiting packing in turnover box 150.
Control system 120 is software systems run on the server, with data storage, information processing capability, can
By wirelessly or non-wirelessly being connect with robot, hardware input system, other software systems.Control system 120 may include one
Or multiple servers, it can be centerized fusion framework or distributed computing architecture.Server has processor 1201 and deposits
Reservoir 1202 can have order pond 1203 in memory 1202.
For the radio frequency shown in Fig. 1, existing self-propelling device 110 still provides electric energy using battery to produce
Raw driving force, and self-propelling device 110 is carrying the shelf to 140 picking of work station or during get in stocks that necessarily consumption is greatly
The electric energy of amount, in order to keep self-propelling device 110 to work normally, it is necessary to charge in time to self-propelling device 110.It adopts
When being charged with the mode of wired charging to self-propelling device 110 there is still a need for rely on manual operation be that self-propelling device 110 divides
It is comparatively laborious to the charging operations of self-propelling device 110 with charging cable.Based on the above situation, it needs to self-propelling device 110
Charging modes improve, to meet normal work of the self-propelling device 110 under warehouse logistics environment.It needs to illustrate
It is that the quantity of self-propelling device 110 can flexibly be set according to the needs of real work scene.
Below for the self-propelling device provided in the utility model embodiment and based on the wireless charging of self-propelling device
System is described in detail by each embodiment.
Fig. 2 is a kind of structural representation of the self-propelling device using wireless charging provided in the utility model embodiment
Figure, the utility model embodiment can be applied to the case where carrying out wireless charging to self-propelling device.
As shown in Fig. 2, the self-propelling device 110 in the utility model embodiment may include: to be provided with electric energy to receive line
Enclose 201a by electric module 201 and the first infrared induction module at relative position on the outside of electric energy receiving coil 201a
202；
First infrared induction module 202 is configured to and is located at charging module 203 in working region locating for self-propelling device 110
Electric energy transmitting circle 203a on the outside of the second infrared induction module 204 at relative position carry out cooperation contraposition so that by electric module
201 electric energy receiving coil 201a is docked with the electric energy transmitting coil 203a of charging module 203, with to self-propelling device 110 into
Row wireless charging.
In the present embodiment, self-propelling device 110 can for logistics transfer robot, fork truck robot or other be used for
The robot of cargo carrying is carried out in warehouse logistics.Self-propelling device 110 Transport cargo rack can pick in warehouse to work station
Goods is got in stocks, and carries out other logistics operations.Referring to fig. 2, in order to realize the wireless charging electric work to self-propelling device 110
Can, it can be arranged in the predetermined position on self-propelling device 110 by electric module 201, be may include that electric energy connects by electric module 201
Take-up circle 201a.Wherein, it can be set by the electric energy receiving coil 201a of electric module 201 and extended to certainly from by electric module 201
On the receiving end mouth on 110 surface of driving equipment.In addition, charging can be set in the working region locating for self-propelling device 110
The electric transmitting coil 203a of module 203.Wherein, the electric energy transmitting coil 203a of charging module 203 can be set from charging mould
On the charging port that block 203 extends.It is understood that the receiving end mouth can be understood as positioned at self-propelling device 110
Surface, and the carrier for placing electric energy receiving coil 201a；The charging port can be understood as being located at 110 institute of self-propelling device
Locate in working region, and the carrier for placing electric energy transmitting coil 203a.
It in the present embodiment, referring to fig. 2, can be with when self-propelling device 110 is charged by the way of wireless charging
By the electric energy emission lines of working region locating for the electric energy receiving coil 201a and the self-propelling device 110 on self-propelling device 110
It encloses the distance between 203a and adjusts towards angle to tolerance interval, for example, electric energy receiving coil 201a and electric energy are sent out
Ray circle 203a is aligned.At this point, self-propelling device 110 can receive electric energy transmitting coil by electric energy receiving coil 201a
The radio energy of 203a transmitting, realizes and carries out wireless charging to self-propelling device 110.In addition, also showing charging service in Fig. 2
Device 207 and current transmitters 208.
In the present embodiment, Fig. 3 is that a kind of self-propelling device provided in the utility model embodiment carries out wireless charging
Schematic diagram.Referring to figs. 2 and 3, when on self-propelling device 110 electric energy receiving coil 201a and electric energy transmitting coil 203a it
Between distance and (such as electric energy receiving coil 201a and electric energy transmitting coil are not adjusted to tolerance interval towards angle
203a is not aligned) when, the effect of 110 wireless charging of self-propelling device may be will affect, in some instances it may even be possible to lead to self-propelling device
110 can not charge.It based on the above situation, can be in the outside relative position of the electric energy receiving coil 201a of self-propelling device 110
The first infrared induction module 202 of place's setting, can be with work locating for self-propelling device 110 by first infrared induction module 202
Make the second infrared induction module 204 being arranged at the outside relative position of the electric energy transmitting circle 203a of charging module 203 in region
Carry out cooperation contraposition.When the first infrared induction module 202 is aligned with the realization of the second infrared induction module 204, self-propelling device
The 110 electric energy receiving coil 201a by electric module 201 can be with the charging module of working region locating for self-propelling device 110
203 electric energy transmitting coil 203a realizes accurate docking.Optionally, electric energy receiving coil 201a and electric energy transmitting coil 203a is quasi-
Really docking can be for the central axis of electric energy receiving coil 201a central axis and electric energy transmitting coil 203a on the same axis.When certainly
The electric energy transmitting coil 203a of working region locating for electric energy receiving coil 201a and self-propelling device 110 in driving equipment 110
When accurate docking, the radio energy of electric energy transmitting coil 203a transmitting, realization pair can be received by electric energy receiving coil 201a
110 wireless charging of self-propelling device.It should be noted that being illustrated only by electric module 201 and charging module 203 in Fig. 3
Part-structure.
In a kind of optional way of the utility model embodiment, referring to Fig. 3, self-propelling device 110 by electric module 201
It can also include: filter rectifier 201b, filter rectifier 201b can be with the receiving end mouth position by electric module 201
The electric energy receiving coil 201a at place is electrically connected.Filter rectifier 201b can be can receive by electric energy receiving coil 201a to be filled
The radio energy for the electric energy transmitting coil 203a transmitting being arranged on the charging port of electric module 203.Filter rectifier 201b can
With received by electric energy receiving coil 201a electric energy transmitting coil 203a transmitting radio energy after, it is wireless to what is received
Electric energy is filtered rectification, to realize using filter rectification treated radio energy to being arranged on self-propelling device 110
Battery charges.
It can also be included: electric quantity detecting circuit by electric module 201 in a kind of optional way of the utility model.Pass through
The remaining capacity of battery on the available self-propelling device 110 of the electric quantity detecting circuit, with the battery on self-propelling device 110
The self-propelling device 110 is reminded to need to carry out wireless charging when remaining capacity is too low.In addition, can also be included: by electric module 201
Battery capacity indication lamp.The battery capacity indication lamp can show the remaining capacity of battery on the self-propelling device 110.Optionally, the electricity
The multiple LED light of indicator light, each LED light can indicate predetermined battery electricity.
In a kind of optional way of the utility model embodiment, the first infrared induction module 202 may include multiple red
Outer line receiver, the electric energy receiving coil that can be arranged in by the way of array arrangement between multiple infrared receivers
At the outside relative position of 201a.Each infrared ray transmitting for including in each infrared receiver and the second infrared induction module 203
Device is arranged in a one-to-one correspondence in quantity and position.
In the present embodiment, Fig. 4 is that the first infrared induction module provided in the utility model embodiment and second are red
The aligned schematic diagram of outer induction module.It referring to fig. 4, may include multiple infrared receivers in the first infrared induction module 202
Device is arranged between multiple infrared receivers by the way of array arrangement.Certainly, no matter the first infrared induction module 202
In include multiple infrared receivers arranged using which kind of array pattern, be required to each infrared receiver and the
The RF transmitter for including in two infrared induction modules 203 is arranged in a one-to-one correspondence in quantity and position.It is red by each
Being aligned between outer line receiver RF transmitter corresponding with each, can accurately realize the first infrared induction module
202 are aligned with the second infrared induction module 204, and then realize the standard of electric energy receiving coil 201a and electric energy transmitting coil 203a
Really alignment.Optionally, multiple infrared receivers and multiple infrared receivers can use shown in Fig. 4 in array arrangement
The mode of ribbon array arrangement can also use the arrangement mode of other patterns.For example, multiple infrared receivers are set respectively
It sets around the electric energy receiving coil 201a by electric module 201, multiple RF transmitters are separately positioned on charging module 203
Electric energy transmitting coil 203a around.It is illustrated only in above-mentioned Fig. 4 a kind of by the arrangement of multiple infrared receiver ribbon arrays
The first infrared induction module 202 and it is a kind of by multiple RF transmitter ribbon arrays arrange the second infrared induction module
204, as long as guaranteeing each infrared ray in each infrared receiver and the second infrared induction module in the first induction module 202
One-to-one relationship between transmitter, so that include in each infrared receiver and the second infrared induction module 203 is infrared
After line transmitter is aligned one by one, the also completion of corresponding electric energy receiving coil 201a and electric energy transmitting coil 203a are accurately right
It connects, then the first infrared induction module 202 and the second infrared induction module 204 use the arrangement pattern of other patterns can also be with.
In a kind of optional way of the utility model embodiment, referring to fig. 2, self-propelling device 110 can also include: to lead
Model plane block 205；Navigation module 205 can guide self-propelling device 110 to the electric energy transmitting coil 203a institute of charging module 203
At position.
In the present embodiment, referring to fig. 2, in order to guarantee that self-propelling device 110 is reached as early as possible locating for self-propelling device 110
The electric energy transmitting coil 203a position of the charging module 203 of working region carries out wireless charging, can set from driving
Navigation module 205 is set on standby 110.When self-propelling device 110 needs to carry out wireless charging, navigation module 205 can be passed through
Near the guidance to the electric energy transmitting coil 203a position of charging module 203 of self-propelling device 110, will pass through first
Induction module 202 and the second induction module 204 are aligned electric energy receiving coil 201a and electric energy transmitting coil 203a.
Optionally, referring to fig. 2, it can be led in the navigation module 205 that the top position of self-propelling device 110 is arranged for laser
Navigate radar, can also be in the working region locating for self-propelling device 110 not at this time in order to cooperate the use of laser navigation radar
With multiple positioning identifiers 206 are arranged on position.Laser navigation radar can guide automatically according to positioning identifier 206 to be set from driving
Standby 110 move to the electric energy transmitting coil 203a position of charging module 203, will pass through 202 He of the first induction module
Second induction module 204 guidance electric energy receiving coil 201a and electric energy transmitting coil 203a is docked.Wherein, work as navigation module
205 be laser navigation radar when, the positioning identifier 206 can be reflector, each positioning identifier can have positioning mark
Know the coordinate information of 206 positions, each positioning identifier 206 can be set in the working region locating for self-propelling device 110
The different location of metope.
It optionally, referring to fig. 2, can be camera shooting in the navigation module 205 that the top position of self-propelling device 110 is arranged
Head can also be set at this time in order to cooperate the use of camera on the different location in the working region locating for self-propelling device 110
Multiple two dimensional codes are set, such as in ground or the different location of metope.What self-propelling device 110 can take according to camera
Two-dimensional barcode information moves forward, to guide the electric energy transmitting coil 203a institute of the self-propelling device 110 arrival charging module 203
At position, will pass through the first induction module 202 and the second induction module 204 guidance electric energy receiving coil 201a and electric energy hair
Ray circle 203a is docked.
In a kind of optional way of the utility model embodiment, the electricity by electric module 201 on self-propelling device 110 is connect
Take-up circle 201a is located at the side of self-propelling device 110, and on the ground that is located in working region locating for self-propelling device 110
Electric energy transmitting coil 203a be used cooperatively.
In the present embodiment, Fig. 5 is that the self-propelling device 110 provided in the utility model embodiment is charged using side
Charging schematic diagram.Referring to fig. 2 and Fig. 5 can move to 110 institute of self-propelling device when self-propelling device 110 needs to charge
It, can be to being located at by the first induction module 202 and the second induction module 204 at 203 position of charging module of working region
Electric energy receiving coil 201a on the receiving end mouth by electric module 201 of 110 side of self-propelling device and the charging positioned at metope
Electric energy transmitting coil 203a on the charging port of module 203 is docked, and is used cooperatively after the completion of docking.Optionally,
Electric energy transmitting coil 203a on the charging port of the charging module 203 of metope can be set to be slided on the slide rail,
So as to carry out appropriate adjust highly according to the height of the electric energy receiving coil 201a of self-propelling device 110.
The electric energy by electric module 201 in the another alternative of the utility model embodiment, on self-propelling device 110
Receiving coil 201a is located at the bottom surface of self-propelling device 110, and with the ground that is located in working region locating for self-propelling device 110
On electric energy transmitting coil 203a be used cooperatively.
In the present embodiment, Fig. 6 is that the self-propelling device provided in the utility model embodiment is charged using bottom surface
Charge schematic diagram.Referring to Fig. 6, when self-propelling device 110 needs to charge, it can move to where self-propelling device 110 and work
The electric energy transmitting coil 203a position of the charging module 203 in region.Pass through the first induction module 202 and the second induction mould
Block 204 can be to the electric energy transmitting coil 203a for being located at 110 bottom surface of self-propelling device and the electric energy transmitting coil for being located at ground
203a is docked, and is used cooperatively after the completion of docking.Optionally, referring to figs. 5 and 6, electric energy receiving coil 201a and electricity
The shape of energy transmitting coil 203a, both can be using circle electric energy receiving coil 201a shown in Fig. 5 and round electric energy transmitting
Coil 203a can also use rectangular electric energy receiving coil 201a shown in fig. 6 and rectangular electric energy transmitting coil 203a.
The self-propelling device of the utility model embodiment can be realized the electric energy by electric module of self-propelling device itself
The automatic butt of the electric energy transmitting coil of the charging module of working region locating for receiving coil and self-propelling device, and in docking
In the case of realize wireless charging, improve the working efficiency of self-propelling device, and without considering that the abrasion of wired charging device is asked
Topic substantially extends the service life of charging equipment.
A kind of wireless charging system based on self-propelling device is also provided in the utility model embodiment, the utility model is real
Applying the wireless charging system based on self-propelling device provided in example can be applied to the feelings that wireless charging is carried out to self-propelling device
Condition.
As shown in Fig. 2, the wireless charging system based on self-propelling device provided in the utility model embodiment can wrap
It includes: the charging unit 170 of working region locating for self-propelling device 110 and self-propelling device 110；
The self-propelling device 110 may include: be provided with electric energy receiving coil 201a by electric module 201 and be located at electric energy
The first infrared induction module 202 on the outside of receiving coil 201a at relative position；
The charging unit 170 at least may include: to be provided with the charging module 203 of electric energy transmitting coil 203a and be located at electric
The second infrared induction module 204 on the outside of energy transmitting coil 203a at relative position.
First infrared induction module 202 is configured to carry out cooperation contraposition with the second infrared induction module 204, so that will be by electricity
The electric energy receiving coil 201a of module 201 and the electric energy transmitting coil 203a of charging module 203 are connected to each other, to be emitted by electric energy
Coil 203a receives circle 201a to electric energy and emits radio energy, carries out wireless charging to self-powered mobile robot 110.
In a kind of optional way of the utility model embodiment, referring to figs. 2 and 3, charging module 203 may include:
AC frequency conversion circuit 203b.AC frequency conversion circuit 203b can be electrically connected with electric energy transmitting coil 203a.AC frequency conversion circuit
The electric energy of extraneous power supply can be converted to the radio energy of predeterminated frequency by 203b, and be transmitted to electric energy transmitting coil 203a, with
Radio energy is emitted to exterior space by electric energy transmitting coil.Self-propelling device 110 can also be wrapped by electric module 201
Include: filter rectifier 201b, filter rectifier 201b can be with the electric energy at the receiving end mouth position by electric module 201
Receiving coil 201a electrical connection.Filter rectifier 201b can receive charging module by electric energy receiving coil 201a
The radio energy for the electric energy transmitting coil 203a transmitting being arranged on 203 charging port.Filter rectifier 201b can be logical
Cross electric energy receiving coil 201a receive electric energy transmitting coil 203a transmitting radio energy after, to the radio energy received into
Row filter rectification, thus realize using filter rectification treated radio energy to the battery being arranged on self-propelling device 110 into
Row charging.
In a kind of optional way of the utility model embodiment, the first infrared induction module 202 may include multiple red
The electricity by electric module 201 can be arranged between multiple infrared receivers by the way of array arrangement for outer line receiver
At the outside relative position of energy receiving coil 201a.Second infrared induction module 204 may include multiple RF transmitters, more
The outer of the electric energy transmitting coil 203a of charging module 203 is set by the way of array arrangement between a RF transmitter
At the relative position of side.Also, it corresponds and sets in quantity and position between each infrared receiver and each RF transmitter
It sets.
It, should the wireless charging system based on self-propelling device 110 in a kind of optional way of the utility model embodiment
It can also include: charging server 207.Charging server 207 can be with 110110 communication connection of self-propelling device.Charging service
Device 207 can receive the charge request of the self-propelling device 110 transmission, and responds charge request and return to self-propelling device 110
Charging instruction.
In the present embodiment, when the battery of self-propelling device 110 is in low battery state, self-propelling device 110 can
To send charging application by communication module charging server 207, request to carry out wireless charging to the battery of self-propelling device 110
Electricity.Charging server 207 can receive the charge request of the self-propelling device 110 transmission, respond the charge request and to self-powered
Dynamic equipment 110 returns to charging instruction.Self-propelling device 110 can drive to according to the charging instruction that charging server 207 returns
The electric energy transmitting coil 203a position of the charging module 203 of 110 place working region of self-propelling device, it is red by first
Outer induction module 202 is aligned with the second infrared induction module 204, by electric energy receiving coil 201a and electric energy transmitting coil 203a
Docking, and circle 201a is received to electric energy by electric energy transmitting coil 203a after docking and emits radio energy, to self-propelling device
110 battery carries out wireless charging.Charging server 207 can also receive the letter that the self-propelling device 110 sends charging complete
Number, it, can be to self-propelling device 110 after charging server 207 receives the signal of the charging complete of the transmission of self-propelling device 110
Work order is sent, self-propelling device 110 restarts work and sails out of charging zone.
It, can after self-propelling device 110 reaches near charging zone in a kind of optional way of the utility model embodiment
Self-propelling device 110 to be guided to 110 institute of self-propelling device using the navigation module 205 being arranged on self-propelling device 110
Locate the electric energy transmitting coil 203a position of the charging module 203 of working region, and passes through the first induction module 201 and the
Two induction modules 204 are aligned electric energy receiving coil 201a and electric energy transmitting coil 203a.Optionally, referring to fig. 2 and figure
5, the electric energy transmitting coil 203a of charging module 203 is located on the vertical metope of working region locating for self-propelling device 110, and with
Electric energy receiving coil 201a on the receiving end mouth of 110 side of self-propelling device is used cooperatively, can by navigation module 205
Travelling the guidance of self-propelling device 110 to the electric energy emission lines of the charging module 203 of working region locating for self-propelling device 110
203a position is enclosed, docks electric energy transmitting coil 203a with electric energy receiving coil 201a, is realized to self-propelling device 110
Battery carry out wireless charging.It is another optional, it is located at referring to fig. 2 with Fig. 6, the electric energy transmitting coil 203a of charging module 203
On the ground of working region locating for self-propelling device 110, and be located at 110 bottom surface of self-propelling device electric energy receiving coil 201a
It is used cooperatively, traveling can be guided to workspace locating for self-propelling device 110 self-propelling device 110 by navigation module 205
It at 203 position of charging module in domain, docks electric energy transmitting coil 203a with electric energy receiving coil 201a, realizes and set to from driving
Standby 110 battery carries out wireless charging.
In a kind of optional way of the utility model embodiment, it is somebody's turn to do the wireless charging system based on self-propelling device and may be used also
To include: current transmitters 208, wherein current transmitters 208 can be electrically connected with charging module 203, current transmitters 208
It can also be with 110 communication connection of self-propelling device.
Current transmitters 208 can receive starting using charging module 203 to driving certainly for the self-propelling device 110 transmission
What equipment 110 charged starts to charge signal；The stopping that current transmitters 208 can also receive the self-propelling device 110 transmission makes
The stopping charging signals being charged with charging module 203 to self-propelling device 110.
In the present embodiment, when detecting that the first infrared induction module 202 is aligned with the second infrared induction module 204
When, signal can be started to charge to the transmission of current transmitters 208 by self-propelling device 110, while informing self-propelling device 110
Driving wheel " band-type brake " fix its position.Current transmitters 208 can start to charge signal designation charging module 203 according to this
By the electric energy transmitting coil 203a that is arranged on charging module 203 to self-propelling device 110 by the electricity being arranged in electric module 201
It can receiving coil transmitting radio energy.Electric energy receiving coil 201a on self-propelling device 110 can receive radio energy, realize
It charges to the battery of self-propelling device 110.When the battery on self-propelling device 110 is in full of electricity condition, from driving
Equipment 110 can be sent to current transmitters 208 stops charging signals, and current transmitters 208 are indicated according to charging signals are stopped
Charging module 203 stops carrying out wireless charging to the battery of self-propelling device 110.
The wireless charging system based on self-propelling device of the utility model embodiment can be realized to self-propelling device institute
The electric energy receiving coil by electric module of the electric energy transmitting coil and self-propelling device of locating the charging module of working region carries out certainly
Dynamic docking, and the working efficiency of self-propelling device, and nothing are improved to the wireless charging of self-propelling device in the case where docking
It need to consider the wear problem of wired charging device (connect-disconnect plug, interface), substantially extend the service life of charging equipment.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (14)
1. a kind of self-propelling device characterized by comprising be provided with electric energy receiving coil by electric module and be located at described
The first infrared induction module on the outside of electric energy receiving coil at relative position；
First infrared induction module is configured to and is located at the electricity of charging module in working region locating for the self-propelling device
The second infrared induction module at the relative position of circle outside can be emitted and carry out cooperation contraposition, so that the electric energy by electric module connects
Take-up circle and the electric energy transmitting coil of the charging module are connected to each other, to carry out wireless charging to the self-propelling device.
2. self-propelling device according to claim 1, which is characterized in that described to be included: by electric module
Filter rectifier is electrically connected with the electric energy receiving coil；
The filter rectifier receives the radio energy of the electric energy transmitting coil transmitting by the electric energy receiving coil, and
Rectification is filtered to the radio energy, to pass through the radio energy after filter rectification to the battery on the self-propelling device
It charges.
3. self-propelling device according to claim 1, which is characterized in that described by electric module further include:
Electric quantity detecting circuit, for detecting the remaining capacity of battery on the self-propelling device, in the residue electricity of the battery
The self-propelling device is reminded to need to carry out wireless charging when measuring too low.
4. self-propelling device according to claim 1, which is characterized in that described by electric module further include:
Battery capacity indication lamp, for showing the remaining capacity of battery on the self-propelling device.
5. self-propelling device according to claim 1, which is characterized in that first infrared induction module includes multiple red
Outer line receiver is arranged in the electric energy by electric module by the way of array arrangement between multiple infrared receivers and connects
At the outside relative position of take-up circle；
Each RF transmitter for including in each infrared receiver and second infrared induction module is in quantity and position
It is arranged in a one-to-one correspondence.
6. self-propelling device according to claim 1, which is characterized in that the self-propelling device further includes navigation module；
The navigation module guides the self-propelling device to the electric energy transmitting coil position of the charging module.
7. self-propelling device according to claim 1-6, which is characterized in that
The electric energy receiving coil by electric module is located at the bottom surface of the self-propelling device, and be located at the self-propelling device
Electric energy transmitting coil on ground in locating working region is used cooperatively.
8. self-propelling device according to claim 1-6, which is characterized in that
The electric energy receiving coil by electric module is located at the side of the self-propelling device, and be located at the self-propelling device
Electric energy transmitting coil on metope in locating working region is used cooperatively.
9. a kind of wireless charging system based on self-propelling device characterized by comprising self-propelling device and the driving certainly
The charging unit of working region locating for equipment；
The self-propelling device include: be provided with electric energy receiving coil by electric module and be located on the outside of the electric energy receiving coil
The first infrared induction module at relative position；
The charging unit includes: to be provided with the charging module of electric energy transmitting coil and positioned at phase on the outside of the electric energy transmitting coil
To the second infrared induction module at position；
First infrared induction module is configured to carry out cooperation contraposition with second infrared induction module, so that described by electricity
The electric energy receiving coil of module is connected to each other with the electric energy transmitting coil of the charging module, by the electric energy transmitting coil to institute
It states electric energy and receives circle transmitting radio energy, to carry out wireless charging to the self-propelling device.
10. system according to claim 9, which is characterized in that the charging module includes:
AC frequency conversion circuit is connect with the electric energy transmitting coil；
The electric energy of extraneous power supply is converted to the radio energy of predeterminated frequency by the AC frequency conversion circuit, and is transmitted to the electric energy
Transmitting coil, radio energy is emitted to exterior space by the electric energy transmitting coil.
11. system according to claim 9, which is characterized in that first infrared induction module includes multiple infrared rays
Receiver is arranged in the electric energy by electric module between multiple infrared receivers by the way of array arrangement and receives line
At the outside relative position of circle；
Second infrared induction module includes multiple RF transmitters, is arranged between multiple RF transmitters using array
The mode of column is arranged at the outside relative position of the electric energy transmitting coil of the charging module；
Each infrared receiver is arranged in a one-to-one correspondence in quantity and position with each RF transmitter.
12. system according to claim 9, which is characterized in that the system also includes:
Charging server, the charging server and the self-propelling device communication connection；
The charging server receives the charge request that the self-propelling device is sent, and respond the charge request to it is described from
Driving equipment returns to charging instruction.
13. according to the described in any item systems of claim 9-12, which is characterized in that
The electric energy transmitting coil of the charging module is located on the ground of working region locating for the self-propelling device, and be located at
The electric energy receiving coil of the self-propelling device bottom surface is used cooperatively.
14. according to the described in any item systems of claim 9-12, which is characterized in that
The electric energy transmitting coil of the charging module is located on the metope of working region locating for the self-propelling device, and be located at
The electric energy receiving coil of the self-propelling device side is used cooperatively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821341029.6U CN208522506U (en) | 2018-08-20 | 2018-08-20 | Self-propelling device and wireless charging system based on self-propelling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821341029.6U CN208522506U (en) | 2018-08-20 | 2018-08-20 | Self-propelling device and wireless charging system based on self-propelling device |
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| CN208522506U true CN208522506U (en) | 2019-02-19 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109798475A (en) * | 2019-02-28 | 2019-05-24 | 广州美术学院 | A kind of LED desk lamp |
| CN111478390A (en) * | 2020-04-17 | 2020-07-31 | 上海艾临科智能科技有限公司 | Non-contact charging system and method |
| WO2020207164A1 (en) * | 2019-04-10 | 2020-10-15 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, apparatus and system, electronic device and storage medium |
| CN112886681A (en) * | 2021-03-23 | 2021-06-01 | 江西工控智能科技有限公司 | Intelligent charging system of industrial robot |
| CN113089888A (en) * | 2021-03-30 | 2021-07-09 | 上海科城建设工程有限公司 | Intelligent indoor space variable separation module and use method thereof |
| CN113815458A (en) * | 2021-09-17 | 2021-12-21 | 三峡大学 | Automatic return charging device of inspection aircraft |
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2018
- 2018-08-20 CN CN201821341029.6U patent/CN208522506U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109798475A (en) * | 2019-02-28 | 2019-05-24 | 广州美术学院 | A kind of LED desk lamp |
| WO2020207164A1 (en) * | 2019-04-10 | 2020-10-15 | 拉扎斯网络科技（上海）有限公司 | Robot navigation method, apparatus and system, electronic device and storage medium |
| CN111478390A (en) * | 2020-04-17 | 2020-07-31 | 上海艾临科智能科技有限公司 | Non-contact charging system and method |
| CN112886681A (en) * | 2021-03-23 | 2021-06-01 | 江西工控智能科技有限公司 | Intelligent charging system of industrial robot |
| CN113089888A (en) * | 2021-03-30 | 2021-07-09 | 上海科城建设工程有限公司 | Intelligent indoor space variable separation module and use method thereof |
| CN113815458A (en) * | 2021-09-17 | 2021-12-21 | 三峡大学 | Automatic return charging device of inspection aircraft |
| CN113815458B (en) * | 2021-09-17 | 2023-08-25 | 三峡大学 | Automatic return charging device for patrol aircraft |
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Address after: 100020 No. 1 Building, No. 36 Chuangyuan Road, Chaoyang District, Beijing 101 Patentee after: Beijing jizhijia Technology Co.,Ltd. Address before: 100020 No. 1 Building, No. 36 Chuangyuan Road, Chaoyang District, Beijing 101 Patentee before: Beijing Geekplus Technology Co.,Ltd. |