KR102270075B1 - Automatic Charging System and Method for Robot - Google Patents

Abstract

In an autonomous charging system for a robot, the present invention includes a robot and a docking station for wireless charging of the robot, wherein the docking station transmits a signal that the robot can use for docking with the docking station A signal transmitter for transmitting a signal Including, wherein the robot comprises a signal receiving unit for receiving a signal that the robot can use for docking with the docking station, and the robot determined based on the signals received from each of the plurality of sensors in the signal receiving unit It relates to an autonomous charging system for a robot, in which the robot moves and/or rotates to the docking station for wireless charging according to the relative position of the robot. This, more precisely, allows the robot to dock autonomously for battery charging.

Description

Automatic Charging System and Method for Robot

The present invention relates to an autonomous charging system and method for a robot, and more particularly, by using a plurality of signal transmitters that transmit a docking induction signal and a plurality of sensors capable of receiving such a docking induction signal, the robot performs smooth charging For this purpose, it relates to an autonomous charging system and method for a robot that allows it to autonomously move to a docking station and dock.

Various types of robots are widely used to replace dangerous or repetitive human labor at home and industrial sites. In order for these robots to perform their functions properly, power must be supplied continuously without interruption, either by using an external AC power supplied in real time using an adapter or by using a previously charged battery.

Although wired charging using an adapter is the method used by most robots, in the case of mobile robots that have the ability to move the robot, if charging is required due to insufficient battery power during use, automatic charging through autonomous driving If this is not the case, the robot cannot proceed with charging itself.

At this time, as described above, a system and/or method that assists in smooth wireless charging through autonomous driving when the robot requires charging due to insufficient battery capacity, so as to continuously provide the robot's service without interruption, is a robot. It needs to be introduced into the autonomous charging system for

US 10-1415879 B1 US 7332890 B2

Accordingly, an object of the present invention is to use a plurality of signal transmitters that transmit a docking induction signal and a plurality of sensors that can receive such a docking induction signal, so that the robot can autonomously move to the docking station for smooth charging and dock it. It is to provide an autonomous charging system and method for robots.

Another object of the present invention is to provide an autonomous charging system and method for a robot that can autonomously dock a robot for charging a battery, thereby continuously providing a service of the robot without interruption.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

An autonomous charging system for a robot, comprising a docking station for wireless charging of the robot and the robot according to the first aspect of the present invention,

The docking station includes a signal transmitting unit for transmitting a signal that the robot can use for docking with the docking station, wherein the signal transmitting unit at least a first signal transmitting unit for transmitting a signal toward the front of the docking station , A second signal transmitting unit for transmitting a signal toward the left side of the docking station, and a third signal transmitting unit for transmitting a signal toward the right side of the docking station,

The robot includes a signal receiver for receiving signals from the first to third signal transmitters, wherein the signal receiver includes at least a first sensor mounted in the center of the robot toward the front of the robot, the robot A second sensor mounted on the left side of the robot toward the left side, and a third sensor mounted on the right side of the robot toward the right side of the robot,

The robot moves and/or rotates to the docking station for wireless charging according to the relative position of the robot determined based on the signal received by each of the plurality of sensors in the signal receiving unit, wherein the relative position of the robot is , is achieved by including information about whether the docking station is a central area, a left area, or a right area around the docking station.

Here, the signal receiving unit, a fourth sensor mounted between the first sensor and the second sensor toward the left side of the robot, is mounted between the first sensor and the third sensor toward the right side of the robot It is preferable that the fourth sensor and the fifth sensor are positioned closer to the first sensor than the second sensor and the third sensor, respectively.

At this time, when it is determined that the relative position of the robot is the left region based on the signal received by the second sensor and/or the fourth sensor, the robot advances until it is determined that the relative position of the robot is the central region, and Based on the signal received by the first sensor, the robot rotates counterclockwise until it is determined that the relative position of the robot is the central area, and then advances.

Similarly, when it is determined that the relative position of the robot is the right region based on the signal received by the third sensor and/or the fifth sensor, the robot advances until it is determined that the relative position of the robot is the central region, Based on the signal received by the first sensor, the robot rotates clockwise until it is determined that the relative position of the robot is in the central area, and then moves forward.

In addition, when it is determined that the relative position of the robot is the left region based on the signal received by the first sensor, the relative position of the robot is determined based on the signal received by the second sensor and/or the fourth sensor. After rotating clockwise until it is determined that it is the left area, the robot moves forward until it is determined that the relative position of the robot is the center area, and based on the signal received by the first sensor, it is determined that the relative position of the robot is the center area Rotate counterclockwise until

Similarly, when it is determined that the relative position of the robot is the right region based on the signal received by the first sensor, the relative position of the robot based on the signal received by the third sensor and/or the fifth sensor After rotating counterclockwise until it is determined that is the right region, the robot moves forward until it is determined that the relative position of the robot is the central region, and based on the signal received from the first sensor, the relative position of the robot is the central region It rotates clockwise until it is determined that

On the other hand, the docking station, a wireless power transmitter built into the docking station for wireless charging, and surrounds at least a part of the wireless power transmitter, and a first contact part that is contacted when the robot docks over the docking station for wireless charging Including, wherein the robot, a wireless power receiver built into the robot for wireless charging, and a second that surrounds at least a part of the wireless power receiver and is in contact with the first contact part when the robot is docked over the docking station It is preferable to include a contact part, and the first contact part further includes an elastic member for pushing upward the wireless power transmitter built into the docking station when the robot docks on the docking station for wireless charging.

Furthermore, the first contact portion has a built-in magnet, and the second contact portion has a built-in sensor for detecting the presence of the magnet, so it is preferable to determine the docking completion based on the detection result of the sensor.

In addition, it is preferable that the elastic member be continuously or discontinuously disposed at least under the first contact part and around the wireless power transmitter as a center.

An autonomous charging method for a robot implemented in an autonomous charging system for a robot, comprising a robot and a docking station for wireless charging of the robot according to the second aspect of the present invention, wherein the docking station is the docking station and a signal transmitter for transmitting a signal usable for docking, wherein the signal transmitter includes at least a first signal transmitter for transmitting a signal toward the front of the docking station, a signal toward the left side of the docking station A second signal transmitting unit for transmitting and a third signal transmitting unit for transmitting a signal toward the right side of the docking station, wherein the robot includes a signal receiving unit for receiving signals from the first to third signal transmitting units In this case, the signal receiver includes at least a first sensor mounted in the center of the robot toward the front of the robot, a second sensor mounted on the left side of the robot toward the left side of the robot, and the robot toward the right side of the robot. a third sensor mounted on the right side of the

Moving the robot toward the docking station for wireless charging, wherein the robot moves to the docking station for wireless charging according to the relative position of the robot determined based on the signals received from each of the plurality of sensors in the signal receiving unit moves and/or rotates, wherein the relative position of the robot includes information on whether it is a central area, a left area, or a right area with respect to the docking station; and

and docking the robot to the docking station for wireless charging.

Here, the signal receiving unit, a fourth sensor mounted between the first sensor and the second sensor toward the left side of the robot, is mounted between the first sensor and the third sensor toward the right side of the robot It is preferable that the fourth sensor and the fifth sensor are positioned closer to the first sensor than the second sensor and the third sensor, respectively.

At this time, when it is determined that the relative position of the robot is the left region based on the signal received by the second sensor and/or the fourth sensor, the robot advances until it is determined that the relative position of the robot is the central region, and Based on the signal received by the first sensor, the robot rotates counterclockwise until it is determined that the relative position of the robot is the central area, and then advances.

Similarly, when it is determined that the relative position of the robot is the right region based on the signal received by the third sensor and/or the fifth sensor, the robot advances until it is determined that the relative position of the robot is the central region, Based on the signal received by the first sensor, the robot rotates clockwise until it is determined that the relative position of the robot is in the central area, and then moves forward.

In addition, when it is determined that the relative position of the robot is the left region based on the signal received by the first sensor, the relative position of the robot is determined based on the signal received by the second sensor and/or the fourth sensor. After rotating clockwise until it is determined that it is the left area, the robot moves forward until it is determined that the relative position of the robot is the center area, and based on the signal received by the first sensor, it is determined that the relative position of the robot is the center area Rotate counterclockwise until

Similarly, when it is determined that the relative position of the robot is the right region based on the signal received by the first sensor, the relative position of the robot based on the signal received by the third sensor and/or the fifth sensor After rotating counterclockwise until it is determined that is the right region, the robot moves forward until it is determined that the relative position of the robot is the central region, and based on the signal received from the first sensor, the relative position of the robot is the central region It rotates clockwise until it is determined that

On the other hand, the step of docking the robot to the docking station for wireless charging, when the robot docks over the docking station for wireless charging, an elastic member for pushing upwards the wireless power transmitter built into the docking station. It is preferable to further include the step of completing the docking using.

Furthermore, it is preferable that the elastic member be continuously or discontinuously disposed at least under the first contact part and around the wireless power transmitter as a center.

According to the autonomous charging system and method for a robot of the present invention as described above, the robot is docked for smooth charging by using a plurality of signal transmitters that transmit a docking induction signal and a plurality of sensors capable of receiving such a docking induction signal. It has the advantage of being able to autonomously move to and dock the station.

In addition, according to the autonomous charging system and method for a robot of the present invention, the robot can autonomously dock for battery charging, so that the robot service can be continuously provided without interruption.

1 is a view showing an autonomous charging system for a robot, including a docking station for wireless charging of a robot and the robot according to an embodiment of the present invention.
2 is a view showing a bottom surface of a robot according to an embodiment of the present invention.
3 is a view showing an autonomous charging system for a robot according to an embodiment of the present invention, and shows a state in which the robot is docked in a docking station.
4 is a view showing a docking station among the autonomous charging system for a robot according to an embodiment of the present invention.
5 is a flowchart showing a wireless charging method for a robot according to an embodiment of the present invention.
6 is a view showing a wireless charging system for a robot according to an embodiment of the prior art.
7 is a diagram illustrating a structure of a signal transmitter included in a docking station according to an embodiment of the present invention.
8 is a diagram illustrating a positional relationship between a docking station and a robot according to an embodiment of the present invention.
9 is a view showing a robot equipped with a signal receiver according to an embodiment of the present invention.
10 to 12 are diagrams illustrating an autonomous charging method according to an embodiment of the present invention.

Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the contents described in the accompanying drawings. However, the present invention is not limited or limited by the exemplary embodiments. The same reference numerals provided in the respective drawings indicate members that perform substantially the same functions.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in specific cases, there are also terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

When a part "includes" a certain element throughout the specification, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated.

An autonomous charging device and system for a robot according to the present invention will be described with reference to the drawings, particularly FIGS. 1 to 4 . Here, FIG. 1 is a view showing an autonomous charging system for a robot, including a docking station for wireless charging of a robot and the robot according to an embodiment of the present invention. In addition, Figure 2 is a view showing the bottom of the robot according to an embodiment of the present invention, Figure 3 is a view showing an autonomous charging system for a robot according to an embodiment of the present invention, in which the robot is docked in the docking station is showing In addition, Figure 4 is a view showing a docking station of the autonomous charging system for a robot according to an embodiment of the present invention.

Referring to FIG. 1 , the autonomous charging system for a robot of the present invention is configured to include a robot 20 and a docking station 10 for wireless charging of the robot 20 .

Here, the robot 20 receives power and performs certain operations, which may be determined according to a predetermined or pre-programmed code. In this case, the power supply may be performed directly from an external power source or from a battery built into the robot.

The docking station 10 is provided with a wireless power transmitter (not shown) that receives external power through an adapter and supplies power for charging a battery built in the robot. Correspondingly, the robot 20 is provided with a wireless power receiver (not shown) arranged to receive the wireless power transmitted from the wireless power transmitter and charge the battery built into the robot.

The wireless power transmitter and the wireless power receiver constitute an autonomous charging device for a robot according to the present invention, and since the configuration and functions of the wireless power transmitter and the wireless power receiver are well-known, detailed description thereof will be omitted.

However, in accordance with the present invention, the wireless power receiver built in the robot 20 for wireless charging and the wireless power transmitter built in the docking station 10 for wireless charging are also in an embodiment of the prior art shown in FIG. It should be noted that smooth power transmission can be achieved only in a state in which they are aligned with each other, as in the autonomous charging system for robots.

Referring to Figure 1, the docking station 10 surrounds at least a portion of the wireless power transmitter, and also for wireless charging, a first contact portion 11 that is contacted when the robot 20 is docked on the docking station 10 is provided. .

Referring to FIG. 2 , correspondingly, the robot 20 surrounds at least a portion of the wireless power receiver and the robot 20 is docked on the docking station 10 , the second contact part is in contact with the first contact part 11 . (21) is provided.

At this time, although the first contact part 11 and the second contact part 21 are shown in a circular shape, any shape is possible, and it is also possible to have a different shape. In addition, the area of the first contact portion 11 may be substantially equal to the area of the second contact portion 21 or may be larger than this for stability.

The first contact part 11 is a part of the cover covering at least the wireless power transmitter, and may be configured as a part of the top plate of the docking station 10, preferably the rest of the top plate of the docking station as shown in FIG. 4 . It can be manufactured and assembled as a separate piece from the On the other hand, the second contact part 21 is at least a part of the cover covering the wireless power receiver, here, a part of the bottom plate of the robot, and may be integrally configured.

Referring again to FIGS. 1 and 2 , the first contact portion 11 includes at least one magnet 12 , and the second contact portion 21 includes at least one sensor 22 for detecting the presence of the magnet. includes The magnet 12 and the sensor 22 , in particular the Hall sensor, may be built-in, and further, at least a part may be exposed to the outside.

Although three are shown in the drawings, the number of the magnets 12 and the sensors 22 is not limited thereto. Preferably, the positions of the magnet 12 and the sensor 22 are arranged to substantially correspond to each other upon completion of docking. Although this embodiment has been described as a magnet and a Hall sensor that detects it, for example, including a mechanical component such as a switch, any component that can determine whether docking is possible with a certain relationship as described above is possible. .

That is, at least one magnet 12 is embedded in the first contact portion 11 , and the second contact portion 21 has at least one Hall sensor that detects the presence of the magnet, that is, the magnitude of the magnetic force of the magnet. (22) is built-in, and based on the detection result of this sensor, the docking completion is judged. In this case, the docking completion time may be set differently for each robot as needed. For example, the docking completion time may mean a point at which docking is completely finished, as shown in FIG. 3 , or may mean a time point at which docking is made with a certain degree of stability.

When the docking is normally completed in this way, charging starts, and the robot can perform certain operations while charging. In this case, the predetermined operation may be selected from the group consisting of a rotation operation, a monitoring operation, an action operation, and a combination thereof. For example, when docking is normally completed, the robot rotates and monitors the surrounding situation using the camera mounted on the robot, and when an emergency occurs, it sends an emergency signal or makes a phone call to the person or institution concerned. can be done Alternatively, the robot can continuously rotate left and right to continuously monitor the situation and take action accordingly.

In addition, referring to FIG. 4 , the present invention allows the robot to perform certain operations while faithfully charging, that is, to ensure that the wireless power transmitter of the docking station and the wireless power receiver built into the robot are in close contact with each other during charging. In order to do this, the first contact part 11 is an elastic member 41 that pushes the wireless power transmitter built into the docking station 10 upward when the robot 20 docks over the docking station 10 for wireless charging. further includes

The elastic member 41 is a material having a predetermined elastic recovery force, such as a spring, and when the robot 20 rises above the docking station 10 and the first contact part 11 for wireless charging, the weight of the robot 20 The first contact part 11 and the elastic member 41 are pressed down due to the like, thereby pushing the wireless power transmitter directly or indirectly connected thereto by the elastic recovery force of the elastic member 41 upward. To this end, the wireless power transmitter may be installed under the first contact part 11 and installed in other parts linked to the movement of the elastic member 41, for example, it may be inserted into the opening indicated by reference numeral 43. . In this case, the elastic member 41 may be continuously or discontinuously disposed around the at least the first contact part 11 and the wireless power transmitter as the center. Of course, the elastic member 41 may be built-in, and further, at least a portion may be exposed to the outside.

On the other hand, the docking station 10 is provided with a signal transmitter 42 for transmitting a signal that the robot can use for docking with the docking station, and the robot 20 has a signal receiver for receiving a signal from the signal transmitter 42 . (not shown) is provided at a corresponding position, for example, inside the green transparent window of FIG. 3 .

The above-mentioned signals that the robot can use for docking with the docking station are so-called docking guidance signals, when the robot needs battery charging, for example, when the robot finds a remaining battery level that does not meet a predetermined standard, or When it is determined that the remaining battery power is insufficient to perform an operation or it is necessary to return to the docking station according to other predetermined conditions, the signal received by the docking station is detected by the signal receiver built into the robot and sent to the docking station. used to access This allows the robot 20 to dock over the docking station 10 that transmits a signal for wireless charging. At this time, if necessary, the docking path and position of the robot may be adjusted according to the signal detection result, which will be described in detail below.

Referring to FIG. 7, which is a diagram showing the structure of a signal transmission unit included in the docking station according to an embodiment of the present invention, the signal transmission unit at least a first signal transmission unit 71 for transmitting a signal toward the front of the docking station, It includes a second signal transmitting unit 72 for transmitting a signal toward the left side of the docking station, and a third signal transmitting unit 73 for transmitting a signal toward the right side of the docking station.

The first signal transmitter 71 is preferably detected in a somewhat narrow range to help the robot move straight forward toward the docking station for stable docking. In consideration of the dimensions in the present embodiment and this situation, there may be a gap α at a predetermined interval of, for example, 25 mm or less, preferably 15 mm, in front of the first signal transmitting unit 71 . The exact number of these gaps may vary depending on the situation.

It is preferable that the second signal transmitting unit 72 and the third signal transmitting unit 73 are safely detected in a range that does not overlap the signal from the first signal transmitting unit 71 for stable docking of the robot. In consideration of this situation, a barrier rib inclined at a predetermined angle β may exist in front of the second signal transmitter 72 and the third signal transmitter 73 .

At this time, each of the first to third signal transmitting units 71, 72, 73 is an element that transmits a signal that can be detected at a short distance (72a, 73) and/or an element that transmits a signal that can be detected at a far distance. (72b, 73). Of course, the first signal transmitting unit 71 also includes an element for transmitting a signal that can be detected from a short distance and/or an element for transmitting a signal that can be detected from a farther distance therein, but is not shown.

In each of the first to third signal transmitting units (71, 72, 73), the elements (72a, 73) for transmitting a signal that can be detected at a short distance and transmitting a signal that can be detected at a far distance The elements 72b and 73 may be implemented as separate physically distinguishable elements, or may be physically implemented as one element but may operate in a temporally distinguishable manner.

At this time, it is preferable that the elements 72a and 73 for transmitting signals that can be detected at a short distance toward the left and right sides simultaneously transmit signals. This is to prevent an error in direction determination by detecting even a reflected signal when the transmission timing is different, for example, when there is a reflector near the docking station.

In addition, the first to third signal transmitting units 71 and/or a part thereof may be installed to face the front of the robot, but is not limited thereto. In addition, although it is illustrated that commercially available LEDs and the like are used for the first to third signal transmitters, the present invention is not limited thereto.

Referring to FIG. 8, which is a diagram showing a positional relationship between a docking station and a robot according to an embodiment of the present invention, the docking station 10 is installed in front of the wall. This is to prevent the robot from being pushed back when docked in the docking station, but is not necessarily limited thereto.

When the robot docks towards the docking station (see arrow direction), when looking at the robot's relative position with respect to the docking station from the robot's point of view, the center area is A, D, the left area is B, E, and the right area is Assume C and F. Here, it is assumed that regions referred to as A, B, and C are regions in which a signal that can be detected at a short distance is sensed, and D, E, and F are regions in which a signal that can be detected at a far distance is detected. .

The relative position of the robot with respect to the docking station is determined based on the signals from the first to third signal transmitters received by the signal receiver. For example, if a signal is sensed from an element transmitting a signal that can be detected from a distance among the first signal transmitter, the robot may be determined to be located in the central region and/or the central region (D) of the remote region. As another example, if a signal is sensed from an element that transmits a signal that can be detected at a short distance among the second signal transmitters, the robot can be determined to be located in the left area and/or the short-distance left area (B). have.

Referring to FIG. 9 showing a robot equipped with a signal receiver according to an embodiment of the present invention, the signal receiver continuously and/or discontinuously receives signals from the first to third signal transmitters, in which case the signal The receiver includes at least a first sensor 91 mounted in the center of the robot toward the front of the robot, a second sensor 92 mounted on the left side of the robot toward the left side of the robot, and the right side of the robot toward the right side of the robot. and a third sensor 93 mounted on the .

In addition, the signal receiver, a fourth sensor 94 mounted between the first sensor 91 and the second sensor 92 toward the left side of the robot, the first sensor 91 and the second sensor toward the right side of the robot A fifth sensor 95 mounted between the three sensors 93 may be further included. Furthermore, in order for the robot to enter the docking station straight and dock it smoothly, the fourth sensor 94 and the fifth sensor 95 are the first sensor 91 rather than the second sensor 92 and the third sensor 93, respectively. Preferably, it is located closer to the

The robot moves and/or rotates to the docking station for wireless charging according to the relative position of the robot determined based on the signals from the first to third signal transmitters received by the plurality of sensors in the signal receiver. , In this case, the relative position of the robot includes information on whether it is a central area, a left area, or a right area with respect to the docking station, and the autonomous charging algorithm is as follows.

(1) When it is determined that the relative position of the robot is the left area based on the signals received by the second sensor 92 and/or the fourth sensor 94, the robot moves forward until it is determined that the relative position of the robot is the center area. and, based on the signal received by the first sensor 1, rotates counterclockwise until it is determined that the relative position of the robot is the central region, and then advances.

(2) When it is determined that the relative position of the robot is the right region based on the signal received by the third sensor 93 and/or the fifth sensor 95, the robot moves forward until it is determined that the relative position of the robot is the central region. Then, based on the signal received by the first sensor 91, the robot rotates clockwise until it is determined that the relative position of the robot is the central region, and then moves forward.

(3) When it is determined that the relative position of the robot is the left area based on the signal received by the first sensor 91, based on the signal received by the second sensor 92 and/or the fourth sensor 94 The robot rotates clockwise until it is determined that the relative position of the robot is the left area, and the steps of (1) are continuously performed.

(4) When it is determined that the relative position of the robot is the right area based on the signal received by the first sensor 91, based on the signal received by the third sensor 93 and/or the fifth sensor 95 The robot rotates counterclockwise until it is determined that the relative position of the robot is the right area, and the steps of (2) are continuously performed.

(5) When it is determined that the relative position of the robot is the right area based on the signal received by the second sensor 92 and/or the fourth sensor 94, the third sensor 93 and/or the fifth sensor ( 95), the robot moves forward after rotating counterclockwise until it is determined that the relative position of the robot is the right area, and the step (2) is continued.

(6) When it is determined that the relative position of the robot is the left area based on the signal received by the third sensor 93 and/or the fifth sensor 95, the second sensor 92 and/or the fourth sensor ( Based on the signal received in step 94), the robot rotates clockwise until it is determined that the relative position of the robot is the left area, and then moves forward, and the step (1) is continued.

As described above, when it is determined that the relative position of the robot is the left and/or right area based on the signals received by the left and/or right sensors of the robot, the robot may first advance toward the central area. It rotates so that it can be rotated, and if there is no need to turn, it goes straight forward without turning. This advance proceeds until it is determined that the robot's relative position is the central area based on the left and/or right sensors of the robot. Next, based on the signal received from the front sensor, the robot rotates until it is determined that the relative position of the robot is in the central region and then moves forward, thereby completing docking and charging.

In addition to this, an additional operation such as changing a forward speed or the like may be performed according to whether it is determined as a short distance or a long distance.

Such determination may be performed based on signals received by all sensors in the signal receiving unit, and this determination function may be included in a control unit capable of controlling the overall operation and function of the robot.

A wireless charging method for a robot according to an embodiment of the present invention will be described with reference to FIG. 5, which is a flowchart showing a wireless charging method for a robot according to an embodiment of the present invention. Contents already mentioned in the wireless charging device and system for a robot according to an embodiment of the present invention in the above will be omitted below in order to avoid duplication.

In the wireless charging method for a robot according to an embodiment of the present invention, when the robot is providing a service (S50), when battery charging is required, for example, the robot discovers a remaining battery level that does not meet a predetermined standard, or When it is determined that the remaining battery power is insufficient to perform a predetermined operation or it is necessary to return to the docking station according to other predetermined conditions, the robot moves toward the docking station for wireless charging (S52). At this time, further including determining whether docking is necessary (S51), if docking is not required, the service can be continued.

When moving to the docking station, the docking station is provided with a signal transmitter for transmitting a signal, and the robot is provided with a signal receiver for receiving a signal from the signal transmitter, and moves based on the reception result of the signal receiver (S53).

Subsequently, the robot is docked to the docking station for wireless charging (S54), at this time surrounding at least a part of the wireless power transmitter and also for wireless charging. There is also a built-in sensor that surrounds at least a part of the wireless power receiver built into the robot and detects the presence of a magnet in the second contact part that comes into contact with the first contact part when the robot docks on the docking station for wireless charging. , to determine the completion of docking based on the detection result of this sensor, and/or to complete the docking using an elastic member that pushes the wireless power transmitter built into the docking station upward when the robot docks over the docking station for wireless charging. becomes (S55).

After the docking is completed, the robot performs certain operations even during wireless charging. For example, the robot rotates (S56) and monitors the surrounding situation using the camera mounted on the robot. Services provided by the robot can be performed, such as sending an emergency signal to an institution or making a phone call. The service provided by the robot during wireless charging may include at least some of the services originally provided by the robot, or may be completely different services.

On the other hand, as in S52 above, when battery charging is required, for example, the robot finds a remaining battery level that does not meet a predetermined standard, determines that the remaining battery level is insufficient to perform a predetermined operation, or other predetermined conditions Accordingly, in the case where it is necessary to return to the docking station, the robot moves toward the docking station for wireless charging.

When moving to the docking station, as in S53, the docking station is provided with a signal transmitter (see FIG. 7) that transmits a signal inducing docking, and the robot has a signal receiver (see FIG. 9) that receives a signal from the signal transmitter. It is provided and moves based on the reception result of the signal receiving unit.

At this time, for example, as described in FIG. 8 , the positional relationship between the robot and the docking station may be determined according to the docking guidance signal transmitted from the docking station.

Furthermore, the autonomous charging algorithm described above, which can be applied when the robot moves to the docking station, will be described with reference to FIGS. 10 to 12 which are diagrams showing an autonomous charging method according to an embodiment of the present invention. do.

As shown in FIG. 10 , when it is determined that the relative position of the robot is the right region F based on the signal received by the third sensor 93 and/or the fifth sensor 95 , the relative position of the robot is the central region Move forward (in the direction of the arrow) until it is determined that

Then, referring to FIG. 11 , when it is determined that the relative position of the robot is the central region based on the signals received by the third sensor 93 and/or the fifth sensor 95 , the signal received by the first sensor 91 . Based on the , the robot rotates clockwise until it is determined that the relative position of the robot is the central area.

When the robot is rotated and faces the docking station straight, it moves forward in the direction of the arrow as shown in FIG. 12 and returns to the docking station.

On the other hand, even when it is determined that the relative position of the robot is the left area E based on the signal received by the second sensor 92 and/or the fourth sensor 94, only the rotation direction is different, and similar operation do. Here, the rotation direction is a direction that can achieve the minimum rotation, but is not necessarily limited thereto.

Terms used in this specification are generally intended to be "open-ended" terms, particularly in claims (eg, the body of claims) (eg, "comprising" means "including but not limited to"). , "have" should be construed as "have at least more" and "comprise" be interpreted as "including but not limited to") It is expressly recited in the claims, and in the absence of such recitation, no such intent is understood.

Only specific features of the invention have been shown and described herein, and various modifications and variations will occur to those skilled in the art. It is therefore to be understood that the claims are intended to cover changes and modifications that fall within the spirit of the present invention.

10: docking station 11: first contact
12: sensor 20: robot
21: second contact 22: magnet
23: wheel 41: elastic member
42: signal transmitter 71, 72, 73: signal transmitter
91, 92, 93, 94, 95: sensor unit

Claims (17)

In the autonomous charging system for a robot, comprising a docking station for wireless charging of a robot and the robot,
The docking station includes a signal transmitting unit for transmitting a signal that the robot can use for docking with the docking station, wherein the signal transmitting unit at least a first signal transmitting unit for transmitting a signal toward the front of the docking station , A second signal transmitting unit for transmitting a signal toward the left side of the docking station, and a third signal transmitting unit for transmitting a signal toward the right side of the docking station,
The robot includes a signal receiver for receiving signals from the first to third signal transmitters, wherein the signal receiver includes at least a first sensor mounted in the center of the robot toward the front of the robot, the robot A second sensor mounted on the left side of the robot toward the left side, and a third sensor mounted on the right side of the robot toward the right side of the robot,
The docking station is, for wireless charging, a wireless power transmitter built into the docking station, and a first contact part that surrounds at least a portion of the wireless power transmitter and is contacted when the robot docks over the docking station for wireless charging. including,
The robot includes a wireless power receiver built into the robot for wireless charging, and a second contact part that surrounds at least a part of the wireless power receiver and is in contact with the first contact part when the robot docks over the docking station. and,
The first contact portion further comprises an elastic member for pushing upwards the wireless power transmitter built in the docking station by the elastic recovery force of the robot when the robot docks on the docking station for wireless charging,
The robot moves and rotates to the docking station for wireless charging according to the relative position of the robot determined based on the signals from the first to third signal transmitters received by the plurality of sensors in the signal receiver. At this time, the relative position of the robot, including information on whether the central area, the left area, or the right area with respect to the docking station, the autonomous charging system for the robot. The method of claim 1,
The signal receiver may include a fourth sensor mounted between the first sensor and the second sensor toward the left side of the robot, and a fourth sensor mounted between the first sensor and the third sensor toward the right side of the robot. 5. The autonomous charging system for a robot, further comprising 5 sensors, wherein the fourth sensor and the fifth sensor are positioned closer to the first sensor than the second sensor and the third sensor, respectively. 3. The method of claim 2,
When it is determined that the relative position of the robot is the left region based on the signal received by the second sensor or the fourth sensor, the robot advances until it is determined that the relative position of the robot is the central region, and the first sensor An autonomous charging system for a robot, which rotates counterclockwise and then advances until it is determined that the relative position of the robot is a central area based on the received signal. 4. The method according to claim 2 or 3,
When it is determined that the relative position of the robot is the right region based on the signal received by the third sensor or the fifth sensor, the robot advances until it is determined that the relative position of the robot is the central region, and the first sensor An autonomous charging system for a robot, which rotates clockwise and then advances until it is determined that the relative position of the robot is a central area based on the received signal. 5. The method of claim 4,
When it is determined that the relative position of the robot is the left region based on the signal received by the first sensor, it is determined that the relative position of the robot is the left region based on the signal received by the second sensor or the fourth sensor After rotating in a clockwise direction until An autonomous charging system for robots that rotates clockwise and then advances. 6. The method of claim 5,
When it is determined that the relative position of the robot is the right region based on the signal received by the first sensor, it is determined that the relative position of the robot is the right region based on the signal received by the third sensor or the fifth sensor After rotating counterclockwise until it becomes a central area, the robot moves forward until it is determined that the relative position of the robot is in the central region, and the relative position of the robot is determined in the central region based on the signal received by the first sensor. An autonomous charging system for robots that rotates clockwise and then advances. delete 7. The method of claim 6,
The first contact part has a built-in magnet, and the second contact part has a built-in sensor for detecting the presence of the magnet, so that docking completion is determined based on the detection result of the sensor, autonomous charging system for a robot. 9. The method of claim 8,
The elastic member is continuously or discontinuously disposed at least below the first contact part and around the wireless power transmitter as a center, the autonomous charging system for a robot. In the autonomous charging method for a robot implemented in an autonomous charging system for a robot, comprising a robot and a docking station for wireless charging of the robot, wherein the docking station is, the robot can use for docking with the docking station and a signal transmitter for transmitting a signal, wherein the signal transmitter includes at least a first signal transmitter for transmitting a signal toward the front of the docking station, and a second signal transmitter for transmitting a signal toward the left side of the docking station , a third signal transmitting unit for transmitting a signal toward the right side of the docking station, wherein the robot includes a signal receiving unit for receiving signals from the first to third signal transmitting units, wherein the signal receiving unit is at least a first sensor mounted in the center of the robot toward the front of the robot, a second sensor mounted on the left side of the robot toward the left side of the robot, and a third sensor mounted on the right side of the robot toward the right side of the robot including a sensor,
The docking station is, for wireless charging, a wireless power transmitter built into the docking station, and a first contact part that surrounds at least a portion of the wireless power transmitter and is contacted when the robot docks over the docking station for wireless charging. including,
The robot includes a wireless power receiver built into the robot for wireless charging, and a second contact part that surrounds at least a part of the wireless power receiver and is in contact with the first contact part when the robot is docked on the docking station. and,
The first contact part further comprises an elastic member for pushing upwards the wireless power transmitter built into the docking station by its elastic recovery force when the robot docks over the docking station for wireless charging,
the method
Moving the robot toward the docking station for wireless charging, wherein the robot moves to the docking station for wireless charging according to the relative position of the robot determined based on the signals received from each of the plurality of sensors in the signal receiving unit moves and rotates, and the relative position of the robot includes information on whether it is a central area, a left area, or a right area with respect to the docking station; and
and docking the robot to the docking station for wireless charging, wherein the docking of the robot to the docking station for wireless charging includes the elasticity of the robot when docked over the docking station for wireless charging. The autonomous charging method for a robot, further comprising the step of completing the docking using the elastic member that pushes the wireless power transmitter built into the docking station upward by recovery force. 11. The method of claim 10,
The signal receiver may include a fourth sensor mounted between the first sensor and the second sensor toward the left side of the robot, and a fourth sensor mounted between the first sensor and the third sensor toward the right side of the robot. 5. The autonomous charging method for a robot, further comprising 5 sensors, wherein the fourth sensor and the fifth sensor are positioned closer to the first sensor than the second sensor and the third sensor, respectively. 12. The method of claim 11,
When it is determined that the relative position of the robot is the left region based on the signal received by the second sensor or the fourth sensor, the robot advances until it is determined that the relative position of the robot is the central region, and the first sensor An autonomous charging method for a robot, which rotates counterclockwise and then advances until it is determined that the relative position of the robot is a central area based on the received signal. 13. The method according to claim 11 or 12,
When it is determined that the relative position of the robot is the right region based on the signal received by the third sensor or the fifth sensor, the robot advances until it is determined that the relative position of the robot is the central region, and the first sensor An autonomous charging method for a robot, which rotates clockwise and then advances until it is determined that the relative position of the robot is a central area based on the received signal. 14. The method of claim 13,
When it is determined that the relative position of the robot is the left region based on the signal received by the first sensor, it is determined that the relative position of the robot is the left region based on the signal received by the second sensor or the fourth sensor After rotating in a clockwise direction until An autonomous charging method for robots that rotates clockwise and then moves forward. 15. The method of claim 14,
When it is determined that the relative position of the robot is the right region based on the signal received by the first sensor, it is determined that the relative position of the robot is the right region based on the signal received by the third sensor or the fifth sensor After rotating counterclockwise until it becomes a central area, the robot moves forward until it is determined that the relative position of the robot is in the central region, and the relative position of the robot is determined in the central region based on the signal received by the first sensor. An autonomous charging method for robots that rotates clockwise and then moves forward. delete 16. The method of claim 15,
The elastic member is continuously or discontinuously disposed at least under the first contact part and around the wireless power transmitter as a center, the autonomous charging method for a robot.

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