KR20210021246A - Automatic Charging System and Method for Robot - Google Patents

Abstract

The present invention relates to an autonomous charging system for a robot, including a robot and a docking station for the wireless charging of the robot. The autonomous charging system for a robot includes a signal transmission part transmitting a signal which can be used by the robot for docking with the docking station. The robot includes a signal reception part receiving a signal which can be used by the robot for docking with the docking station. In accordance with a relative position of the robot determined based on signals received by each of a plurality of sensors in the signal reception part, the robot is moved and/or rotated to the docking station for wireless charging. Therefore, the robot can be enabled to be autonomously docked for battery charging in a more accurate way.

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 transmitting units that transmit a docking induction signal and a plurality of sensors capable of receiving such a docking induction signal, the robot can perform smooth charging. For this purpose, it relates to an autonomous charging system and method for robots that allow autonomous movement to and docking at a docking station.

Various types of robots are widely used in the home and industrial sites to replace dangerous or repetitive human labor. In order for such a robot to perform its function properly, power must be continuously supplied without interruption using an external AC power source supplied in real time using an adapter or using a previously charged battery.

Wired charging using an adapter is the method used by most robots, but in the case of a mobile robot with a function that allows the robot to move, automatic charging through autonomous driving when charging is required due to insufficient battery power during use. If not, the robot cannot charge itself.

At this time, as described above, the robot is a system and/or method that assists in smooth wireless charging through autonomous driving when the robot needs to be charged due to insufficient battery power, etc. so that the robot's service can be continuously provided. It needs to be introduced into an autonomous charging system.

KR 10-1415879 B1 US 7332890 B2

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

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

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems that are 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 robot according to the first aspect of the present invention and a docking station for wireless charging of the robot,

The docking station includes a signal transmission unit that transmits a signal that the robot can use for docking with the docking station, and the signal transmission unit is a first signal transmission unit that transmits a signal toward at least 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 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, 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 signals received from each of the plurality of sensors in the signal receiver, and the relative position of the robot is , By including information on whether the docking station is the center area, the left area, or the right area.

Here, the signal receiver, a fourth sensor mounted between the first sensor and the second sensor toward the left side of the robot, and mounted between the first sensor and the third sensor toward the right side of the robot A fifth sensor is further included, and the fourth sensor and the fifth sensor are preferably positioned closer to the first sensor than to 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 from the second sensor and/or the fourth sensor, the robot moves forward until it is determined that the relative position of the robot is the center region, and the 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 region, and then moves forward.

Similarly, when it is determined that the relative position of the robot is the right area 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 center area, 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 a central region, 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 from the first sensor, the relative position of the robot is determined based on the signal received from the second sensor and/or the fourth sensor. It rotates clockwise until it is determined that it is the left area, and then moves forward until it is determined that the relative position of the robot is the center area, and it is determined that the relative position of the robot is the center area based on the signal received from the first sensor. It rotates counterclockwise until it becomes, and moves forward.

Similarly, when it is determined that the relative position of the robot is the right area based on the signal received from the first sensor, the relative position of the robot based on the signal received from the third sensor and/or the fifth sensor The robot rotates counterclockwise until it is determined to be the right area, and then advances until the relative position of the robot is determined to be the center area, and the relative position of the robot is determined to be the center area based on the signal received from the first sensor. It rotates clockwise until it is determined

On the other hand, the docking station is a wireless power transmission unit built in the docking station for wireless charging, and a first contact unit that surrounds at least a portion of the wireless power transmission unit and contacts when the robot docks over the docking station for wireless charging. Including, wherein the robot, a wireless power receiving unit built in the robot for wireless charging, and a second surrounding at least a portion of the wireless power receiving unit and contacting the first contact unit when the robot is docked on the docking station Including a contact portion, the first contact portion, when the robot is docked on the docking station for wireless charging, it is preferable to further include an elastic member that pushes the wireless power transmission unit built in the docking station upward.

Further, since a magnet is embedded in the first contact portion and a sensor for detecting the presence or absence of the magnet is embedded in the second contact portion, it is preferable to determine completion of docking based on a detection result of the sensor.

In addition, it is preferable that the elastic member is disposed continuously or discontinuously around at least below the first contact portion and around the wireless power transmitter.

An autonomous charging method for a robot implemented in an autonomous charging system for a robot, including a robot according to a second aspect of the present invention and a docking station for wireless charging of the robot, wherein the docking station is the docking station And a signal transmission unit for transmitting a signal usable for over-docking, wherein the signal transmission unit is at least a first signal transmission unit for transmitting a signal toward a front of the docking station, and 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, and the robot includes a signal receiving unit for receiving signals from the first to third signal transmitting units. In this case, the signal receiver 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 the robot toward the right side of the robot Including a third sensor mounted on the right side of, 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 signals received from each of the plurality of sensors in the signal receiving unit. The robot is moved and/or rotated, wherein the relative position of the robot includes information on whether it is a center area, a left area, or a right area around the docking station; And

It is achieved by including the step of docking the robot to the docking station for wireless charging.

Here, the signal receiver, a fourth sensor mounted between the first sensor and the second sensor toward the left side of the robot, and mounted between the first sensor and the third sensor toward the right side of the robot A fifth sensor is further included, and the fourth sensor and the fifth sensor are preferably positioned closer to the first sensor than to 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 from the second sensor and/or the fourth sensor, the robot moves forward until it is determined that the relative position of the robot is the center region, and the 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 region, and then moves forward.

Similarly, when it is determined that the relative position of the robot is the right area 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 center area, 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 a central region, 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 from the first sensor, the relative position of the robot is determined based on the signal received from the second sensor and/or the fourth sensor. It rotates clockwise until it is determined that it is the left area, and then moves forward until it is determined that the relative position of the robot is the center area, and it is determined that the relative position of the robot is the center area based on the signal received from the first sensor. It rotates counterclockwise until it becomes, and moves forward.

Similarly, when it is determined that the relative position of the robot is the right area based on the signal received from the first sensor, the relative position of the robot based on the signal received from the third sensor and/or the fifth sensor The robot rotates counterclockwise until it is determined to be the right area, and then advances until the relative position of the robot is determined to be the center area, and the relative position of the robot is determined to be the center area based on the signal received from the first sensor. It rotates clockwise until it is determined

Meanwhile, the step of docking the robot to the docking station for wireless charging includes an elastic member that pushes the wireless power transmission unit built in the docking station upward when the robot docks over the docking station for wireless charging. It is preferable to further include the step of completing the docking using.

Further, it is preferable that the elastic member is disposed at least below the first contact portion and continuously or discontinuously around the circumference of the wireless power transmission unit.

According to the autonomous charging system and method for a robot of the present invention as described above, the robot docks for smooth charging by using a plurality of signal transmission units that transmit a docking induction signal and a plurality of sensors capable of receiving such a docking induction signal. It has the advantage of allowing you to autonomously move to the station and dock.

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

1 is a view showing an autonomous charging system for a robot including a robot and a docking station for wireless charging of the robot according to an embodiment of the present invention.
2 is a view showing the bottom of the 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 at a docking station.
4 is a view showing a docking station in the autonomous charging system for a robot according to an embodiment of the present invention.
5 is a flowchart showing a method of wireless charging 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 showing a structure of a signal transmission unit included in a docking station according to an embodiment of the present invention.
8 is a diagram showing 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 showing 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 exemplary embodiments. The same reference numerals shown in each drawing indicate members that perform substantially the same function.

Terms including ordinal numbers, such as first and second, may be used to describe various elements, but the elements are not limited by the terms. These terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

The terms used in the present invention have been selected from general terms that are currently widely used while considering functions in the present invention, but this may vary depending on the intention or precedent of a technician working in the field, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall contents of the present invention, not a simple name of the term.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated.

With reference to the drawings, in particular FIGS. 1 to 4, the autonomous charging device and system for a robot according to the present invention will be described. Here, FIG. 1 is a view showing an autonomous charging system for a robot including a robot and a docking station for wireless charging of 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 the autonomous charging system for a robot according to an embodiment of the present invention, a state in which the robot is docked at the docking station. Showing. In addition, FIG. 4 is a view showing a docking station in an 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 includes 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 that can be determined according to a predetermined or preprogrammed code. In this case, 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 transmission unit (not shown) that receives external power through an adapter and supplies power for charging a battery built into the robot. In response to this, the robot 20 is provided with a wireless power receiver (not shown) arranged to charge a battery built in the robot by receiving wireless power transmitted from the wireless power transmitter.

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

However, according to the present invention, the wireless power receiving unit built in the robot 20 for wireless charging and the wireless power transmitting unit built in the docking station 10 for wireless charging are also according to an embodiment of the prior art shown in FIG. It should be noted that, as in the autonomous charging system for robots, smooth power transmission can be achieved only in the state of being aligned with each other.

Referring to FIG. 1, the docking station 10 is provided with a first contact part 11 that surrounds at least a part of the wireless power transmission unit and contacts when the robot 20 docks on the docking station 10 for wireless charging. .

Referring to FIG. 2, in response to this, the robot 20 surrounds at least a portion of the wireless power receiving unit, and the second contact unit contacts the first contact unit 11 when the robot 20 is docked over the docking station 10. (21) is provided.

At this time, the first contact portion 11 and the second contact portion 21 are illustrated in a circular shape, but any shape may be used, and different shapes may be used. In addition, the first contact part 11 may be substantially the same as the area of the second contact part 21 or may be larger for stability.

The first contact part 11 is at least a part of a cover covering the wireless power transmission part, and may be configured as a part of the upper plate of the docking station 10, and preferably the rest of the upper plate of the docking station as shown in FIG. And can be assembled as a separate piece. On the other hand, the second contact part 21 is at least a part of the cover covering the wireless power receiver, in this case, a part of the bottom plate of the robot, and may be configured integrally.

Referring back 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 furthermore, at least a portion may be exposed to the outside.

Although shown as three in the drawing, the number of magnets 12 and sensors 22 is not limited thereto. Preferably, the positions of the magnet 12 and the sensor 22 are preferably arranged to substantially correspond to each other upon completion of the docking. In the present embodiment, a magnet and a Hall sensor that senses it have been described, but any component that allows the determination of whether to dock with a certain relationship, including, for example, a mechanical component such as a switch, is possible. .

That is, at least one magnet 12 is embedded in the first contact part 11, and the second contact part 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, so it judges docking completion based on the detection result of this sensor. At this time, the docking completion time may be set differently for each robot as necessary. For example, the docking completion time point may mean a time point when docking is completely terminated, as shown in FIG. 3, or may mean a time point at which docking is completed with a certain degree of stability.

When docking is completed normally, charging starts, and the robot can perform a certain operation even during charging. At this time, the predetermined operation may be selected from the group consisting of a rotation operation, a monitoring operation, a measure operation, and a combination thereof. For example, when docking is completed normally, 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 relevant person or organization. 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 a certain operation while faithfully charging, that is, the wireless power transmitter of the docking station and the wireless power receiver built in the robot are in close contact with each other during charging. In order to do so, the first contact part 11 is an elastic member 41 that pushes the wireless power transmission unit built in the docking station 10 upward when the robot 20 is docked over the docking station 10 for wireless charging. It includes more.

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 downward due to the like, and thus, the wireless power transmitter connected directly or indirectly thereto by the elastic recovery force of the elastic member 41 is pushed upward. To this end, the wireless power transmission unit may be installed under the first contact part 11 and installed in another part that is interlocked with the movement of the elastic member 41, and may be inserted into an opening indicated by reference numeral 43, for example. . In this case, the elastic member 41 may be continuously or discontinuously disposed at least below the first contact part 11 and around the circumference of the wireless power transmission part. Of course, the elastic member 41 may be embedded, and further, at least a portion of the elastic member 41 may be exposed to the outside.

On the other hand, the docking station 10 is provided with a signal transmission unit 42 that transmits a signal that the robot can use for docking with the docking station, and the robot 20 has a signal receiving unit that receives a signal from the signal transmission unit 42 (Not shown) is provided at a position corresponding to this, for example, inside the green transparent window of FIG. 3.

The signal that the robot mentioned above can use for docking with the docking station is a so-called docking induction signal, and when the robot needs to charge a battery, for example, the robot finds the remaining battery capacity that does not meet a predetermined standard, or When it is determined that the remaining battery power is insufficient to perform the operation, or when it is necessary to return to the docking station according to other predetermined conditions, the signal received from the docking station is detected by the signal receiver built into the robot and the signal is sent to the docking station. It is used to access. This allows the robot 20 to dock on the docking station 10 that transmits signals 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 transmitting unit included in a docking station according to an embodiment of the present invention, the signal transmitting unit is at least a first signal transmitting unit 71 for transmitting signals toward the front of the docking station, And a second signal transmitting unit 72 transmitting signals toward the left side of the docking station, and a third signal transmitting unit 73 transmitting signals toward the right side of the docking station.

The first signal transmission unit 71 is preferably detected in a certain narrow range to help the robot advance straight toward the docking station for stable docking. In consideration of the dimensions and such situation in the present embodiment, a gap α of 25 mm or less, preferably 15 mm, may be present in front of the first signal transmission unit 71. The exact figures for 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 with the signal from the first signal transmitting unit 71 for stable docking of the robot. In consideration of this situation, a partition wall inclined at a predetermined angle β may exist in front of the second signal transmitting unit 72 and the third signal transmitting unit 73.

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

In each of the first to third signal transmission units 71, 72, and 73, elements 72a and 73 that transmit a signal that can be detected in a short distance and a signal that can be detected in a distant distance are transmitted. 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 temporal manner.

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

Further, the first to third signal transmission units 71 and/or a part thereof may be installed to face the front of the robot, but are not limited thereto. In addition, it is shown that commercially available LEDs are used for the first to third signal transmission units, but 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, a docking station 10 is installed in front of a wall. This is to prevent the robot from being pushed back when docking at the docking station, but is not limited thereto.

When the robot docks towards the docking station (refer to the direction of the arrow), when looking at the robot's relative position relative to the docking station from the perspective of the robot, the center area is A, D, the left area is B, E, and the right area is Assume C and F. Here, the areas referred to as A, B, and C are areas where signals that can be detected at a short distance are detected, and D, E, and F are assumed to be areas where signals that can be detected at a farther distance are detected. .

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

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

In addition, the signal receiver includes a fourth sensor 94 mounted between the first sensor 91 and the second sensor 92 toward the left side of the robot, and 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. Further, in order for the robot to enter the docking station straight and to dock smoothly, the fourth sensor 94 and the fifth sensor 95 are respectively the first sensor 91 rather than the second sensor 92 and the third sensor 93. It is preferred to be located closer to.

The robot moves and/or rotates to the docking station for wireless charging according to the relative position of the robot determined based on signals from the first to third signal transmitters received by a plurality of sensors in the signal receiver. , At this time, the relative position of the robot includes information on whether it is a center area, a left area, or a right area around the docking station. Such an 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 signal received from the second sensor 92 and/or the fourth sensor 94, the robot moves forward until it is determined that the relative position is the center area. Then, based on the signal received by the first sensor 1, the robot rotates counterclockwise until it is determined that the relative position of the robot is the central region, and then moves forward.

(2) When it is determined that the relative position of the robot is the right area based on the signals received from the third sensor 93 and/or the fifth sensor 95, the robot moves forward until it is determined that the relative position is the center area. 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 region based on the signal received from the first sensor 91, based on the signal received from 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 steps (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 from the first sensor 91, based on the signal received from 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 steps (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 from the second sensor 92 and/or the fourth sensor 94, the third sensor 93 and/or the fifth sensor ( Based on the signal received at 95), the robot rotates counterclockwise until it is determined that the relative position of the robot is the right area, then advances, and the step (2) is continued.

(6) When it is determined that the relative position of the robot is the left region based on the signal received from the third sensor 93 and/or the fifth sensor 95, the second sensor 92 and/or the fourth sensor ( Based on the signal received at 94), the robot rotates clockwise until it is determined that the relative position of the robot is the left area, then advances, 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 from the left and/or right sensors of the robot, it is primarily advanced toward the center area. It rotates so that it can be rotated, and if there is no need to rotate, it advances directly without rotation. This advancement proceeds until it is determined that the relative position of the robot is the center area based on the left sensor and/or the right sensor 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 the central region and then advances, thereby completing docking and charging.

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

This determination may be performed based on signals received by all sensors in the signal receiver, and such a determination function may be included in a controller capable of controlling the overall operation and function of the robot.

A method of wireless charging 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 method of wireless charging for a robot according to an embodiment of the present invention. In the above, descriptions of the contents already mentioned in the wireless charging apparatus and system for a robot according to an embodiment of the present invention will be omitted 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) and the battery needs to be charged, for example, the robot finds a remaining battery capacity that does not meet a predetermined standard, or When it is determined that the remaining battery power is insufficient to perform a certain operation, or when 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, it further includes determining whether docking is required (S51), and if docking is not required, the service can be continuously provided.

When moving to the docking station, the docking station is provided with a signal transmitter for transmitting signals, and the robot is provided with a signal receiver for receiving signals 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, a magnet is embedded in the first contact part that surrounds at least part of the wireless power transmission part and contacts when the robot docks over the docking station for wireless charging. In addition, a sensor that detects the presence of a magnet is embedded in the second contact part that is in contact with the first contact part when the robot is docked over the docking station for wireless charging and surrounding at least a part of the wireless power receiving part built into the robot. , Based on the detection result of this sensor, it is determined that docking is complete and/or when the robot docks over the docking station for wireless charging, the docking is completed using an elastic member that pushes the wireless power transmitter built in the docking station upward. It becomes (S55).

After docking is complete, the robot performs a certain operation even during wireless charging.For example, the robot rotates (S56) and monitors the surrounding situation using a camera mounted on the robot, and when an emergency It can perform services provided by robots, such as sending emergency signals to organizations or making phone calls. 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 the battery needs to be charged, for example, the robot finds a remaining battery power that does not meet a predetermined standard, determines that the remaining battery power is insufficient to perform a certain operation, or other predetermined conditions. According to this, when 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 equipped with a signal transmitting unit (see Fig. 7) that transmits a signal to induce docking, and the robot has a signal receiving unit (see Fig. 9) that receives a signal from the signal transmitting unit. 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 a docking induction signal transmitted from the docking station.

Further, the autonomous charging algorithm described above, which can be applied when the robot moves to the docking station, is described as an example with reference to FIGS. 10 to 12, which are diagrams showing the 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 area F based on the signals received from the third sensor 93 and/or the fifth sensor 95, the relative position of the robot is the center area. Move forward (in the direction of the arrow) until it is judged as.

Thereafter, referring to FIG. 11, when it is determined that the relative position of the robot is the central region based on the signal received by the third sensor 93 and/or the fifth sensor 95, 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 center area.

When the robot rotates in this way 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 from the second sensor 92 and/or the fourth sensor 94, only the rotation direction is different, and operates similarly. do. Here, the rotation direction is a direction that can achieve a minimum rotation, but is not limited thereto.

In general terms used herein are intended to be generally "open" terms, particularly in claims (eg, the body of the claim) (eg, "comprising" means "including but not limited to" As, "have" should be interpreted as "to have at least more", and "include" should be interpreted as "including but not limited to") Where a specific number is intended for the introduced claim description, such intention It is expressly stated in the claims, and in the absence of such recitation it is understood that such intent does not exist.

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

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

Claims (17)

In the autonomous charging system for a robot comprising a robot and a docking station for wireless charging of the robot,
The docking station includes a signal transmission unit that transmits a signal that the robot can use for docking with the docking station, and the signal transmission unit is a first signal transmission unit that transmits a signal toward at least 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 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, and a third sensor mounted on the right side of the robot toward the right side of the robot,
The robot moves to the docking station for wireless charging according to the relative position of the robot determined based on signals from the first to third signal transmitters received by a plurality of sensors in the signal receiver and/or It rotates, and at this time, the relative position of the robot includes information on whether it is a center area, a left area, or a right area around the docking station. 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. Further comprising 5 sensors, wherein the fourth sensor and the fifth sensor are located closer to the first sensor than the second sensor and the third sensor, respectively, the autonomous charging system for a robot. 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 from the second sensor and/or the fourth sensor, the robot moves forward until it is determined that the relative position of the robot is the center region, and the first Based on a signal received from a sensor, the robot rotates counterclockwise until it is determined that the relative position of the robot is a central region and then advances. The method according to claim 2 or 3,
When it is determined that the relative position of the robot is the right area based on the signal received from the third sensor and/or the fifth sensor, the robot moves forward until it is determined that the relative position of the robot is the center area, and the first Based on a signal received from a sensor, the robot rotates clockwise until it is determined that the relative position of the robot is a central region and then advances. 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 from the first sensor, the relative position of the robot is the left region based on the signal received from the second sensor and/or the fourth sensor. When it is determined that the relative position of the robot is the central region, based on the signal received from the first sensor, rotates clockwise until it is determined to be, and then advances until the relative position of the robot is determined to be the central region. Autonomous charging system for robots that rotates counterclockwise to and then advances. 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 from the first sensor, the relative position of the robot is the right region based on the signal received from the third sensor and/or the fifth sensor. It rotates counterclockwise until it is determined that the robot is rotated counterclockwise and moves forward until it is determined that the relative position of the robot is the central region, and the relative position of the robot is determined to be the central region based on the signal received from the first sensor. An autonomous charging system for robots that rotates clockwise until it moves forward and then advances. The method of claim 6,
The docking station includes a wireless power transmission unit built in the docking station for wireless charging, and a first contact unit surrounding at least a portion of the wireless power transmission unit and contacting when the robot docks over the docking station for wireless charging. and,
The robot includes a wireless power receiving unit embedded in the robot for wireless charging, and a second contact unit surrounding at least a portion of the wireless power receiving unit and contacting the first contact unit when the robot is docked on the docking station, ,
The first contact unit further comprises an elastic member that pushes the wireless power transmission unit built in the docking station upward when the robot docks over the docking station for wireless charging. The method of claim 7,
The first contact portion has a built-in magnet, the second contact portion has a sensor for detecting the presence of the magnet is built-in, based on the detection result of the sensor to determine the docking completion, autonomous charging system for a robot. The method of claim 8,
The elastic member is disposed continuously or discontinuously around at least below the first contact and around the wireless power transmission unit. In the autonomous charging method for a robot implemented in an autonomous charging system for a robot, including a robot and a docking station for wireless charging of the robot, wherein the docking station can be used by the robot for docking with the docking station. A signal transmission unit for transmitting a signal, wherein the signal transmission unit is at least a first signal transmission unit for transmitting a signal toward the front of the docking station, a second signal transmission unit 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, and 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 Sensor, the method comprising
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 signals received from each of the plurality of sensors in the signal receiving unit. The robot is moved and/or rotated, wherein the relative position of the robot includes information on whether it is a center area, a left area, or a right area around the docking station; And
Including the step of docking the robot to the docking station for wireless charging, autonomous charging method for a robot. 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. The method further includes 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. 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 from the second sensor and/or the fourth sensor, the robot moves forward until it is determined that the relative position of the robot is the center region, and the first Based on a signal received from a sensor, the robot rotates in a counterclockwise direction until it is determined that the relative position of the robot is a central region and then advances. The method of claim 11 or 12,
When it is determined that the relative position of the robot is the right area based on the signal received from the third sensor and/or the fifth sensor, the robot moves forward until it is determined that the relative position of the robot is the center area, and the first Based on a signal received from a sensor, the robot rotates clockwise until it is determined that the relative position of the robot is a central region and then advances. 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 from the first sensor, the relative position of the robot is the left region based on the signal received from the second sensor and/or the fourth sensor. When it is determined that the relative position of the robot is the central region, based on the signal received from the first sensor, rotates clockwise until it is determined to be, and then advances until the relative position of the robot is determined to be the central region. Autonomous charging method for robots that rotates counterclockwise to and then advances. 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 from the first sensor, the relative position of the robot is the right region based on the signal received from the third sensor and/or the fifth sensor. It rotates counterclockwise until it is determined that the robot is rotated counterclockwise and moves forward until it is determined that the relative position of the robot is the central region, and the relative position of the robot is determined to be the central region based on the signal received from the first sensor. Autonomous charging method for robots that rotates clockwise until it moves forward and then advances. The method of claim 15,
The step of docking the robot to the docking station for wireless charging may include docking using an elastic member that pushes the wireless power transmission unit built in the docking station upward when the robot docks over the docking station for wireless charging. Autonomous charging method for a robot further comprising the step of completing. The method of claim 16,
The elastic member is continuously or discontinuously disposed at least below the first contact portion and around the wireless power transmission unit.

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