201001865 九、發明說明： 【發明所屬之技術領域】 本發明係提出有關高功率鋰電池充電系統，尤指應用於智慧型 機器人高功率鋰電池之感應式無線充電系統。 【先前技術】 智慧型機器人是21世紀先進國家優先發展的新科技產業，關 鍵技術涵盖機構設計、馬達控制、影音感測技術、導航感測技術、 嵌入式微處理器應用技術…等等整合機電知識的相關專業技術。一 般而言，機器人可分類為產業用途及服務用途兩大類。對於新一代 人形機器人而言，由於加裝了如情緒感測、LTR、SLAM、…等愈 來愈精密多元的光電儀器，不含電池組的淨重便動概30-50kg，的 確將造成未來智慧型機器人巡航範圍發展的設計瓶頸。在參考先前 技術方面，目前具有多樣化表情或動作的智慧型機器人已存在之電 池管理技術，包括可應用於具有危險工作業務的工廠中或是作為家 庭娛樂、清潔用途之機器人。然而在一般習知的高功率智慧型機器 人之鋰電池管理系統中，充電的方式不外乎為以下幾種模式： 一、 鋰電池模組線上更換及離線充電技術：傳統機器人電源管理 系統的串聯鋰電池模組，當電池放電完畢而電力不足時，由於鋰 電池模組無法提供機器人足夠的電力。使用者須先行以人工卸下 電池設備進行電池模組之線上更換作業，同時更換另一組預先飽 和充電的鋰電池模組，再將放電完畢的電池模組利用充電器進行 離線充電至電量飽和，稱為鋰電池模組之一次壽命循環。 二、 請配合參閱第五圖，係顯示依中華民國公告第466389號公告 號之「移動機器人用之充電系統，搜索充電站之方法，移動機器 201001865 人，連接器及電氣性連接播1 電土統之示意圖。機器寵物二」設二專利中的，寵物機器狗之充 演算襄置及搜索裝置，經由這些^現性識別數據、攝像裝置、 算裝置及搜索裝置等裝置，寵物機㈣數據、攝像|置、演 律性的移動至一充電站80-10，以進二可在作業空間上以電池自 13-10被配設於在胴體部單元2之上面=充電。機器寵物之連接器 之連接器82-10係被安袈於可上 ^印背脊；而充電站80_10側 站80-10係用以收容移動機器人二·9,降的柄88之下端部。充電 連接器13-1〇及82_1〇接合，以’使^ 88進行下降，並使兩 1-9進行充電之目的。 电站82-10對寵物機器狗 -而’由於上述兩種常見的充電方 2 、機構步驟祕繁冗、操作步驟過^有下述缺點： 、微電腦對於定位識別 心碎。 、就是設備構造複雜且成;:::過於耗時複雜。 對於機器人充電而言，實在仍 夕 機器人商品化之發展。本發明是屬於有關進广以利於 放電技術範.，目的在提供智慧型機 構造簡單謂相充電技術。 1為了㈣疋、可預測、 【發明内容】 本發明之目的在提供人形智慧型機器人二次链 統，利用减廣供雷& 士 _ 充電糸 之相關機構了數學，、宫算化傳統充電系統所增加的識別定位 =機構底部安裳二次感應線圈，當智慧型機器人在 補充％力時，機ϋ人之雙足機構會自動步行並自動導引至坡設有一 201001865 次感應線圈大致_設地㈣域； 圈即產生電磁感細進行充4應_與—次感應線 定位充電接點，俾使安裝二== = -步精準 充電並且儲存二次感應線圈所感應接收之電能充電電池接收 2 達到上述目的之智慧型機器人之充電系統，該知 有可移動之奴機構，該充電電路系、統包括：日〜、機益人具 1電壓源，用以提供_直流電塵； 流轉換回路，將該電壓源提供之直流竭換為—交 -次感應線圈，並聯該直流_交流轉換回路，且該 圈埋設於一預設地面區域； 人级應線201001865 IX. INSTRUCTIONS: [Technical Field] The present invention relates to a high-power lithium battery charging system, and more particularly to an inductive wireless charging system for a smart robot high-power lithium battery. [Prior Art] Smart robot is a new technology industry with priority development in advanced countries in the 21st century. Key technologies include mechanism design, motor control, audio and video sensing technology, navigation sensing technology, embedded microprocessor application technology, etc. Relevant expertise. In general, robots can be classified into two categories: industrial use and service use. For the new generation of humanoid robots, due to the addition of more sophisticated optical instruments such as emotional sensing, LTR, SLAM, etc., the net weight of the battery pack is 30-50kg, which will indeed cause future wisdom. The design bottleneck for the development of the cruising range of robots. With reference to prior art, there are existing battery management technologies for smart robots with diverse expressions or actions, including those that can be used in factories with hazardous work operations or as home entertainment and cleaning applications. However, in the lithium battery management system of the conventional high-power intelligent robot, the charging method is nothing more than the following modes: 1. Lithium battery module online replacement and offline charging technology: series connection of traditional robot power management system The lithium battery module, when the battery is discharged and the power is insufficient, the lithium battery module cannot provide sufficient power for the robot. The user must first manually remove the battery device to perform the online replacement of the battery module, and at the same time replace another set of pre-saturated rechargeable lithium battery modules, and then discharge the discharged battery module to the battery for offline charging. It is called the one life cycle of the lithium battery module. Second, please refer to the fifth picture, which shows the "Recharge System for Mobile Robots, the Method of Searching for Charging Stations, Mobile Machine 201001865 Persons, Connectors and Electrical Connections Broadcasting 1 Electricity" according to the Announcement No. 466389 of the Republic of China. Schematic diagram of the system. The pet dog 2" set two patents, the pet machine dog's charge calculation device and search device, through these instant identification data, camera device, computing device and search device, etc., pet machine (four) data, The camera is placed in a charging station 80-10, so that it can be placed on the work space with the battery from 13-10 on the top of the body unit 2 = charging. The connector 82-10 of the robot pet connector is mounted on the embossed ridge; and the charging station 80_10 side station 80-10 is used to receive the mobile robot 2.9, lowering the lower end of the shank 88. The charging connectors 13-1 and 82_1 are engaged to cause the depressions to be lowered and the two 1-9s to be charged. The power station 82-10 pairs pet machine dogs - and 'because of the two common charging methods 2, the complexity of the mechanism steps, the operation steps have the following disadvantages:, the microcomputer identifies the heartbreak for positioning. The device structure is complex and formed;::: It is too time consuming and complicated. For robot charging, it is still the development of robot commercialization. The invention belongs to the related art, and aims to provide a smart machine structure with a simple phase charging technology. 1 (4) 疋, predictable, [Summary of the Invention] The object of the present invention is to provide a humanoid intelligent robot secondary chain system, which utilizes the related mechanisms of the reduction and supply of thunder and amp; _ charging 糸, the traditional charging of the palace The identification position added by the system = the second induction coil at the bottom of the mechanism. When the smart robot is supplementing the % force, the two-legged mechanism of the robot will automatically walk and automatically guide to the slope with a 201001865 induction coil. Set the ground (four) domain; the circle will produce electromagnetic sensation for charging 4 _ and - the secondary sensing line positioning charging contact, so that the installation of two == = - step accurate charging and storage of the secondary induction coil to receive the electrical energy rechargeable battery Receiving 2 the charging system of the intelligent robot that achieves the above purpose, the knowing that there is a movable slave mechanism, the charging circuit system includes: a day ~, a machine benefit 1 voltage source for providing _ DC electric dust; flow conversion a circuit, the DC provided by the voltage source is replaced by an AC-to-second induction coil, and the DC-AC conversion circuit is connected in parallel, and the ring is buried in a predetermined ground area;
-次感應線圈’設置於該智慧型機器人之兩足部之底部，該 二次感應線圈可感應該一次感應線圈之電能； DX 整流回路，並聯該二次感應線圈，用以整流該二次感應線圈 所感應之電壓； '濃波回路，並聯該整流回路，將該二次感應線圈所感應之電 壓予以濾波，形成一穩定直流充電電壓；以及一充電電池， 安裝於該智慧型機器人之主體，且接收該直流充電電壓'，以 儲存該二次感應線圈所感應接收之電能。 其中，該智慧型機器人移動至該預設地面區域附近，立利用升 降機構調整該雙足機構内部二次線圈之感應距離，使雙足機構内部 之一次線圈與地面區域預設的一次線圈產生最佳之電池充電效 率。較佳地’該驅動部實現可升降之機構。上述充電電路系統之理 想的一次與二次感應線圈，係經由電磁最佳化外型設計而成為螺旋 薄片之感應線圈。 201001865 【貫施方式】 本發明知前述内容已經充分描述了本發明之技術功效與特 色。另一方面；對於在本發明所屬範疇之先進專家或學者而言， 前述内容與所附圖式實際上為發明人對於本發明之技術、功效與 特色之廣泛揭示。爰此，本文内容不在於限制本發明之適用範疇， 而在提供機器人電源管理之進一步改善的技術創見。由參閱第一 所附圖式可顯示本發明智慧型機器人2之充電系統1之示意圖。 在本發明的較佳實施例中，智慧型機器人2具有如人類之型態， 雙足機構3可驅動智慧型機器人2在有效之周遭環境範圍内運 動；智慧型機器人2所需的電力係來自於本身攜帶的鋰電池模組 (圖未式），該鋰電池模組可安裝在智慧型機器人2的腰部或背部， 並與電源平台完成電路之系統整合。 本發明智慧型機器人2的雙足機構3之雙足機構底部各安裝 有一組感應線圈，該感應線圈經由電磁感應後可產生感應電壓， 而感應電壓經整流迴路與濾波回路後可產生充電電壓，對充電電 池進行充電。當智慧型機器人2欲進行充電時，智慧型機器人2 僅需進入一具有電磁感應的預設區域内即可，而無須再該預設區 域内為尋找充電電源之接點，而進一步執行搜尋與精準定位的演 算。如此智慧型機器人2在預設區域内可由雙足機構3之感應線 圈產生感應電壓，進而充電。 由參閱第二所附圖式可顯示本發明智慧型機器人2之充電系 統1之方塊圖。本發明智慧型機器人2之充電系統1包括一次側 與二次侧，其中一次側位於預設區域内，而二次側安裝於智慧型 機器人2之内。一次侧包括一電壓源4、一直流-交流轉換回路5 及--次感應線圈6，其中，直流-交流轉換回路5的輸入端連接 電壓源4，而輸出端連接一次感應線圈6。該電壓源4用以提供一 直流電壓，該直流電壓經直流-交流轉換回路5轉換為一交流電 201001865 壓流電壓提供至—次感應線 化。在本發明的較佳實施例 L朗產生電磁變 面區域，或者安裝於_充^ 線圈6係埋設於預設地 人2之重量；—次❹H内，且錢電盤可承載智慧型機器 砍應線圈6較佳為一螺旋且呈薄片狀。 -次側包括-二次感應線圈7、—整流回路9、— 以及一充電電池U，其中，整流回路9的輸入端連接:欠感〇 :7=感編，整流回路9的輸出端連㈣波回路。提 供一穩疋直流充電電壓至充+ 後& 中，應線圈7安裝:;'r機二本:足 且一-人感應線圈7較佳為—螺旋且呈薄片狀。 一 由參閱第二所關式可顯示本發明智慧型機器人2之 統1之具體電路圖。第二阁邮-小兀电乐 -次側包括-電_ 路二圖所示方塊圖， 圈6……w ^轉換回路5及一-次感應線 二 抓-乂机轉換回路5由四組切換開關以橋接方式组 成，该相換開_別接收切換訊號（圖未式） =-次感應線圈6上產生交峨，如虛線箭頭 -人感應線圈6接收該交流電壓可產生電磁變化。 繼續參考第三圖，二次側包括一二次感應線圈7、一整流回路 H波回路10以及—充電電池11，其中，二次感應線圈7感 線圈6的電磁變化而產生一感應，且該感應電壓 ，、，、父机電壓。整流回路9由四個二極體以橋接方式組成，將二 次感j圈7的感應交流電壓整流為一直流電壓，經濾波回路1〇 之书备盗濾波，而提供穩定直流充電電壓至充電電池u。 請參閱第四圖，係顯示本發明智慧型機器人22之充電系統h 第二實施例之示意圖，並配合參閱第二圖。在此—實施^中''，智 慧型機器人22具有如狗之型態，主體之身驅安裝有四足機構^曰， 可驅動使智慧型機器人22到處移動。在不同的實施例中，該智慧 10 η mThe secondary induction coil is disposed at the bottom of the two legs of the intelligent robot, and the secondary induction coil can sense the electrical energy of the primary induction coil; the DX rectifier circuit is connected in parallel to the secondary induction coil for rectifying the secondary induction The voltage induced by the coil; 'dense wave circuit, parallel to the rectification circuit, filtering the voltage induced by the secondary induction coil to form a stable DC charging voltage; and a rechargeable battery installed in the main body of the intelligent robot And receiving the DC charging voltage ' to store the electrical energy sensed by the secondary induction coil. Wherein, the intelligent robot moves to the vicinity of the preset ground area, and the lifting mechanism is used to adjust the sensing distance of the secondary coil inside the biped mechanism, so that the primary coil inside the biped mechanism and the primary coil preset in the ground area are the most generated. Good battery charging efficiency. Preferably, the drive unit implements a mechanism that can be raised and lowered. The primary and secondary induction coils of the above-described charging circuit system are designed to be spiral coiled induction coils via an electromagnetically optimized external design. 201001865 [Comprehensive Mode] The foregoing has well described the technical effects and features of the present invention. On the other hand, for the advanced experts or scholars within the scope of the present invention, the foregoing and the drawings are actually a broad disclosure of the technology, function and features of the present invention. As such, this document is not intended to limit the scope of application of the present invention, but rather to provide a technical innovation for further improvements in robotic power management. A schematic diagram of the charging system 1 of the intelligent robot 2 of the present invention can be seen by referring to the first drawing. In the preferred embodiment of the present invention, the smart robot 2 has a human body type, and the biped mechanism 3 can drive the smart robot 2 to move within an effective surrounding environment; the power required by the smart robot 2 comes from The lithium battery module (not shown) can be installed on the waist or the back of the smart robot 2, and is integrated with the power platform to complete the circuit. The bottom of the biped mechanism of the bipedal mechanism 3 of the intelligent robot 2 of the present invention is respectively provided with a set of induction coils, and the induction coil can generate an induced voltage after being electromagnetically induced, and the induced voltage can generate a charging voltage after the rectification loop and the filter loop. Charge the rechargeable battery. When the smart robot 2 wants to charge, the smart robot 2 only needs to enter a preset area with electromagnetic induction, and it is no longer necessary to search for a charging power source in the preset area, and further perform search and Precise positioning calculation. Thus, the smart robot 2 can generate an induced voltage from the induction coil of the biped mechanism 3 in the preset area, thereby charging. A block diagram of the charging system 1 of the smart robot 2 of the present invention can be shown by referring to the second drawing. The charging system 1 of the intelligent robot 2 of the present invention includes a primary side and a secondary side, wherein the primary side is located in the preset area, and the secondary side is installed in the smart type robot 2. The primary side includes a voltage source 4, a DC-AC conversion circuit 5, and a secondary induction coil 6, wherein the input terminal of the DC-AC conversion circuit 5 is connected to the voltage source 4, and the output terminal is connected to the primary induction coil 6. The voltage source 4 is used to provide a DC voltage, which is converted into an AC power by the DC-AC conversion circuit 5. The 201001865 voltage is supplied to the secondary induction line. In the preferred embodiment of the present invention, the electromagnetic variable surface area is generated, or the _ charging coil 6 is embedded in the weight of the preset person 2; the time ❹H, and the money electric disk can carry the intelligent machine to cut The coil 6 is preferably a spiral and has a sheet shape. - the secondary side comprises - a secondary induction coil 7, - a rectifying circuit 9, - and a rechargeable battery U, wherein the input of the rectifying circuit 9 is connected: undersensing: 7 = sensing, the output of the rectifying circuit 9 is connected (4) Wave circuit. A stable DC charging voltage is supplied to the charging + after & the coil 7 is mounted:; 'r machine two: the full and one-person induction coil 7 is preferably - spiral and flaky. A specific circuit diagram showing the system 1 of the intelligent robot 2 of the present invention can be seen by referring to the second closed type. The second pavilion - Xiaoying electric music - the secondary side includes - electricity _ road diagram shown in Figure 2, circle 6 ... w ^ conversion loop 5 and one - secondary induction line two catch - 乂 machine conversion loop 5 by four groups The switch is composed of a bridge mode, and the phase is switched on. The receive switch signal (not shown) = - the switch is generated on the secondary induction coil 6. As the dotted arrow - the human induction coil 6 receives the AC voltage to generate an electromagnetic change. With continued reference to the third figure, the secondary side includes a secondary induction coil 7, a rectifier circuit H wave circuit 10, and a rechargeable battery 11, wherein the secondary induction coil 7 senses an electromagnetic change of the coil 6 to generate an induction, and the induction Induced voltage, ,,, parent voltage. The rectifying circuit 9 is composed of four diodes in a bridging manner, and rectifies the induced alternating current voltage of the secondary sensing j-ring 7 into a DC voltage, which is filtered by the filtering circuit to provide a stable DC charging voltage to the charging. Battery u. Please refer to the fourth figure, which is a schematic diagram showing a second embodiment of the charging system h of the smart robot 22 of the present invention, and with reference to the second figure. Herein, the intelligent robot 22 has a dog-like type, and the body of the main body is mounted with a four-legged mechanism that can drive the smart robot 22 to move around. In different embodiments, the wisdom 10 η m
J 201001865 ^器人22具有可移動之驅動部，該部可騎”式或滾輪 如第二圖所示的方塊圖’本發明充電系統㈣—次側 充電盤24,該充電盤24呈一平板狀且提 、 形成的電磁感應區域。本發明充㈣_ a"人α應線圈6所 哭，^ 尽七月兄罨糸統的二次側安裝於智彗型撼 二？2的主體之身驅，而二次感應線圈7則安裝在主體之；』 底部。當智慧型機器人22欲進行充電時，智 移動至夯雷般曰瑟1機态人22僅需 點，而谁錢在充電料尋縣電電源之接 』而進-步執行搜尋與精準定位的演算。 1待智慧型機器人22移動至充電盤24上方時，^四， 文裝在主體之身驅底部的_ ^ 丁 廡“ —丨的—一人感應、線® 7應進—步下降以有效减 應--人感應線圈6所形成的電磁感 ：= 22的杳觝肉立壯士 1 τ 曰惹坦機盗人 身有可升之機構25，該可升降 二次感應線圈7下降靠近充電盤24，以進行充電。 了駆使 第三發明智慧型機器人32之充電⑽ 於主體之身驅實施例中，二次感應線圈7係安裝 前後伸展二智慧型機11人32的四足機構23可分別往 以進行充電。 的二次感應線圈7下降#近充電盤24， 本U之優點在於··彻設於智 與地面的一次咸庫錄固4 Ba 4 W—人埶應線圈 行充電時，電磁感應，俾使智慧型機器人進 線圈所感應產生充電接‘點即可由該二次感應 的-電池串聯2=儲存至安咖^ 非用以限定本私明’、、、S明已以較佳實例揭露如上，然其並 和範圍内，當Μ各悉此技藝者，在不脫離本發明之精神 當視後附之甲請專利r鬥與潤飾，因此’本發明之保護範圍， ^專利乾圍所界定者為準。 11 201001865 【圖式簡單說明】 第一圖係顯示本發明智慧型機器人之充電系統第 不意圖。 m '實施例之 實施例之 實施例之 第二圖係顯示第一圖之電路圖。 第三圖係顯示第二圖之方塊圖。 _第四圖係顯示本發明智慧型機器人之充電系統第 示意圖。 示』五圖係顯示本發明智慧型機器人之充電系統第 【主要元件符號說明】 21、31-—充電系統 1 ' 22 ' 32…智慧型機器人 3J 201001865 ^ The person 22 has a movable driving part, which can ride a "style or roller" as shown in the second figure of the present invention. The charging system (four) of the present invention - the secondary charging tray 24, the charging tray 24 is a flat plate The electromagnetic induction region is formed and raised. The invention is filled with (4) _ a " human α should be coiled 6 to cry, ^ as far as July, the secondary side of the brother-in-law is installed in the body of the body of Zhizhi type 撼2? The secondary induction coil 7 is mounted on the bottom of the main body; 』 bottom. When the intelligent robot 22 wants to charge, the wisdom moves to the thunder-like 曰瑟1 state of the person 22 only needs to point, and who is looking for the charge material The county power supply is connected to the step of performing the search and precise positioning calculation. 1 When the smart robot 22 moves to the top of the charging tray 24, ^4, the text is installed at the bottom of the body of the body _ ^ Ding Wei" —丨 - one person induction, line ® 7 should be advanced - step down to effectively reduce the - electromagnetic induction formed by the human induction coil 6: = 22 杳觝 立 立 立 立 立Mechanism 25, the hoistable secondary induction coil 7 is lowered close to the charging pad 24 for charging. In the embodiment in which the third invention smart robot 32 is charged (10), the secondary induction coil 7 is mounted, and the four-legged mechanism 23 of the front and rear extensions of the smart machine 11 people 32 can be charged separately. The secondary induction coil 7 drops # near the charging plate 24, the advantage of this U is that ········································································ The intelligent robot enters the coil to induce the charging connection to the point that can be used by the secondary induction - the battery is connected in series 2 = stored to the Anke ^ is not used to limit the privacy of the ', ', S Ming has been disclosed as a preferred example, However, in the context of the scope of the patent, the scope of protection of the present invention, ^ defined by the patent dry perimeter, is attached to the patents of the present invention without departing from the spirit of the present invention. Prevail. 11 201001865 [Simple description of the drawings] The first figure shows the charging system of the intelligent robot of the present invention. The second embodiment of the embodiment of the embodiment of the present embodiment shows the circuit diagram of the first figure. The third figure shows a block diagram of the second figure. The fourth figure shows the first schematic diagram of the charging system of the intelligent robot of the present invention. The five-figure system shows the charging system of the intelligent robot of the present invention. [Main component symbol description] 21, 31--charging system 1 '22 '32...smart robot 3
Λ 、23~〜智慧型機器人之足部機構 4'〜充電系統之電壓源 5〜-充電系統之直流-交流轉換回路 6 充電系統之一次感應線圈 充電系統之二次感應線圈 9 --充電系統之整流回路 1 〇 _·充電系統之滤波回路 充電系統之電池模組 24-'-充電系統之充電盤模組 25…充電系統之可升降之機構模組 12、, 23~~ smart robot foot mechanism 4'~ charging system voltage source 5~-charging system DC-AC conversion circuit 6 charging system one induction coil charging system secondary induction coil 9-charging system Rectifier circuit 1 〇 _ _ charging circuit of the charging system battery module 24 - '- charging system charging disk module 25 ... charging system of the lifting system module 12