WO2014019224A1 - 一种自动工作装置的充电站系统 - Google Patents

一种自动工作装置的充电站系统 Download PDF

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Publication number
WO2014019224A1
WO2014019224A1 PCT/CN2012/079664 CN2012079664W WO2014019224A1 WO 2014019224 A1 WO2014019224 A1 WO 2014019224A1 CN 2012079664 W CN2012079664 W CN 2012079664W WO 2014019224 A1 WO2014019224 A1 WO 2014019224A1
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WO
WIPO (PCT)
Prior art keywords
charging
working device
automatic working
charging station
terminal
Prior art date
Application number
PCT/CN2012/079664
Other languages
English (en)
French (fr)
Inventor
周国扬
薛玉雷
Original Assignee
江苏苏美达五金工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏苏美达五金工具有限公司 filed Critical 江苏苏美达五金工具有限公司
Priority to EP12882538.7A priority Critical patent/EP2899832A4/en
Publication of WO2014019224A1 publication Critical patent/WO2014019224A1/zh

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/32—Constructional details of charging stations by charging in short intervals along the itinerary, e.g. during short stops
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the present invention relates to a charging station system, and more particularly to a charging station system capable of charging an automatic working device. Background technique
  • Automatic working devices such as automatic mowers, automatic cleaners, etc.
  • These devices are limited to work in certain working areas.
  • These automatic working devices are usually equipped with energy storage units. , control unit and drive unit, the automatic working device can work autonomously in a limited area, thus reducing the negative labor burden of human beings
  • EP 1302147 B1 discloses a charging station system of such an automatic working device, comprising a charging station and an automatic working tool, the charging station having a raised portion, the raised portion being mounted with a first transmission portion, automatically working A second transmission portion is mounted on the upper portion of the tool body, and energy is transmitted through the second transmission portion against the first transmission portion.
  • the EP2073088B1 patent also discloses a charging station system comprising a charging station and a robot. The charging station is provided with a first transmission portion, and the front end of the robot is provided with a second transmission portion. When the robot enters the charging station, the second transmission portion can abut Charging is performed on the first transfer portion, wherein at least one of the first transfer portion and the second transfer portion is magnetic so that the first transfer portion and the second transfer portion can be attracted for better contact.
  • the main object of the present invention is to provide a charging station system for an automatic working device.
  • the automatic working device and the charging station can be accurately and reliably docked to maintain good contact of the charging end.
  • a charging station system for an automatic working device comprising a charging station and an automatic working device;
  • the charging station comprises a bottom plate, the bottom plate is provided with a charging box, and the charging box is provided with a first charging end;
  • the device is provided with a second charging end that cooperates with the first charging end, and the automatic working device can automatically drive into the charging station for charging when charging, and is characterized in that:
  • the first charging end is disposed at a top position of the charging box
  • the second charging end is disposed at a bottom position of the automatic working device, and the second charging end is kept in contact with the first charging end after the automatic working device drives into the charging station, and the charging station charges the automatic working device.
  • the charging station system of the automatic working device is characterized in that: the bottom plate is further provided with a step, and when the wheel of the automatic working device climbs up the step, the height of the lowest end of the second charging end is higher than the first Charging end Height; the second charging end is in contact with the first charging end when the wheel of the automatic working device enters the charging station over the step.
  • the charging station system of the automatic working device is characterized in that: the first charging end comprises a first charging piece and a second charging piece, and the first charging piece and the second charging piece edge
  • the charging box is mounted on the top surface of the charging box in the width direction;
  • the second charging end comprises a first charging column and a second charging column, and the first charging column and the second charging column are automatically along
  • the width of the working device is installed at the bottom of the working device and extends downward; after the automatic working device travels into the charging station, the first charging column is in contact with the first charging piece, and the second charging column and the second charging column Two charging tablets are in contact.
  • the foregoing charging station system of the automatic working device is characterized in that: the first charging piece and/or the first charging column are retractable in the height direction.
  • the foregoing charging station system of the automatic working device is characterized in that: the second charging piece and/or the second charging column are retractable in the height direction.
  • the charging station system of the automatic working device is characterized in that: after the automatic working device travels into the charging station, the second charging end is located above the vertical direction of the first charging end, and maintains elastic contact with the second charging end.
  • the first charging end and/or the second charging end are elastically expandable and contractible in a vertical direction.
  • the invention has the advantages that the system has a simple structure, and the precision of the automatic working equipment and the charging station is not high, and the elastic working contact between the charging ends can realize the accurate and reliable docking of the automatic working device and the charging station, and By maintaining good contact at the charging end, the automatic charging function can be reliably realized.
  • Figure 1 is a schematic view of a charging station system of an automatic working device of the present invention
  • FIG. 2 is a schematic structural view of a charging station of the present invention
  • Figure 3 is a schematic structural view of an automatic working device of the present invention.
  • Figure 4 is a cross-sectional view of the automatic working device shown in Figure 3 taken along the A-A position;
  • 5a to 5c are schematic views of the automatic working device in the return charging mode when the automatic working device is at different positions of the charging station step.
  • the charging station system of the automatic working device of the present invention comprises a charging station 1 and an automatic working device 2, wherein the automatic working device 2 is limited to work in a specific area 3, and the present invention adopts a cable line.
  • the automatic working device 2 is limited to work inside the area 3 surrounded by the cable.
  • the automatic working device 2 is provided with an energy storage unit 4, a control unit 5 and a driving unit 6, the energy storage unit 4 providing energy for the automatic working device 2 to operate, the energy storage unit 4 preferably being a battery
  • the control unit 5 is usually in the form of a microprocessor for controlling the behavior of the automatic working device 2 (for example, walking, turning, starting the working of the working head, returning to the charging station, etc.); the driving unit 6 is executed by the automatic working device 2
  • the various actions provide a driving force, and the drive unit 6 preferably can employ a motor, in particular a DC motor.
  • control unit 5 of the automatic working device 2 When the control unit 5 of the automatic working device 2 detects that the energy of the energy storage unit 4 needs to be replenished, the control unit 5 will control the automatic working device 2 to return to the charging station 1 to replenish energy, for example, along the cable line according to the direction of the arrow in the figure. The resulting area 3 is returned to the charging station 1 for charging.
  • FIG. 2 A schematic diagram of the structure of the charging station 1 is shown in Fig. 2.
  • the charging station 1 comprises a bottom plate 7, and a charging box 8 is arranged on the bottom plate 7, and a top end of the charging box 8 is provided with a first charging end 9.
  • the first charging end 9 includes a first charging piece 10 and a second charging piece 11, and the first charging piece 10 and the second charging piece 11 are mounted on the top surface 12 of the charging box along the width direction of the charging box. on.
  • FIG. 3 is a schematic view showing the structure of the automatic working device 2, the automatic working device 2 includes a main body 13, and the main body 13 is internally provided with an energy storage unit 4, a control unit 5 and a driving unit 6 (not shown) display).
  • a second charging end 14 is provided at the bottom position of the automatic working device 2, and the second charging end 14 includes a first charging column 15 and a second charging post 16, the first charging post 15 and the second charging post 16 are mounted at their bottom positions along the width W 2 of the automatic working device 2, and project downward; the automatic working device travels into After the charging station, the first charging post 15 is in contact with the first charging pad 10, and the second charging post 16 is in contact with the second charging pad 11.
  • the present invention further provides a step 19 on the bottom plate 7, and the automatic working device 2
  • the wheel near the second charging end 14 climbs up the step 19
  • the height of the lowest end of the second charging end 14 is higher than the height of the first charging end 9
  • the wheel of the automatic working device 2 near the second charging end 14 is over
  • the second charging end 14 is in contact with the first charging end 9.
  • At least one of the first charging end 9 and the second charging end 14 is elastically stretchable in the height direction. of.
  • the first charging post 15 and the second charging post 16 of the second charging end 14 are respectively mounted in the cavity 17 at the bottom position of the main body 13, the cavity A spring 18 is disposed inside, and the spring 18 is respectively sleeved on the first charging post 15 and the second charging post 16 to push it downward.
  • the second The charging end 14 will be in contact with the first charging end 9, and the charging post of the second charging end 14 will reliably abut against the charging pad of the first charging end 9 under the action of the spring 18.
  • the control unit 5 (not shown) will control the automatic working device 2 to return to the charging station 1, and climb up the steps of the wheel of the automatic working device 2 near the second charging end 9.
  • the height of the lowest end of the second charging end 14 is smaller than the height H of the first charging end 9.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Robotics (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)

Abstract

提出了一种包含充电站（1）和自动工作装置（2）的自动工作装置的充电站系统。充电站（1）包含一底板（7），底板（7）上设置有充电箱（8），充电箱（8）的顶部设置有第一充电端（9）；自动工作装置的底部设置有与第一充电端（9）相配合的第二充电端（14）。自动工作装置需要充电时可自动行驶进入充电站（1），第二充电端（14）与第一充电端（9）保持接触，充电站对自动工作装置进行充电。该充电站系统结构简单，通过充电端之间的弹性接触实现了自动工作装置和充电站的准确可靠对接，实现可靠充电的功能。

Description

一种自动工作装置的充电站系统
技术领域
本发明涉及一种充电站系统， 特别是涉及一种能够为自动工作装置充电的充电站系统。 背景技术
自动工作装置，例如自动割草机、自动清洁器等自动工作设备近年来开始出现在市场上， 这类设备被限定在一定的工作区域内工作， 这类自动工作装置上通常配备有能量存储单元、 控制单元和驱动单元， 自动工作装置能够在限定的区域内自主工作， 从而减轻人类的劳动负
说
担。 这类工作装置通常要求在能量耗尽前， 能够自动返回到充电站进行充电， 能否准确、 可 靠的返回充电站进行充电， 是这类自动工作装置在技术方面需要着重考虑的方面之一， 市场
书
上也出现了各种形式的充电站系统。 EP1302147B1专利公开了一种这类自动工作装置的充电 站系统， 包含充电站和自动工作工具， 充电站上具有一个升起的部分， 所述升起的部分上安 装有第一传输部， 自动工作工具机体的上部安装有第二传输部， 通过第二传输部抵靠在第一 传输部上进行能量传输。 EP2073088B1专利也公开一种充电站系统， 包含充电站和机器人， 充电站上设置一个第一传输部， 机器人的前端设置有第二传输部， 当机器人进入充电站后， 第二传输部可以抵靠在第一传输部上进行充电， 其中所述的第一传输部和第二传输部中至少 有一个是有磁性的， 以便第一传输部和第二传输部能够吸合从而更好地接触。
发明内容
本发明的主要目的在于提供一种自动工作装置的充电站系统， 在自动工作装置处于返回 充电模式时， 能够实现自动工作装置和充电站准确、 可靠的对接， 保持充电端的良好接触。
本发明通过如下技术方案来实现发明的目的：
一种自动工作装置的充电站系统， 包含充电站和自动工作装置； 所述的充电站包含一底 板， 所述底板上设置有充电箱， 充电箱上设置有第一充电端； 所述自动工作装置上设置有与 所述的第一充电端相配合的第二充电端， 自动工作装置需要充电时可自动行驶进充电站进行 充电， 其特征在于：
所述的第一充电端设置在充电箱的顶部位置；
所述的第二充电端设置在自动工作装置的底部位置， 自动工作装置行驶进充电站后第二 充电端与第一充电端保持接触， 充电站对自动工作装置充电。
进一步的， 前述的自动工作装置的充电站系统， 其特征在于： 所述的底板上还设置有台 阶， 所述自动工作装置的轮子在爬上台阶时， 第二充电端的最低端的高度高于第一充电端的 高度； 自动工作装置的轮子在越过台阶进入所述充电站时， 第二充电端与第一充电端保持接 触。
进一步的， 前述的自动工作装置的充电站系统， 其特征在于： 所述的第一充电端包含一 第一充电片和一第二充电片， 所述的第一充电片和第二充电片沿着充电箱宽度方向上安装在 充电箱的顶面上； 所述的第二充电端包含一第一充电柱和一第二充电柱， 所述的第一充电柱 和第二充电柱沿着自动工作装置宽度方上安装在其底部位置上， 且向下伸出； 自动工作装置 行驶进充电站后， 所述的第一充电柱与第一充电片接触， 所述的第二充电柱与第二充电片接 触。
进一步的， 前述的自动工作装置的充电站系统， 其特征在于： 所述的第一充电片和 /或第 一充电柱在高度方向上是可伸縮的。
进一步的， 前述的自动工作装置的充电站系统， 其特征在于： 所述的第二充电片和 /或第 二充电柱在高度方向上是可伸縮的。
进一步的， 前述的自动工作装置的充电站系统， 其特征在于： 所述自动工作装置行驶进 充电站后， 所述第二充电端位于第一充电端垂直方向的上方， 并与其保持弹性接触， 所述的 第一充电端和 /或第二充电端在垂直方向上可弹性伸縮。
本发明的有益效果为：系统结构简单，对自动工作设备与充电站对接时的精度要求不高， 通过充电端之间的弹性接触， 可以实现自动工作装置和充电站准确、 可靠的对接， 并保持充 电端的良好接触， 能够可靠地实现自动充电功能。
附图说明
图 1是本发明的自动工作装置的充电站系统的示意图；
图 2是本发明的充电站的结构示意图；
图 3是本发明的自动工作装置的结构示意图；
图 4是图 3中所示的自动工作装置沿 A-A位置处的剖视图；
图 5a至图 5c是本发明的自动工作装置进入返回充电模式时， 自动工作装置处于充电站 台阶不同位置时的示意图。
具体实》式
下面结合附图， 对本发明作进一步详细说明。
如图 1所示， 本发明的自动工作装置的充电站系统， 包含充电站 1和自动工作装置 2， 所述的自动工作装置 2被限定在特定的一区域 3里工作， 本发明采用电缆线作为自动工作装 置 2的区域边界， 自动工作装置 2被限定在电缆线所围成的区域 3内部工作。 自动工作装置 2上设置有能量存储单元 4、 控制单元 5和驱动单元 6， 所述的能量存储单元 4为自动工作装 置 2提供工作所需的能量， 所述的能量存储单元 4优选地为蓄电池； 控制单元 5， 通常采用 微处理器的形式， 用以控制自动工作装置 2的行为方式（例如行走、 拐弯、 启动工作头工作、 返回充电站充电等）； 驱动单元 6为自动工作装置 2执行各项动作提供驱动力， 所述驱动单元 6优选地可以采用电机， 特别是采用直流电机。
当自动工作装置 2的控制单元 5检测到能量存储单元 4的能量需要补充时， 控制单元 5 将控制自动工作装置 2返回充电站 1补充能量， 例如， 按照图中的箭头方向沿着电缆线围成 的区域 3返回充电站 1充电。
图 2中给出了充电站 1的结构示意图， 所述的充电站 1包含一底板 7， 在底板 7上设置 有一充电箱 8， 所述充电箱 8的顶部设置有第一充电端 9。所述的第一充电端 9包含一第一充 电片 10和一第二充电片 11， 第一充电片 10和第二充电片 11沿着充电箱宽度^方向上安装 在充电箱的顶面 12上。
图 3给出了自动工作装置 2的结构示意图， 所述的自动工作装置 2包含主机体 13， 所述 主机体 13的内部设置有能量存储单元 4、控制单元 5和驱动单元 6 (图中未显示）。 为了实现 自动充电功能， 在自动工作装置 2的底部位置处设置有与所述的第一充电端相配合的第二充 电端 14， 所述的第二充电端 14包含一第一充电柱 15和一第二充电柱 16， 所述的第一充电柱 15和第二充电柱 16沿着自动工作装置 2宽度 W2方向上安装在其底部位置上， 且向下伸出； 自动工作装置行驶进充电站后， 所述的第一充电柱 15与第一充电片 10接触， 所述的第二充 电柱 16与第二充电片 11接触。
如图 2所示， 为了使得所述的第一充电端 9和第二充电端 14能够准确的接触， 本发明 进一步的在所述的底板 7上还设置有台阶 19， 所述自动工作装置 2的靠近第二充电端 14的 轮子在爬上台阶 19时， 第二充电端 14的最低端的高度高于第一充电端 9的高度； 自动工作 装置 2的靠近第二充电端 14的轮子在越过台阶 19时，第二充电端 14与第一充电端 9保持接 触。
为了使所述的第一充电端 9和第二充电端 14能够可靠的接触， 作为本发明进一步的优 化， 至少第一充电端 9和第二充电端 14之一在高度方向上是可弹性伸縮的。 如图 4所示， 以 第二充电端 14为例， 第二充电端 14的第一充电柱 15和第二充电柱 16分别安装在主机体 13 底部位置的容腔 17内， 所述容腔内部设置有一弹簧 18， 所述的弹簧 18分别套设第一充电柱 15和第二充电柱 16上将其向下推压。 当自动工作装置 2返回到充电站 1进行充电时， 第二 充电端 14将与第一充电端 9接触， 第二充电端 14的充电柱在弹簧 18的作用下， 可靠地抵靠 在第一充电端 9的充电片上。
下面在图 2、 图 3和图 4的结构基础上， 结合图 5a至图 5c， 说明本发明充电站系统的 自动工作装置 2进入充电站 1充电的过程。
当自动工作装置 2处于返回充电模式时， 控制单元 5 (图中未示出） 将控制引导自动工 作装置 2返回充电站 1， 在自动工作装置 2的靠近第二充电端 9的轮子爬上台阶 19前，如图 5a所示， 第二充电端 14的最低端的高度 小于第一充电端 9的高度 H。
如图 5b所示， 当自动工作装置 2的靠近第二充电端 9的轮子在爬上台阶 19时， 第二充 电端 14的最低端的高度 112高于第一充电端 9的高度 H。
当自动工作装置 2的靠近第二充电端 9的轮子在越过台阶 19时， 如图 5c所示， 第二充 电端 14的第一充电柱 15和第二充电柱 16在弹簧 18的推压作用下分别可靠地抵靠在第一充 电端 9的第一充电片 10和第二充电片 11上， 第二充电端 14的最低端的高度 ¾等于第一充电端 9 的高度 H， 实现充电站 1为自动工作装置 2充电。
以上是以具体实施例对本发明进行了详细说明， 然而这些具体实施列不应当理解成对本 发明的限制， 凡采用等效替换或等同变换的方式所获得的技术方案， 均落在本发明的保护范 围内。
本发明涉及的其他未说明部分， 与现有技术相同。

Claims

权 利 要 求 书
1、 一种自动工作装置的充电站系统， 包含充电站和自动工作装置； 所述的充电站包含 一底板， 所述底板上设置有充电箱， 充电箱上设置有第一充电端； 所述自动工作装置上设置 有与所述的第一充电端相配合的第二充电端， 自动工作装置需要充电时可自动行驶进充电站 进行充电， 其特征在于：
所述的第一充电端设置在充电箱的顶部位置；
所述的第二充电端设置在自动工作装置的底部位置， 自动工作装置行驶进充电站后， 第 二充电端与第一充电端保持接触， 充电站对自动工作装置充电。
2、 根据权利要求 1 所述的自动工作装置的充电站系统， 其特征在于： 所述的底板上还 设置有台阶， 所述自动工作装置的轮子在爬上台阶时， 第二充电端的最低端的高度高于第一 充电端的高度； 自动工作装置的轮子在越过台阶进入所述充电站时， 第二充电端与第一充电 端保持接触。
3、 根据权利要求 1或 2所述的自动工作装置的充电站系统， 其特征在于： 所述的第一 充电端包含第一充电片和第二充电片， 所述的第一充电片和第二充电片沿着充电箱宽度方向 上安装在充电箱的顶面上； 所述的第二充电端包含第一充电柱和第二充电柱， 所述的第一充 电柱和第二充电柱沿着自动工作装置宽度方向上安装在其底部位置上， 且向下伸出； 自动工 作装置行驶进充电站后， 所述的第一充电柱与第一充电片接触， 所述的第二充电柱与第二充 电片接触。
4、 根据权利要求 3所述的自动工作装置的充电站系统， 其特征在于： 所述的第一充电 片和 /或第一充电柱在高度方向上是可弹性伸縮的。
5、 根据权利要求 3所述的自动工作装置的充电站系统， 其特征在于： 所述的第二充电 片和 /或第二充电柱在高度方向上是可弹性伸縮的。
6、 根据权利要求 1 所述的自动工作装置的充电站系统， 其特征在于： 所述自动工作装 置行驶进充电站后， 所述第二充电端位于第一充电端垂直方向的上方， 并与其保持弹性接触， 所述的第一充电端和 /或第二充电端在垂直方向上可弹性伸縮。
PCT/CN2012/079664 2012-08-02 2012-08-03 一种自动工作装置的充电站系统 WO2014019224A1 (zh)

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