WO2022111522A1 - 自移动机器人充电系统及自移动机器人充电方法 - Google Patents
自移动机器人充电系统及自移动机器人充电方法 Download PDFInfo
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- WO2022111522A1 WO2022111522A1 PCT/CN2021/132774 CN2021132774W WO2022111522A1 WO 2022111522 A1 WO2022111522 A1 WO 2022111522A1 CN 2021132774 W CN2021132774 W CN 2021132774W WO 2022111522 A1 WO2022111522 A1 WO 2022111522A1
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- Prior art keywords
- charging station
- self
- moving robot
- charging
- outer contour
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 27
- 238000009434 installation Methods 0.000 abstract description 5
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/656—Interaction with payloads or external entities
- G05D1/661—Docking at a base station
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/30—Radio signals
- G05D2111/36—Radio signals generated or reflected by cables or wires carrying current, e.g. boundary wires or leaky feeder cables
Definitions
- the invention relates to the field of intelligent control, in particular to a self-moving robot charging system and a self-moving robot charging method.
- This automatic working equipment has a walking device, a working device and an automatic control device, so that the automatic working equipment can be separated from people's operation, automatically walk and perform work within a certain range, and when the energy of the energy storage device of the automatic working equipment is insufficient, its Ability to automatically return to the charging station unit to recharge and then resume work.
- the charging system of the robot in the prior art is to first build a charging station guide line around the entire work area, the charging station guide line is connected to the charging station, and the robot walks along the charging station guide line to find the charging station for docking and charging.
- the whole process is time-consuming and laborious.
- the charging station guide line laid along the entire work area will make the robot find the charging station guide line without the principle of proximity, and the robot needs to move along the boundary of the entire work area after finding the boundary line of the charging station. In this way, the process of finding the charging station for the robot is cumbersome and long, and the power consumption of the robot is increased, and the boundary line is set by this method, and the charging station can only be set in some fixed positions.
- the purpose of the present invention is to provide a self-moving robot charging system and a self-moving robot charging method.
- a self-moving robot charging system includes a self-moving robot and a charging station set in a working area of the self-moving robot or at the edge of the working area, and the self-moving robot is provided with a charging station matching the charging station.
- a connection structure, and at least one detection sensor characterized in that:
- the self-moving robot charging system further includes a charging station guide wire electrically connected to the charging station and forming a closed loop via the electrical connection with the charging station, the closed loop defining a first area , the first area is located in the working area and at least surrounds the side of the charging station exposed to the working area;
- the self-moving robot further includes a control module provided with a positioning system, and the control module is at least configured to control the self-moving robot to move toward the direction of the charging station guide line through the positioning system, and the detection sensor uses the positioning system.
- the signal from the charging station guide line is identified by sensing.
- the charging station guide wire includes an outer contour section and two connecting sections, and the outer contour section is in the shape of a continuous line section with an opening, which at least surrounds the charging station and is exposed to the work.
- the two end points of the outer contour section are respectively connected to the charging station through the connecting section, and the outer contour section and the connecting section are surrounded to form the first area.
- the width of the self-moving robot is W
- at least one of the detection sensors is symmetrically arranged on both sides of the central axis of the detection sensor in the width direction
- the detection sensors are symmetrically arranged on both sides.
- the distance between the sensors is M.
- one side of the charging station is in contact with the boundary of the work area, and the outer contour section surrounds the side of the charging station that is not in contact with the boundary of the work area.
- the distance between the two ends of the outer contour segment and the boundary of the working area is X, 1/2W ⁇ X ⁇ 1/2(W+M), and the connecting segment and the The distance between workspace boundaries is greater than 1/2W.
- the charging station is located in the working area and is not in contact with the boundary of the working area, and the outer contour section surrounds all sides of the charging station.
- the distance between the two ends of the outer contour segment is Y, 1/2M ⁇ Y ⁇ M, and the distance between the connecting segments is greater than 1/2M.
- the charging station is provided with a charging interface on at least one side thereof, and at least one of the connecting segments is connected to the side of the charging station provided with the charging interface to form a guiding segment.
- the length is L, and the length of the guide section is not less than L.
- the charging station is provided with the charging interface on one side thereof, and the connecting section connected to the charging station forms the guiding section, and the detection sensor and the control module are further configured to After the self-moving robot is controlled to contact the charging boundary line, it moves in the direction toward the guide section.
- the length of the guide section is 2L, and the distance between the outer contour section and the charging station is not greater than 2L.
- the present invention also provides a charging method for a self-moving robot, comprising the steps of:
- the detection sensor senses and identifies the guide line of the charging station
- the self-moving robot moves along the guide line path of the charging station, and the charging connection structure is aligned and connected to the charging station.
- the self-moving robot charging system provided by the present invention enables the self-moving robot to find the charging station more quickly through the charging station guide line surrounding the charging station and cooperating with the positioning system of the self-moving robot. It saves the time to find a charging station and increases the power consumption of the robot. There is no restriction on the installation position of the charging station, and there is no restriction on the starting position of the self-moving robot, which can cover more usage scenarios.
- FIG. 1 is a schematic diagram of a self-moving robot in an embodiment of the present invention.
- FIG. 2 is a schematic diagram of the wiring of the guide wire of the charging station in Embodiment 1 of the present invention.
- FIG. 3 is a schematic diagram of the wiring of the guide wire of the charging station in Embodiment 2 of the present invention.
- FIG. 4 is a schematic diagram of the wiring of the guide wire of the charging station in Embodiment 3 of the present invention.
- FIG. 5 is a schematic diagram of the wiring of the guide wire of the charging station in Embodiment 4 of the present invention.
- the term used to describe the relative position in space such as “upper”, “lower”, “rear”, “front”, etc., is used to describe one unit or feature shown in the drawings relative to another A unit or feature relationship.
- the term spatially relative position may include different orientations of the device in use or operation other than the orientation shown in the figures. For example, if the device in the figures is turned over, elements described as “below” or “above” other elements or features would then be oriented “below” or “above” the other elements or features.
- the exemplary term “below” can encompass both a spatial orientation of below and above.
- the present invention provides a charging system for a self-moving robot 1 , including a self-moving robot 1 and a charging station 2 arranged in a work area 3 .
- the self-moving robot 1 may be a lawn-mowing robot, or an automatic vacuum cleaner, etc., which automatically walks in the work area 3 for mowing and vacuuming.
- the self-moving robot 1 is a lawn-mowing self-moving robot 1
- the work area 3 can be a lawn.
- the self-moving robot 1 is not limited to lawn mowers and vacuum cleaners, but can also be other equipment, such as spraying equipment, snow removal equipment, monitoring equipment and other equipment suitable for unattended operation.
- the self-moving robot 1 has a length of L and a width of W.
- the self-moving robot 1 includes: a body 11 , a walking module 12 arranged on the body 11 , and a limit detection module 13 , an energy module 14 and a control module 15 .
- the self-moving robot 1 also includes a work module, which is used to perform specific work tasks of the lawn mowing robot.
- the work module includes a mowing blade, a cutting motor, etc., and may also include a mowing height adjustment mechanism to optimize or adjust the mowing effect. part.
- the walking module 12 is used to drive the self-moving robot 1 to walk and turn in the work area 3, and is usually composed of a wheel set installed on the lawn mowing self-moving robot and a drive motor that drives the wheel set to travel.
- the boundary detection module 13 is used to detect the relative positional relationship between the mowing mobile robot 1 and other objects in the work area 3 such as the charging station 2, and may specifically include distance, angle, and one of the inner and outer orientations of the boundary line. several.
- the composition and principle of the limit detection module 13 can be various, such as infrared type, ultrasonic type, collision detection type, magnetic induction type, etc.
- the installation positions and numbers of the sensors and corresponding signal generating devices are also various.
- the limit detection module 13 includes two detection sensors 131 symmetrically arranged on both sides of the central axis AR in the width direction of the self-mobile robot 1 , and the distance between the two detection sensors 131 is M.
- the number and arrangement of the detection sensors 131 can also be adjusted, for example, one detection sensor 131 is arranged on the central axis AR of the self-moving robot 1 in the width direction.
- the limit detection module 13 further includes a camera 132, which is at least configured to identify and avoid the charging station 2, so that during normal operation, the self-moving robot 1 will not interact with the charging station. 2 collided.
- the energy module 14 is used to provide energy for various tasks of the self-moving robot 1 , and includes a rechargeable battery 141 and a charging connection structure 142 .
- the charging station 2 is located in the work area 3 and is connected to the commercial power or other power supply system for returning charging from the mobile robot 1 .
- the charging connection structure 142 of the mobile robot 1 matches the charging station 2 .
- the charging system of the self-mobile robot 1 further includes a charging station guide line 21 arranged around the charging station 2 .
- the charging station guide line 21 is arranged in the work area 3 , and the charging station guide line 21 is electrically connected with the charging station 2 to form a closed circuit.
- the signal generator in the charging station 2 makes the charging station guide line 21 send out a signal, the detection sensor 131 detects the signal, and the control module 15 adjusts the posture and walking path of the self-propelled robot 1 according to the signal.
- control module 15 also includes a positioning system (not shown in the figure), the positioning system may be a positioning system such as GPS, UWB or Zigbee, and the control module 15 is at least configured to control the self-mobile robot 1 towards the charging station guide line 21 directional movement.
- the self-mobile robot 1 can identify the position of the charging station 2 through the position information of the charging station 2 entered in the positioning system in advance, or through the position signal transmitter in the charging station 2, etc., and the control module 15 determines that the self-mobile robot 1 needs After charging, control the self-mobile robot 1 to move toward the charging station 2.
- the charging station guide line 21 sends a signal. After moving to the charging boundary line, the self-mobile robot 1 moves along the trajectory of the charging station guide line 21 and enters the charging station 2 to connect the charging connection structure 142 to the charging station 2 in alignment.
- the closed loop defines a first area B which is located within the working area 3 and at least partially surrounds the charging station 2 .
- the self-moving robot 1 first moves toward the charging station 2 through the positioning system, and then moves along the charging station guide line 21 laid around the charging station 2 to connect with the charging station 2, so that the self-moving robot 1 can find the charging station 2 more quickly, saving energy
- the time required to find the charging station 2 increases the power consumption of the robot, and there are no restrictions on the installation position of the charging station 2, and no restrictions on the starting position of the self-moving robot 1, which can cover more usage scenarios.
- the charging station guide line 21 includes an outer contour section 211 and two connecting sections 212.
- the outer contour section 211 is in the shape of a continuous line segment with an opening. Connected, the outer contour section 211 and the connecting section 212 are surrounded to form the first area B, and the outer contour section 211 at least surrounds the side of the charging station 2 exposed to the work area 3 , thereby ensuring that the self-mobile robot 1 can move freely from the work area 3 .
- the position moves toward the charging station 2, it will first come into contact with the charging station guide line 21, and then move along its trajectory, which improves the accuracy of path finding and selection.
- the outer contour section and the connecting section are surrounded to form the first area, the area of the first area is smaller than the area of the working area, and the area of the first area B is smaller than the area of the working area 3.
- the time required for the robot to find the charging station can be reduced; on the other hand, the length of the charging station guide wire 21 to be laid can be reduced, thereby reducing the laying cost and the possibility of damage to the charging station guide wire 21 .
- the outer contour section 211 may have an opening or a position close to the edge of the work area 3 to meet the movement requirements of the self-moving robot 1 . Part of the side of the charging station 2 is exposed, but it does not affect the realization of the technical effect that the outer contour section 211 surrounds the charging station 2 and makes the self-mobile robot 1 contact the charging station guide line 21 first.
- the distance between the outer contour section 211 and the charging station 2 is X, where X>1/2W. Since the detection sensors 131 are evenly distributed on both sides of the central axis AR, that is, when the self-mobile robot 1 moves on the charging station guide line 21 , the center axis AR coincides with the charging station guide line 21 , and the outer contour section 211 and the charging station 2 are separated from each other. The distance is limited to be greater than 1/2W, which can prevent the self-mobile robot 1 from colliding with the charging station 2 when moving.
- At least one side surface of the charging station 2 is provided with the charging interface 22
- at least one connecting segment 212 is connected to the side surface of the charging station 2 provided with the charging interface 22 to form a guiding segment 213 .
- the length of the self-moving robot 1 is L, and the length of the guide section 213 is not less than L.
- the self-moving robot 1 adjusts the orientation of the body by moving along the guide section 213 , so that the charging connection structure 142 is connected to the charging interface 22 of the charging station 2 in alignment.
- the length of the guide section 213 is 2L to ensure that the orientation of the body can be completely adjusted, so that the self-moving robot 1 can be accurately docked with the charging station 2 .
- the distance between the outer contour section 211 and the charging station 2 is not greater than 2L, so that while meeting the length requirement of the guiding section 213, the length of the charging station guiding line 21 can be reduced as much as possible, and the laying of the charging station guiding line 21 can be reduced. cost, and reduce the possibility of damage to the guide wire 21 of the charging station.
- the charging station 2 is provided with a charging interface 22 on one side thereof, and the connecting section 212 connected to it forms the guiding section 213 , the detection sensor 131 and the control module 15 also It is configured to control the self-moving robot 1 to move in the direction toward the guide section 213 after contacting the charging boundary line, so as to further reduce the time required for the self-moving robot 1 to find the charging station 2 .
- the charging station 2 is provided with a guiding device such as a magnetic control component.
- a guiding device such as a magnetic control component.
- the charging connection structure 142 is docked with the charging station 2 .
- the charging station 2 and the self-mobile robot 1 are also charged by the wireless charging device, so as to further reduce the requirement of the self-mobile robot 1 on the accuracy of the movement path.
- the planar shape of the charging station 2 can be approximately regarded as a rectangle, and one side of the charging station 2 is connected to the boundary of the work area 3, and the boundary of the work area 3 is provided with obstacles such as walls or fences.
- the outer contour section 211 encloses the side of the charging station 2 that does not adjoin the boundary of the working area 3 .
- the distance between the two ends of the outer contour segment 211 and the boundary of the working area 3 is X, 1/2W ⁇ X ⁇ 1/2(W+M), and the distance between the connecting segment 212 and the boundary of the working area 3 is greater than 1 /2W. Therefore, when the self-mobile robot 1 moves along the boundary of the work area 3 to the guide line 21 of the charging station, it will not rub against obstacles, or directly collide with the charging station 2 without touching the guide line 21 of the charging station.
- the planar shape of the charging station 2 can be regarded as a rectangle.
- the charging station 2 is set at the corner of the working area 3. That is, the two sides of the charging station 2 are connected to the boundary of the work area 3, and the boundary of the work area 3 is provided with obstructions such as walls or fences.
- the distance limitation between the two ends of the outer contour section 211 and the boundary of the working area 3 is similar to that in Embodiment 1.
- the length of the laid charging station guide line 21 can be further reduced.
- the planar shape of the charging station 2 can be approximately regarded as a rectangle.
- the charging station 2 is located in the working area 3 and is not in contact with the boundary of the working area 3.
- the outer contour section 211 Surrounds all sides of charging station 2.
- the distance between the two ends of the outer contour segment 211 is Y, 1/2M ⁇ Y ⁇ M, and the distance between the connecting segments 212 is greater than 1/2M, that is, an opening with a length Y is formed on the outer contour segment 211 .
- an opening with a defined length greater than 1/2M is formed in the outer contour section 211, so as to prevent the self-mobile robot 1 from continuing to circulate along the outer contour section 211 while reducing its length It is controlled within M to ensure that the self-moving robot 1 does not directly enter the charging station guide line 21 from the opening gap of the outer contour section 211 without contacting it.
- the two connecting segments 212 can be connected to the same side of the charging station 2 at the same time or be connected to two sides respectively.
- one connecting section 212 is connected to one side of the charging station 2 to form a guiding section 213
- the other connecting section 212 is connected to the opposite side of the charging station 2 to form an inner contour section 214
- the inner contour section 214 The distance between the outer contour section 211 and the outer contour section 211 is greater than 1/2M, so as to avoid the situation of deviating from the path when the self-mobile robot 1 moves on the outer contour section 211 and the inner contour section 214 .
- the present invention also provides a charging method for the self-mobile robot 1, comprising the steps of:
- the detection sensor 131 senses and identifies the charging station guide line 21;
- the self-mobile robot 1 moves along the path of the charging station guide line 21 , and the charging connection structure 142 thereof is connected to the charging station 2 in alignment.
- the self-moving robot charging system provided by the present invention enables the self-moving robot to find the charging station faster by using the charging station guide line surrounding the charging station and cooperating with the positioning system of the self-moving robot.
- the time to find a charging station increases the power consumption of the robot, and there are no restrictions on the installation position of the charging station and the starting position of the self-moving robot, which can cover more usage scenarios.
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Acoustics & Sound (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Manipulator (AREA)
Abstract
一种自移动机器人(1)充电系统及自移动机器人充电方法,自移动机器人(1)充电系统通过围设在充电站(2)周圈的充电站引导线(21)并配合自移动机器人(1)的定位系统,使得自移动机器人(1)能够准确快速地找到充电站(2),节约了寻找充电站(2)的时间从而增加了机器人的使用电量,且对充电站(2)的安装位置无限制,对自移动机器人(1)启动位置无限制,能够覆盖更多的使用场景。
Description
本发明涉及智能控制领域,具体地涉及一种自移动机器人充电系统及自移动机器人充电方法。
随着科学技术的不断进步,各种自动工作设备已经开始慢慢的走进人们的生活,例如:割草机器人。这种自动工作设备具有行走装置、工作装置及自动控制装置,从而使得自动工作设备能够脱离人们的操作,在一定范围内自动行走并执行工作,在自动工作设备的储能装置能量不足时,其能够自动返回充电站装置进行充电,然后继续工作。
现有技术中的机器人的充电系统是通过先围绕整个工作区搭建充电站引导线,充电站引导线连接充电站,机器人沿充电站引导线行走找到充电站对接充电。整个过程搭建费时费力,沿整个工作区所铺设的充电站引导线会使机器人寻找充电站引导线无就近原则,并且,机器人在寻找到充电站边界线后需要沿着整个工作区的边界移动,如此会使得机器人寻找充电站的过程繁琐漫长,增加机器人电量的消耗,而且采用该方法设置边界线,充电站只能设置在固定的一些位置。
发明内容
本发明的目的在于提供一种自移动机器人充电系统及自移动机器人充电方法。
一种自移动机器人充电系统包括自移动机器人和于自所述自移动机器人的工作区内或者所述工作区的边缘设置的充电站,所述自移动机器人设有与所述充电站匹配的充电连接结构、以及至少一个检测传感器,其特征在于,
所述自移动机器人充电系统还包括充电站引导线,所述充电站引导线与所述充电站电连接并经由与所述充电站电连接而形成闭合回路,所述闭合回路限定出第一区域,所述第一区域位于所述工作区内并且至少包围所述充电站暴露于所述工作区的侧边;
所述自移动机器人还包括设有定位系统的控制模块,所述控制模块至少被配置用于通过所述定位系统控制所述自移动机器人朝向所述充电站引导线方向运动,所述检测传感器用于感测识别所述充电站引导线发出的信号。
作为本发明的进一步改进,所述充电站引导线包括一外轮廓段和两个连接段,所述外轮廓段形状为具有一开口的连续线段,其至少包围所述充电站暴露于所述工作区的侧边,所述外轮廓段的两端点分别通过所述连接段与所述充电站相接,所述外轮廓段和所述连接段围设形成所述第一区域。
作为本发明的进一步改进,所述自移动机器人宽度为W,所述检测传感器于其宽度方向上中轴线两侧分别对称设有至少一个所述检测传感器,且对称分设于两侧的所述检测传感器之间的距离为M。
作为本发明的进一步改进,所述充电站的一侧边与所述工作区边界相接,所述外轮廓段包围所述充电站未与所述工作区边界相接的侧边。
作为本发明的进一步改进,所述外轮廓段两端点与所述工作区边界之间间隔距离为X,1/2W<X<1/2(W+M),且所述连接段与所述工作区边界之间距离大于1/2W。
作为本发明的进一步改进,所述充电站位于所述工作区内,且不与所述工作区边界相接,所述外轮廓段包围所述充电站所有侧边。
作为本发明的进一步改进,所述外轮廓段两端点之间的距离为Y,1/2M<Y<M,且所述连接段之间的距离大于1/2M。
作为本发明的进一步改进,所述充电站至少于其一侧面设有充电接口,至 少一所述连接段连接于所述充电站设有充电接口的侧面,形成引导段,所述自移动机器人的长度为L,所述引导段的长度不小于L。
作为本发明的进一步改进,所述充电站于其一侧设有所述充电接口,与其相接的所述连接段形成所述引导段,所述检测传感器和所述控制模块还被配置用于控制所述自移动机器人接触所述充电边界线后,沿朝向所述引导段的方向运动。
作为本发明的进一步改进,所述引导段的长度为2L,所述外轮廓段与所述充电站之间的距离不大于2L。
本发明还提供一种自移动机器人充电方法,包括步骤:
驱动自移动机器人自当前位置朝向充电站方向移动;
所述自移动机器人移动至充电站引导线处后,检测传感器感测识别所述充电站引导线;
所述自移动机器人沿所述充电站引导线路径运动,充电连接结构与所述充电站对位连接。
本发明的有益效果是:本发明提供的自移动机器人充电系统通过围设在充电站周圈的充电站引导线并配合自移动机器人的定位系统,使得自移动机器人能够更快地找到充电站,节约了寻找充电站的时间从而增加了机器人的使用电量,且对充电站的安装位置无限制,对自移动机器人启动位置无限制,能够覆盖更多的使用场景。
图1是本发明一实施方式中的自移动机器人的示意图。
图2是本发明实施例1中充电站引导线的布线示意图。
图3是本发明实施例2中充电站引导线的布线示意图。
图4是本发明实施例3中充电站引导线的布线示意图。
图5是本发明实施例4中充电站引导线的布线示意图。
为使本申请的目的、技术方案和优点更加清楚,下面将结合本申请具体实施方式及相应的附图对本申请技术方案进行清楚、完整地描述。显然,所描述的实施方式仅是本申请一部分实施方式,而不是全部的实施方式。基于本申请中的实施方式,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式,都属于本申请保护的范围。
下面详细描述本发明的实施方式,实施方式的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的,仅用于解释本发明,而不能理解为对本发明的限制。
为方便说明,本文使用表示空间相对位置的术语来进行描述,例如“上”、“下”、“后”、“前”等,用来描述附图中所示的一个单元或者特征相对于另一个单元或特征的关系。空间相对位置的术语可以包括设备在使用或工作中除了图中所示方位以外的不同方位。例如,如果将图中的装置翻转,则被描述为位于其他单元或特征“下方”或“上方”的单元将位于其他单元或特征“下方”或“上方”。因此,示例性术语“下方”可以囊括下方和上方这两种空间方位。
如图1和图2所示,本发明提供一种自移动机器人1充电系统,包括设于工作区3内的自移动机器人1和充电站2。
自移动机器人1可以是割草机器人,或者自动吸尘器等,其自动行走于工作区3域以进行割草、吸尘工作,在本发明具体示例中,自移动机器人1为割草自移动机器人1,相对应的,工作区3可为草坪。当然,自移动机器人1不限于割草机器人和吸尘器,也可以为其它设备,如喷洒设备、除雪设备、监视设备等等适合无人值守的设备。
如图1所示,在本发明具体实施方式中,自移动机器人1长度为L、宽度为W,自移动机器人1包括:机体11、设置于机体11上的行走模块12、界限侦测模块13、能量模块14以及控制模块15。另外,自移动机器人1还包括工作模块,其用于执行割草机器人的具体工作任务,工作模块包括割草刀片、切割马达等,也可能包括割草高度调节机构等优化或调整割草效果的部件。
行走模块12用于带动自移动机器人1在工作区3域内行走和转向,通常由安装在割草自移动机器人上的轮组和驱动轮组行走的驱动马达组成。
界限侦测模块13用于侦测割草自移动机器人1和充电站2等工作区3内的其他物体之间的相对位置关系,具体可能包括距离、角度,边界线内外方位中的一种或几种。
界限侦测模块13的组成和原理可以为多种,如可以为红外线式、超声波式、碰撞检测式,磁感应式等等,其传感器和对应的信号发生装置的设置位置和数量也是多样的。
具体的,在本实施方式中,界限侦测模块13包括对称设于自移动机器人1宽度方向上中轴线AR两侧的两个检测传感器131,两个检测传感器131之间的距离为M。
在本发明的一些其他实施方式中,检测传感器131的数量及设置方式也可进行调整,如将一个检测传感器131设于自移动机器人1宽度方向上的中轴线AR上等。
进一步的,再本发明的一些实施方中,界限侦测模块13还包括摄像头132,其至少被配置用于识别并躲避充电站2,从而在正常工作期间,自移动机器人1不会与充电站2发生碰撞。
能量模块14用于为自移动机器人1的各项工作提供能量,其包括可充电电池141和充电连接结构142,充电连接结构142通常为可露出于割草自移动机器人1外的充电电极片。
如图2所示,充电站2位于工作区3内,其和市电或其它电能提供系统连接,供自移动机器人1返回充电,自移动机器人1的充电连接结构142与充电站2相匹配。
自移动机器人1充电系统还包括围绕充电站2设置的充电站引导线21,充电站引导线21设于工作区3内,充电站引导线21与充电站2电性连接,形成闭合电路。充电站2内的信号发生器使充电站引导线21发出信号,检测传感器131检测信号,控制模块15根据信号调整自行走机器人1的姿态和行走路径。
进一步的,控制模块15还包括定位系统(图中未示出),定位系统可以是GPS、UWB或Zigbee等定位系统,控制模块15至少被配置用于控制自移动机器人1朝向充电站引导线21方向运动。自移动机器人1可以通过预先在定位系统中录入的充电站2位置信息,或者通过充电站2内的位置信号发射装置等对充电站2的位置进行识别,在控制模块15判断自移动机器人1需要充电后,控制自移动机器人1朝向充电站2方向移动。充电站引导线21发出信号,自移动机器人1在移动到充电边界线上后,沿充电站引导线21轨迹移动,进入充电站2,使充电连接结构142与充电站2对位连接。
闭合回路限定出第一区域B,第一区域B位于工作区3内并且至少部分包围充电站2。
自移动机器人1先通过定位系统朝向充电站2运动,再沿铺设在充电站2周围的充电站引导线21运动与充电站2对接,使自移动机器人1能够更快地找到充电站2,节约了寻找充电站2的时间从而增加了机器人的使用电量,且对充电站2的安装位置无限制,对自移动机器人1启动位置无限制,能够覆盖更多的使用场景。
进一步的,充电站引导线21包括一外轮廓段211和两个连接段212,外轮廓段211形状为具有一开口的连续线段,外轮廓段211的两端点分别通过连接段212与充电站2相接,外轮廓段211和连接段212围设形成所述第一区域B, 外轮廓段211至少包围充电站2暴露于工作区3的侧边,从而保证自移动机器人1自工作区3任意位置朝向充电站2运动,都会先与充电站引导线21接触,之后再沿其轨迹移动,提高了路径寻找与选择的准确性。所述外轮廓段和所述连接段围设形成所述第一区域,所述第一区域的面积小于所述工作区的面积,第一区域B的面积小于工作区3的面积,一方面,可以减少机器人找到充电站所需的时间;另一方面,可以减少所需铺设的充电站引导线21的长度,从而降低铺设成本,降低充电站引导线21损坏的可能。
可以理解的是,这里所述的包围指的是基本上包围,在一些实施方式中,外轮廓段211为满足自移动机器人1移动需要,其会存在开口、或在贴近工作区3边缘的位置部分露出充电站2侧边,但并不影响外轮廓段211包围充电站2,使自移动机器人1先与充电站引导线21接触的技术效果的实现。
进一步的,外轮廓段211与充电站2之间的距离为X,X>1/2W。由于检测传感器131均匀分设在中轴线AR两侧,即自移动机器人1在充电站引导线21上移动时,其中轴线AR与充电站引导线21重合,将外轮廓段211与充电站2之间的距离限制为大于1/2W,可以避免自移动机器人1在运动时与充电站2发生擦碰。
在本实施方式中,充电站2至少于其一侧面设有充电接口22,至少一连接段212连接于充电站2设有充电接口22的侧面,形成引导段213。
进一步的,自移动机器人1的长度为L,引导段213的长度不小于L。自移动机器人1通过沿引导段213运动,调整机身朝向,从而使充电连接结构142与充电站2的充电接口22对位连接。
优选的,引导段213的长度为2L,以保证机身朝向能够被完全调整,使自移动机器人1能够与充电站2准确对接。
更进一步的,外轮廓段211与充电站2之间的距离不大于2L,从而在满足引导段213长度需要的同时,可以尽可能减少充电站引导线21的长度,降低铺 设充电站引导线21的成本,降低充电站引导线21损坏的可能。
更进一步的,在本发明的一些实施方式中,充电站2于其一侧设有充电接口22,与其相接的所述连接段212形成所述引导段213,检测传感器131和控制模块15还被配置用于控制自移动机器人1接触所述充电边界线后,沿朝向所述引导段213的方向运动,从而进一步减少自移动机器人1寻找充电站2所需的时间。
在本发明的另一些实施方式中,充电站2内部设有诸如磁控部件的导向装置,当自移动机器人1沿充电站引导线21运到充电站2附近后导向装置附近后,自动调整方向,将充电连接结构142与充电站2对接。充电站2和自移动机器人1也通过无线充电装置来进行充电,以进一步降低自移动机器人1对移动路径准确性的要求。
以下详述本发明的具体实施例中充电站引导线21的布线方式。
如图2所示,在实施例1中,充电站2的平面形状近似可看作矩形,其一侧边与工作区3边界相接,工作区3边界设有墙体或栅栏等遮挡物。
外轮廓段211包围充电站2未与工作区3边界相接的侧边。
进一步的,外轮廓段211两端点与工作区3边界之间间隔距离为X,1/2W<X<1/2(W+M),且连接段212与工作区3边界之间距离大于1/2W。从而当自移动机器人1沿工作区3边界运动至充电站引导线21处时,不会出现擦碰障碍物,或是未接触充电站引导线21,而直接与充电站2发生碰撞。
如图所示,在实施例2中,充电站2的平面形状近似可看作矩形,当工作区3边界夹角处有近似直角的区域时,充电站2设在工作区3的角落处,即充电站2两侧边与工作区3边界相接,工作区3边界处设有墙体或栅栏等遮挡物。
外轮廓段211两端点与工作区3边界之间间隔距离限制与实施例1类似,通过将充电站2设置在工作区3角落处,可以进一步减少铺设的充电站引导线 21长度。
如图4和图5所示,在实施例3中,充电站2的平面形状近似可看作矩形,充电站2位于工作区3内,且不与工作区3边界相接,外轮廓段211包围充电站2所有侧边。
外轮廓段211两端点之间的距离为Y,1/2M<Y<M,且连接段212之间的距离大于1/2M,即外轮廓段211上形成有一长度为Y的开口。当外轮廓段211需要包围充电站2所有侧边时,在外轮廓段211内形成一限定长度大于1/2M的开口,可以避免自移动机器人1持续沿外轮廓段211循环运动,同时将其长度控制在M以内,以保证自移动机器人1不会出现自外轮廓段211开口缝隙内直接进入充电站引导线21内,而不与其接触的情况。
根据充电站2结构、充电方式、充电连接方法的差异,两个连接段212可以同时连接于充电站2同一侧边或分别连接于两条侧边上。
如图4所示,一个连接段212与充电站2一侧边相连形成引导段213,另一个连接段212连接于充电站2相对的另一侧边,形成内轮廓段214,内轮廓段214和外轮廓段211之间间隔距离大于1/2M,以避免自移动机器人1在外轮廓段211和内轮廓段214上移动时出现偏离路径的情况。
本发明还提供一种自移动机器人1充电方法,包括步骤:
驱动自移动机器人1朝向充电站2方向移动;
自移动机器人1移动至充电站引导线21处后,检测传感器131感测识别充电站引导线21;
自移动机器人1沿充电站引导线21路径运动,其充电连接结构142与充电站2对位连接。
综上所述,本发明提供的自移动机器人充电系统通过围设在充电站周圈的充电站引导线并配合自移动机器人的定位系统,使得自移动机器人能够更快地 找到充电站,节约了寻找充电站的时间从而增加了机器人的使用电量,且对充电站的安装位置无限制,对自移动机器人启动位置无限制,能够覆盖更多的使用场景。
应当理解,虽然本说明书按照实施方式加以描述,但并非每个实施方式仅包含一个独立的技术方案,说明书的这种叙述方式仅仅是为清楚起见,本领域技术人员应当将说明书作为一个整体,各实施方式中的技术方案也可以经适当组合,形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式的具体说明,并非用以限制本发明的保护范围,凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
Claims (11)
- 一种自移动机器人充电系统,包括自移动机器人和于自所述自移动机器人的工作区内或者所述工作区的边缘设置的充电站,所述自移动机器人设有与所述充电站匹配的充电连接结构、以及至少一个检测传感器,其特征在于,所述自移动机器人充电系统还包括充电站引导线,所述充电站引导线与所述充电站电连接并经由与所述充电站电连接而形成闭合回路,所述闭合回路限定出第一区域,所述第一区域位于所述工作区内并且至少部分包围所述充电站;所述自移动机器人还包括设有定位系统的控制模块,所述控制模块至少被配置用于通过所述定位系统控制所述自移动机器人朝向所述充电站引导线方向运动,所述检测传感器用于感测识别所述充电站引导线发出的信号。
- 根据权利要求1所述的自移动机器人充电系统,其特征在于,所述充电站引导线包括一外轮廓段和两个连接段,所述外轮廓段形状为具有一开口的连续线段,其至少包围所述充电站暴露于所述工作区的侧边,所述外轮廓段的两端点分别通过所述连接段与所述充电站相接,所述外轮廓段和所述连接段围设形成所述第一区域,所述第一区域的面积小于所述工作区的面积。
- 根据权利要求2所述的自移动机器人充电系统,其特征在于,所述自移动机器人宽度为W,所述检测传感器于其宽度方向上中轴线两侧分别对称设有至少一个所述检测传感器,且对称分设于两侧的所述检测传感器之间的距离为M。
- 根据权利要求3所述的自移动机器人充电系统,其特征在于,所述充电站的一侧边与所述工作区边界相接,所述外轮廓段包围所述充电站未与所述工作区边界相接的侧边。
- 根据权利要求4所述的自移动机器人充电系统,其特征在于,所述外轮廓段两端点与所述工作区边界之间间隔距离为X,1/2W<X<1/2(W+M),且所 述连接段与所述工作区边界之间距离大于1/2W。
- 根据权利要求3所述的自移动机器人充电系统,其特征在于,所述充电站位于所述工作区内,且不与所述工作区边界相接,所述外轮廓段包围所述充电站所有侧边。
- 根据权利要求6所述的自移动机器人充电系统,其特征在于,所述外轮廓段两端点之间的距离为Y,1/2M<Y<M,且所述连接段之间的距离大于1/2M。
- 根据权利要求5或7所述的自移动机器人充电系统,其特征在于,所述充电站至少于其一侧面设有充电接口,至少一所述连接段连接于所述充电站设有充电接口的侧面,形成引导段,所述自移动机器人的长度为L,所述引导段的长度不小于L。
- 根据权利要求8所述的自移动机器人充电系统,其特征在于,所述充电站于其一侧设有所述充电接口,与其相接的所述连接段形成所述引导段,所述检测传感器和所述控制模块还被配置用于控制所述自移动机器人接触所述充电边界线后,沿朝向所述引导段的方向运动。
- 根据权利要求9所述的自移动机器人充电系统,其特征在于,所述引导段的长度为2L,所述外轮廓段与所述充电站之间的距离不大于2L。
- 一种自移动机器人充电方法,其特征在于,包括步骤:驱动自移动机器人自当前位置朝向充电站方向移动;所述自移动机器人移动至充电站引导线处后,检测传感器感测识别所述充电站引导线;所述自移动机器人沿所述充电站引导线路径运动,充电连接结构与所述充电站对位连接。
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