WO2023173256A1

WO2023173256A1 - Movable platform system, movable platform, base station and charging method

Info

Publication number: WO2023173256A1
Application number: PCT/CN2022/080711
Authority: WO
Inventors: 周琦; 张弛; 罗天; 訾强
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2023-09-21

Abstract

A movable platform system (100), comprising a movable platform (12) and a base station (14). The movable platform (12) comprises a body (16) and a first charging assembly (18), wherein the first charging assembly (18) is provided on the body (16), a first guide structure (20) is provided on the body (16), and the first charging assembly (18) has a first charging terminal (22). The base station (14) comprises a movable second charging assembly (24), the second charging assembly (24) has a second guide structure (26) and a second charging terminal (28), and the second charging terminal (28) is movable with respect to the second guide structure (26). The movable platform system (100) is configured to move the second charging assembly (24) to the body (16) and implement positioning docking by means of the first guide structure (20) and the second guide structure (26), and the second charging terminal (28) further moves to be connected to the first charging terminal (22).

Description

Movable platform system, movable platform, base station and charging method

Technical field

The present application relates to the technical field of movable platform charging, and in particular to a movable platform system, a movable platform, a base station and a charging method.

Background technique

Currently, mobile platforms, such as drones, generally have rechargeable batteries for their own power needs. When the battery power is low, the mobile platform needs to move to the base station for autonomous charging. Typically, the movable platform and the base station have charging terminals respectively. When charging is required, the charging end of the movable platform is docked with the charging end of the base station to achieve electrical connection, and then charging can be performed. However, if the charging end of the mobile platform is not accurately connected to the charging end of the base station, it may cause problems such as failure to charge or low charging efficiency.

Contents of the invention

Embodiments of the present application provide a movable platform system, a movable platform, a base station and a charging method.

A movable platform system according to the embodiment of the present application includes:

The movable platform includes a body and a first charging component. The first charging component is provided on the body. The body is provided with a first guide structure. The first charging component has a first charging terminal;

A base station including a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;

Wherein, the movable platform system is configured such that the second charging component moves toward the body and achieves positioning and docking through the first guide structure and the second guide structure, and the second charging terminal further Move to connect with the first charging terminal.

A movable platform according to the embodiment of the present application includes:

ontology; and

A first charging component, the first charging component is provided on the body, the body is provided with a first guide structure, the first charging component has a first charging terminal,

Wherein, the movable platform is configured to realize positioning and docking with the second guide structure of the base station through the first guide structure, and the first charging terminal is further connected with a second base station that moves relative to the second guide structure. Charging terminal connection.

A base station according to an embodiment of the present application is used for charging a mobile platform. The base station includes:

a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;

Wherein, the base station is configured such that the second charging component moves toward the movable platform and achieves positioning and docking through the second guide structure and the first guide structure of the movable platform, and the second charging component The charging terminal further moves and is connected to the first charging terminal of the movable platform.

In the above-mentioned movable platform system, movable platform and base station, the first charging component and the second charging component realize positioning and docking through the guide structure. The positioning effect is good and the charging effect can be ensured. The second charging terminal further moves and is connected to the first charging terminal. , can achieve electrical connection and can be charged.

An embodiment of the present application provides a charging method for a movable platform system, which includes a movable platform and a base station. The charging method includes:

Control the moving member to adjust the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station;

When the movable platform fails to be adjusted to the target position of the base station, control the moving member to repeatedly adjust the movable platform;

The base station charges the movable platform until the movable platform is located at the target location of the base station.

The above charging method adjusts the position of the movable platform so that the movable platform is located at the target position of the base station, thereby triggering the charging operation.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

Figure 1 is a structural diagram of the movable platform system according to the embodiment of the present application;

Figure 2 is a structural diagram of a base station according to an embodiment of the present application;

Figure 3 is a schematic cross-sectional view of the movable platform system according to the embodiment of the present application;

Figure 4 is an enlarged view of area A in Figure 3;

Figure 5 is a partial structural diagram of the movable platform according to the embodiment of the present application;

Figure 6 is a schematic structural diagram of the positioning device and the second charging component according to the embodiment of the present application;

Figure 7 is another structural schematic diagram of the positioning device and the second charging component according to the embodiment of the present application;

Figure 8 is a partial structural diagram of the second charging component according to the embodiment of the present application;

Figure 9 is a schematic cross-sectional view of the positioning device and the second charging component according to the embodiment of the present application;

Figure 10 is a schematic cross-sectional view of the second charging component according to the embodiment of the present application;

Figure 11 is a connection structural diagram of the second charging terminal and the waterproof case according to the embodiment of the present application;

Figure 12 is a schematic flow chart of the charging method according to the embodiment of the present application;

Figure 13 is another schematic flowchart of the charging method according to the embodiment of the present application.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as limiting the present application.

In the description of this application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " The directions indicated by "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" etc. or The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be construed as a limitation on this application. In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as “first” and “second” may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In the description of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection. Connect, or connect in one piece. The connection can be mechanical or electrical. It can be a direct connection or an indirect connection through an intermediary. It can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In this application, unless otherwise explicitly stated and limited, the term "above" or "below" a first feature on a second feature may include direct contact between the first and second features, or may also include the first and second features. Not in direct contact but through additional characteristic contact between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and arrangements of specific examples are described above. Of course, they are merely examples and are not intended to limit the application. Furthermore, this application may repeat reference numbers and/or reference letters in different examples, such repetition being for the purposes of simplicity and clarity and does not by itself indicate a relationship between the various embodiments and/or arrangements discussed. In addition, this application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

Referring to FIGS. 1 to 4 , a movable platform system 100 according to an embodiment of the present application includes a movable platform 12 and a base station 14 .

The movable platform 12 includes a body 16 and a first charging component 18 . The first charging component 18 is provided on the body 16 . The body 16 is provided with a first guide structure 20 . The first charging component 18 has a first charging terminal 22 . The base station 14 includes a movable second charging component 24. The second charging component 24 has a second guide structure 26 and a second charging terminal 28. The second charging terminal 28 can move relative to the second guide structure 26. The movable platform system 100 is configured such that the second charging component 24 moves toward the body 16 and achieves positioning and docking through the first guide structure 20 and the second guide structure 26 , and the second charging terminal 28 further moves with the first charging terminal. 22 connections.

In the above-mentioned movable platform system 100, the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure. The positioning effect is good and the charging effect can be ensured. The second charging terminal 28 further moves to connect with the first charging terminal 22. Can be electrically connected and can be charged.

Specifically, the first charging terminal 22 may be used as a female terminal and the second charging terminal 28 may be used as a male terminal, or the first charging terminal 22 may be used as a male terminal and the second charging terminal 28 may be used as a female terminal. In the width direction, the female terminal is larger than the male terminal and can tolerate the offset and deflection of the male terminal in the width direction. The first charging terminal 22 and the second charging terminal 28 may be charging terminals made of metal, or may be charging terminals made of other conductive materials (as long as rigidity is ensured).

The movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In the embodiment of the present application, the movable platform 12 is a drone, the base station 14 is a drone airport, the first charging terminal 22 is a female terminal, and the second charging terminal 28 is a male terminal. However, the embodiments of the present application are not limited to this.

The body 16 may be the body of the drone. The fuselage is provided with a first charging component 18 and a first guide structure 20 . The first guide structure 20 may be disposed on the circumferential side of the fuselage, and the first charging component 18 may be disposed in the fuselage corresponding to the position of the first guide structure 20 .

Referring to FIG. 3 , the movable platform system 100 also includes a positioning device 30 . When the drone needs to be recharged or returned to work, the drone can make a rough landing at the airport. At this point, the drone may not be at its target location at the airport. The drone can be aligned by the alignment device 30 to achieve fine calibration of the landing position of the drone. The target location of the airport can specifically be a location suitable for charging the drone. In practical applications, the target position can be set according to actual needs. For example, the target position can be set in the central area or the edge area of the airport landing platform 32. The embodiment of the present application only takes the target position being set in the central area of the landing platform 32 as an example. If the target position is set in other areas, refer to the implementation. Can.

In one embodiment, when the movable platform 12 is located at the target position of the base station 14, the base station 14 can drive the second charging component 24 to move toward the movable platform 12 to perform a charging docking operation. In one embodiment, during the process of positioning the movable platform 12 to the target position, the positioning device 30 can simultaneously drive the second charging component 24 to move together.

Specifically, in one embodiment, the positioning device 30 may include a moving member 34 . When the airport receives the return instruction of the drone, the airport can open the hatch (not shown) to expose the landing platform 32. The drone can use vision and RTK positioning to roughly land in the interface board landing area of the airport landing platform 32. The positioning device 30 can control the moving parts 34 to close and the hatch cover to close. When the moving part 34 is folded, the drone can be pushed for positioning. When the inner position switches of the whole device 30 are pressed, it means that the drone has been clamped, the first charging terminal 22 and the second charging terminal 28 have been connected, and the base station 14 outputs the charging voltage (such as 12V voltage), as The charging control module of the drone supplies power to realize the charging operation of the drone.

The moving member 34 may include a push rod or push block. The number of moving parts 34 may be one or more. When the number of moving parts 34 is one, the position and alignment direction of the moving part 34 are adjustable. By adjusting the position and alignment direction of the moving part 34 on the airport, the unmanned vehicle can be pushed from different positions and directions. until the drone is pushed to the target position. When the number of moving parts 34 is multiple, the multiple moving parts 34 can push the drone from different directions to quickly push the drone to the target position.

For example, as shown in Figure 2, when the target position of the airport is set in the central area, the number of moving parts 34 can be 4, and these 4 moving parts 34 can be set around the target position to detect objects from 4 directions. The man-machine performs the whole position. In this way, when the drone lands above the airport, the drone can be quickly pushed to the target position through the coordinated positioning of the four moving parts 34 .

It should be noted that in the drawings of the embodiment of the present application, only the situation where the positioning device 30 includes four moving parts 34 is shown, but in actual applications, the number of moving parts 34 can also be 1, 2, and 34. Or 6, etc. The embodiment of the present application does not specifically limit the number of moving parts 34 .

The second charging component 24 can be mechanically coupled with the positioning device 30 and move together with the positioning device 30. When the moving component 34 is used to push the drone to move to the target position, the second charging component 24 can follow the moving component 34. Move together to the target location to recharge the drone's battery. In this way, the additional operation of driving the second charging component 24 to move can be avoided and the integration level of the base station 14 can be improved.

Specifically, please refer to Figure 6. The positioning device 30 includes a driving mechanism 36 and a transmission mechanism 38. The driving mechanism 36 is connected to the transmission mechanism 38. The transmission mechanism 38 is connected to the second charging component 24 through the connecting member 40. The moving member 34 can be fixed. on the front end of the resisting portion 42 of the second charging component 24 . The driving mechanism 36 can drive the transmission mechanism 38 to move, and the movement of the transmission mechanism 38 can drive the connecting component 40 to move. The connecting component 40 can extend from the slot of the landing platform 32 to connect with the second charging component 24 . The movement of the connecting component 40 can drive the second charging component 24 and the moving part 34 to move. When contacting the movable platform 12, the moving member 34 first contacts the body 16 of the movable platform 12. As the second charging component 24 continues to move toward the body 16, the second guide structure 26 and the first guide structure 20 starts docking. After the docking is completed, the second guide structure 26 and the resisting portion 42 are blocked by the movable platform 12 and cannot move. The second charging terminal 28 can move relative to the second guide structure 26 and extend out of the second guide structure. 26, inserted into the body 16 and connected to the first charging terminal 22.

The driving mechanism 36 includes at least one of a steering gear and a motor, and the transmission mechanism 38 is connected between the driving mechanism 36 and the connecting component 40 . The driving mechanism 36 and the transmission mechanism 38 are both arranged below the landing platform 32 . Each moving member 34 can be driven by a steering gear, and the inner position switch can be the position switch of the steering gear.

The transmission mechanism 38 may include a gear 44 and a rack 46. The gear 44 meshes with the rack 46. The rack 46 is fixedly connected to the bottom of the landing platform 32. The length direction of the rack 46 is consistent with the moving direction of the second charging component 24; 44 is connected to the driving mechanism 36. Under the driving of the driving mechanism 36, the gear 44 can move along the rack 46; the connecting component 40 is fixedly connected to the gear 44, and the connecting component 40 can move together with the gear 44 to drive the second charging component 24 and the moving member 34 moves.

Referring to Figure 6, the positioning device 30 may also include a guide rail 48. The guide rail 48 is connected to the bottom of the landing platform 32. At least part of the connecting member 40 is embedded in the guide rail 48 to guide the movement of the connecting member 40 and improve the connection. Movement accuracy of component 40. In practical applications, the length direction of the guide rail 48 , the length direction of the rack 46 , and the moving directions of the second charging component 24 and the moving part 34 can be consistent to improve the movement accuracy of the second charging component 24 and the moving part 34 .

The second charging terminal 28 can move relative to the second guide structure 26 . When the second guide structure 26 is positioned and docked with the first guide structure 20 , the second charging terminal 28 can further move relative to the second guide structure 26 to move towards the first guide structure 20 . The first charging terminal 22 approaches in a direction to achieve connection with the first charging terminal 22 . When the second charging terminal 28 is connected to the first charging terminal 22, the drone can be charged. Because before the second charging terminal 28 is connected to the first charging terminal 22, the first charging component 18 and the second charging component 24 are positioned and aligned through the first guide structure 20 and the second guide structure 26, thereby improving the efficiency of the second charging terminal. The alignment accuracy when 28 is connected to the first charging terminal 22 greatly improves the degree of autonomous operation of the drone, broadens the usage scenarios of the drone, reduces the difficulty for relevant personnel, and improves the reliability of the drone operation.

In some embodiments, one of the first charging terminal 22 and the second charging terminal 28 is a clip, and the other is a single conductive piece, and the single conductive piece is inserted into the clip to achieve charging and data transmission. In this way, the use of components can be reduced and positioning problems caused by multi-pin connectors can be avoided.

Specifically, in the illustrated embodiment, the first charging terminal 22 is a clip, and the second charging terminal 28 is a single conductive piece. When the first charging terminal 22 and the second charging terminal 28 are connected, the single conductive piece Can be inserted between clips for a secure connection. In one embodiment, the conductive piece and the clip can be made in the form of leaf springs. The charging scheme using leaf springs simplifies the mechanical structure and increases the reliability of circuit control.

It can be understood that in other embodiments, the second charging terminal 28 may be a clip, and the first charging terminal 22 may be a single conductive piece.

After the first charging terminal 22 and the second charging terminal 28 are connected, they can form a part of the power line. In the embodiment of the present application, a power carrier solution can be used to use the power line for wired communication to realize data transmission, ensuring the reliability of communication. , the communication and charging connection scheme of the base station 14 and the movable platform 12 is optimized to the greatest extent, and the use of power line communication reduces the number of communication signal lines.

Specifically, both the base station 14 and the mobile platform 12 include power carrier chips. The power carrier chip of the base station 14 transmits the communication request to the movable platform 12 through the power line, communicates with the power carrier chip of the movable platform 12, and obtains battery-related information of the movable platform 12 after the communication is established. When the movable platform 12 meets the charging conditions, the base station 14 can charge the movable platform 12 using the power line.

In some embodiments, please refer to FIGS. 4 and 5 , the first guide structure 20 includes a positioning post 50 provided on the body 16 , the second guide structure 26 is provided with a first positioning groove 54 , and at least a portion of the positioning post 50 It is located in the first positioning groove 54 to achieve positioning and docking of the first guide structure 20 and the second guide structure 26 . In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.

Specifically, the positioning posts 50 may be provided on the circumferential side of the body 16 , and the number of the positioning posts 50 may be one or more. In the illustrated embodiment, the number of positioning posts 50 is two, and the two positioning posts 50 are spaced apart in the up and down direction. The space between the two positioning posts 50 allows the second charging terminal 28 to extend into the body 16 to connect with the first charging terminal 22 . It can be understood that in other embodiments, the number of positioning posts 50 is not limited to two, and may also be one, or more than two.

In some embodiments, the guide opening of the first positioning groove 54 gradually narrows from the outside to the inside. In this way, it is convenient for the positioning post 50 to extend into the first positioning groove 54 .

Specifically, when the second charging component 24 approaches the drone, the larger guide opening of the first positioning groove 54 first contacts the positioning post 50 . As the second charging component 24 continues to move, the positioning post 50 extends into the smaller position of the guide opening of the first positioning groove 54 along the larger guide opening of the first positioning groove 54 , thereby achieving coarse alignment to fine alignment. The positioning process improves the tolerance of alignment errors between the positioning post 50 and the first positioning groove 54 , making it easier for the positioning post 50 to extend into the first positioning groove 54 .

In some embodiments, the guide opening of the first positioning groove 54 is provided with a first guide surface 56 , and the positioning post 50 can slide into the first positioning groove 54 along the first guide surface 56 to achieve positioning and docking. In this way, the positioning post 50 can be smoothly slid into the first positioning groove 54 .

Specifically, in the illustrated embodiment, the first guide surfaces 56 are inclined planes, and the number of the first guide surfaces 56 is two, which are spaced apart along the up and down direction. A similar "eight"-shaped guide space is formed between the two first guide surfaces 56 and becomes smaller from outside to inside. The number of positioning posts 50 is two, which are spaced apart in the up and down direction, and the two positioning posts 50 are arranged in parallel. When the second charging assembly 24 approaches the drone, the two upper and lower positioning posts 50 can respectively abut against the two upper and lower first guide surfaces 56 . As the second charging component 24 gets closer, the two positioning posts 50 can slide into the first positioning slots 54 along the two first guide surfaces 56 respectively, so that the first guide structure 20 and the second guide structure 26 can be positioned more smoothly. docking. It can be understood that in other embodiments, the first guide surface 56 may also be an arc surface.

In some embodiments, the body 16 is also provided with a third guide structure 58 spaced apart from the first guide structure 20 . The third guide structure 58 is configured to guide the second charging terminal 28 when it further moves, so that the second charging terminal 28 can move further. The charging terminal 28 is positionally connected to the first charging terminal 22 . In this way, the second charging terminal 28 can be guided, further improving the alignment accuracy of the second charging terminal 28 and the first charging terminal 22 .

Specifically, after the first guide structure 20 and the second guide structure 26 are positioned and docked, as the second charging terminal 28 moves closer to the drone relative to the second guide structure 26, the third guide structure 58 can align the second charging terminal 28 with the second guide structure 26. The second charging terminal 28 is guided so that the second charging terminal 28 can be better aligned with the first charging terminal 22, thereby improving the alignment accuracy of the two charging terminals.

In some embodiments, the third guide structure 58 includes a second positioning groove 60 provided on the body 16. The guide opening of the second positioning groove 60 is provided with a second guide surface 62, and the second charging terminal 28 can move along the second positioning groove 60. The guide surface 62 slides into the second positioning groove 60 to position and dock the second charging terminal 28 with the first charging terminal 22 . In this way, the second charging terminal 28 is guided through the second positioning groove 60, which has a simple structure and is easy to implement.

Specifically, in the illustrated embodiment, the second guide surfaces 62 are arc-shaped surfaces, and the number of the second guide surfaces 62 is two, which are spaced apart along the up and down direction. A similar "eight"-shaped guide space is formed between the two second guide surfaces 62 and becomes smaller from outside to inside. When the second charging terminal 28 gets closer to the second guide structure 26, the second charging terminal 28 can abut against one of the two upper and lower second guide surfaces 62. As the second charging terminal 28 gets closer, the second charging terminal 28 can slide into the second positioning groove 60 along one of the second guide surfaces 62. The first charging terminal 22 is correspondingly arranged in the second positioning groove 60. The second charging terminal 28 and the first charging terminal 22 are accurately positioned and connected. It can be understood that in other embodiments, the second guide surface 62 may be an inclined plane.

In addition, the design of the guide opening of the second positioning groove 60 can control the assembly error of the first charging terminal 22 and the second charging terminal 28, and the guide opening of the first positioning groove 54 also guides its own rotation.

In some embodiments, the first charging component 18 includes a first mounting base 64 located within the body 16 , and the first charging terminal 22 is located within the first mounting base 64 . In this way, the fixed installation of the first charging terminal 22 is facilitated.

Specifically, the first charging terminal 22 can be fixedly installed in the body 16 through the first fixing base 64. The first fixing base 64 can also protect the first charging terminal 22 to prevent the first charging terminal 22 from being mechanically damaged. The first fixing base 64 can be fixed in the body 16 by buckles, screws, etc. In one embodiment, the first holder 64 is made of plastic, and the first holder 64 and the first charging terminal 22 can be formed into an integrated structure through an injection molding process. Of course, the installation manner of the first fixing base 64 and the first charging terminal 22 is not limited to the embodiment discussed above.

In some embodiments, the side wall of the first fixing base 64 is provided with a through hole 66 that communicates with the internal space of the first fixing base 64 . In this way, the through hole 66 can play the role of drainage and exhaust.

Specifically, the movable platform 12 may be operated outdoors. The outdoor environment is humid and watery, and water easily flows into the first fixed seat 64 through the body 16 or the surrounding wall. If the water flowing into the first fixed seat 64 is not drained away in time, , may cause moisture in the first holder 64, and the humid environment may cause the first charging terminal 22 to be easily oxidized, and in more severe cases may cause dangers such as circuit short circuit. The arrangement of the through hole 66 can drain away the water in the first fixed seat 64 in time and keep the environment in the first fixed seat 64 dry.

The first fixed base 64 is provided with a first opening 68 . The second charging terminal 28 is inserted into the first opening 68 through the guidance of the second positioning groove 60. When the second charging terminal 28 is inserted, the air in the first fixing base 64 will be squeezed. Therefore, the through hole 66 can also function as an exhaust gas. As a result, the exhaust will reduce the internal pressure of the first holder 64 during docking, making it smoother for the second charging terminal 28 to be inserted into the first holder 64 .

In some embodiments, the first fixed base 64 is provided with a first opening 68 and a first baffle 70 . The first baffle 70 closes the first opening 68 and allows the second charging terminal 28 to further move with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes away the first baffle 70 so that the second charging terminal 28 is connected to the first charging terminal 22 . In this way, external dust, water vapor, etc. can be prevented from entering the first fixed seat 64 .

Specifically, the first baffle 70 can function as a dust-proof cover and a waterproof cover, and the first baffle 70 can be normally closed through a reset member (such as a torsion spring or a spring piece). When the second charging terminal 28 approaches the first fixed base 64, it abuts the first baffle 70 through the guidance of the second positioning groove 60, and then the second charging terminal 28 pushes the first baffle 70 into the body 16. The first opening 68 extends into the first fixing base 64 and is connected to the first charging terminal 22 . When the second charging terminal 28 withdraws from the first fixing base 64, the reset member can reset the first baffle 70, thereby causing the first baffle 70 to close the first opening 68 to prevent dust and water.

In some embodiments, please refer to FIG. 7 , the second charging component 24 includes a resisting portion 42 and a second fixing base 72 , the second guide structure 26 movably passes through the resisting portion 42 , and the second fixing base 72 is connected to There is a support base 74, the second fixed base 72 is at least partially located in the second guide structure 26, a part of the second charging terminal 28 is located in the second fixed base 72, and the other part is located outside the second fixed base 72. The support base 74 An elastic member 76 is provided between the front outer wall and the front inner wall of the resisting portion 42 . When the second charging terminal 28 further moves to connect with the first charging terminal 22 , the support base 74 compresses the elastic member 76 . In this way, the second charging terminal 28 can move relative to the second guide structure 26 .

Specifically, in this embodiment, the second charging component 24 can be driven to move via the positioning device 30 . The second guide structure 26 is movable relative to the resisting portion 42 . After the second guide structure 26 is positioned and connected with the first guide structure 20 , the second guide structure 26 can no longer move toward the body 16 . When the positioning device 30 continues to drive the second charging assembly 24 to move toward the body 16 , the second guide structure 26 can no longer move toward the body 16 . The second guide structure 26 is fixed, and the second fixed base 72, the support base 74 and the second charging terminal 28 continue to move toward the body 16. At this time, the second charging terminal 28 can extend out of the second guide structure 26 and into The first fixed base 64 is connected to the first charging terminal 22 , and the supporting base 74 simultaneously compresses the elastic member 76 . This enables a secondary advancement of the second charging terminal 28 .

After charging is completed, or when the drone needs to take off, the whole device 30 can release the drone. Specifically, the moving part 34 and the second charging component 24 can move away from the drone, and the second charging terminal 28 Exit the first fixed seat 64 . The compressed elastic member 76 can drive the second charging terminal 28 and the second fixing seat 72 to further retract into the inside of the resisting portion 42 through the support base 74 . Finally, the second charging terminal 28 can completely retract into the second guide structure 26 .

One end of the second fixed base 72 is also connected to a seat cover 78 , and the seat cover 78 can be connected to the second fixed base 72 by buckles on one side and bolts on the other side.

In some embodiments, the second charging component 24 includes a waterproof housing 80 located in the second fixing base 72 , a part of the second charging terminal 28 is located in the waterproof housing 80 , and the other part is located in the waterproof housing. 80, a floating member 82 is provided between the circumferential outer wall of the waterproof housing 80 and the circumferential inner wall of the second fixed seat 72. In this way, on the one hand, the waterproof performance of the second charging terminal 28 can be improved, and on the other hand, the bending stress on the second charging terminal 28 can be reduced and the service life can be increased.

Specifically, the floating member 82 can be arranged in an annular shape along the circumferential direction of the waterproof housing 80 to achieve a floating design in the up, down, left and right directions. In the illustrated embodiment, the two floating members 82 are spaced apart along the length direction of the second charging terminal 28 . In addition, the arrangement of the floating member 82 may also allow the second charging terminal 28 itself to rotate.

A part of the second charging terminal 28 is located in the waterproof housing 80, which can improve the waterproof performance of this part.

In some embodiments, float 82 includes a rubber ring. In this way, the floating member 82 has a simple structure and low cost.

Specifically, please refer to Figures 10 and 11. The circumferential side wall of the waterproof housing 80 is provided with two annular grooves 84, and each groove 84 is provided with a corresponding rubber ring. The groove 84 can limit the rubber ring and prevent the rubber ring from deviating from the set position.

In some embodiments, please refer to FIG. 10 , the second charging component 24 also includes a waterproof component (not shown) and a waterproof terminal 86 , the waterproof terminal 86 is connected to the second charging terminal 28 , and the waterproof component is located in the waterproof housing 80 . The waterproof member covers the connection between the waterproof terminal 86 and the second charging terminal 28 . In this way, the waterproof performance of the second charging component 24 can be further improved.

Specifically, the waterproof component can cover the connection between the waterproof terminal 86 and the second charging terminal 28, which can prevent the connection from being corroded by water vapor and causing oxidation and degradation of electrical performance. In one embodiment, the waterproof terminal 86 and the second charging terminal 28 can be connected by welding, and then the waterproof case 80 is put on, so that the connection point between the second charging terminal 28 and the waterproof terminal 86 is located in the waterproof case 80 . Referring to Figure 11, a glue injection hole 88 is provided on the side wall of the waterproof case 80. Through the glue injection hole 88, glue can be injected into the inside of the waterproof case 80 to cover the connection between the second charging terminal 28 and the waterproof terminal 86. , the glue forms a waterproof component after cooling, waterproofing the connection, thereby improving the waterproof performance and reliability of the second charging component 24.

In some embodiments, the second guide structure 26 is provided with a second opening 90 and a second baffle 92 , the second baffle 92 closes the second opening 90 , and the second charging terminal 28 further moves with the first charging terminal 22 During the connection process, the second charging terminal 28 pushes open the second baffle 92 . In this way, external dust, moisture, etc. can be prevented from entering the second guide structure 26 .

Specifically, the second opening 90 can communicate with the first positioning groove 54 . The second baffle 92 can function as a dust-proof cover and a waterproof cover, and the second baffle 92 can be normally closed through a reset member (such as a torsion spring or a spring piece). When the second charging terminal 28 moves outward relative to the second guide structure 26 , the second charging terminal 28 can push the second baffle 92 outward and extend out of the second guide structure 26 to connect with the first charging terminal 22 connect. When the second charging terminal 28 withdraws from the first fixing base 64 , the compressed elastic member 76 can drive the second charging terminal 28 to retract into the second guide structure 26 . The reset member can reset the second baffle 92 so that the second baffle 92 closes the second opening 90 to prevent dust and water.

In some embodiments, please refer to FIGS. 6 and 8 , the second charging component 24 includes a housing 93 and a temperature sensor 94 . The temperature sensor 94 is located in the housing 93 , and the temperature sensor 94 is used to collect the internal temperature of the housing 93 . In this way, when the temperature in the housing 93 is too high, corresponding actions can be taken.

Specifically, please refer to FIG. 6 . When not charging, components such as the second charging terminal 28 and the second fixing base 72 may be located in the housing 93 . The housing 93 covers part of the resisting portion 42 . The housing 93 can be fixedly connected to the connecting component 40 and can move relative to the resisting portion 42 . The temperature sensor 94 can detect the internal temperature of the housing 93 in real time. When the temperature detected by the temperature sensor 94 exceeds a temperature threshold, the base station 14 control system will be notified to remind the user to replace it. If the temperature continues to rise to the risk threshold, the base station 14 control The system issues an alarm, and the base station 14 can stop the charging function to prevent accidents.

In the illustrated embodiment, the temperature sensor 94 may detect the temperature of the second charging terminal 28 to monitor as the internal temperature of the housing 93 . In one example, temperature sensor 94 may include a thermistor. The thermistor can be an NTC thermistor or a PTC thermistor.

In some embodiments, the movable platform 12 includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship. In this way, the movable platform system 100 has a wide application range and many application scenarios.

Specifically, in the illustrated embodiment, the movable platform 12 includes a drone, and the base station 14 includes a drone airport. It can be understood that, in addition to drones, the movable platform 12 may also include at least one of a sweeping robot, an unmanned vehicle, and an unmanned ship.

When the movable platform 12 includes a sweeping robot, the base station 14 may include a charging station. When the movable platform 12 includes an unmanned vehicle, the base station 14 may include a charging pile. When the movable platform 12 includes an unmanned vessel, the base station 14 may include a charging dock or the like.

A movable platform 12 provided by the embodiment of the present application includes:

Ontology 16; and

The first charging component 18 is provided on the body 16. The body 16 is provided with a first guide structure 20. The first charging component 18 has a first charging terminal 22,

Wherein, the movable platform 12 is configured to achieve positioning and docking with the second guide structure 26 of the base station 14 through the first guide structure 20, and the first charging terminal 22 is further charged with the second base station 14 that moves relative to the second guide structure 26. Terminal 28 connection.

In the above-mentioned movable platform 12, the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure, and the positioning effect is good, which can ensure the charging effect. The second charging terminal 28 further moves to connect with the first charging terminal 22, which can Electrical connection is achieved and charging is possible.

It should be noted that the above explanation of the implementation and beneficial effects of the movable platform system 100 is also applicable to the movable platform 12 of this embodiment. To avoid redundancy, it will not be elaborated here.

In some embodiments, the first guide structure 20 includes a positioning post 50 provided on the body 16 , and at least a portion of the positioning post 50 is used to be received in the first positioning groove 54 of the second guide structure 26 to achieve the first The guide structure 20 and the second guide structure 26 are positioned and connected. In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.

In some embodiments, the first fixed base 64 is provided with a first opening 68 and a first baffle 70 . The first baffle 70 closes the first opening 68 and allows the second charging terminal 28 to further move with the first charging terminal 22 During the connection process, the first baffle 70 is pushed open by the second charging terminal 28 so that the second charging terminal 28 is connected to the first charging terminal 22 . In this way, external dust, water vapor, etc. can be prevented from entering the first fixed seat 64 .

The embodiment of the present application provides a base station 14 for charging the movable platform 12. The base station 14 includes:

A movable second charging component 24. The second charging component 24 has a second guide structure 26 and a second charging terminal 28. The second charging terminal 28 can move relative to the second guide structure 26;

The base station 14 is configured such that the second charging component 24 moves toward the movable platform 12 and achieves positioning and docking through the first guide structure 20 and the second guide structure 26 of the movable platform 12, and the second charging terminal 28 further moves with the movable platform 12. The first charging terminal 22 of the movable platform 12 is connected.

In the above-mentioned base station 14, the first charging component 18 and the second charging component 24 realize positioning and docking through the guide structure. The positioning effect is good and the charging effect can be ensured. The second charging terminal 28 further moves to connect with the first charging terminal 22, which can realize the charging effect. Connected for charging.

It should be noted that the above-mentioned implementation and beneficial effects of the movable platform system 100 are also applicable to the base station 14 of this embodiment. To avoid redundancy, they will not be elaborated here.

In some embodiments, the second guide structure 26 is provided with a first positioning groove 54,

The first positioning groove 54 is used to receive at least a part of the positioning post 50 of the first guide structure 20 to achieve positioning and docking between the first guide structure 20 and the guide structure. In this way, through the cooperation of the positioning post 50 and the first positioning groove 54, a simple guide structure is achieved.

In some embodiments, please refer to FIGS. 4 and 9 , the second charging component 24 includes a resisting portion 42 and a second fixed base 72 , and the second guide structure 26 movably passes through the resisting portion 42 .

The second fixed seat 72 is at least partially located within the second guide structure 26 . A part of the second charging terminal 28 is located inside the second fixed seat 72 , and the other part is located outside the second fixed seat 72 . The front outer wall of the second fixed seat 72 is in contact with the second fixed seat 72 . An elastic member 76 is provided between the front inner walls of the resisting portion 42 . When the second charging terminal 28 further moves and is connected to the first charging terminal 22 , the second fixed base 72 compresses the elastic member 76 . In this way, the second charging terminal 28 can move relative to the second guide structure 26 .

In some embodiments, the second charging component 24 also includes a waterproof component and a waterproof terminal 86. The waterproof terminal 86 is connected to the second charging terminal 28. The waterproof component is located in the waterproof housing 80. The waterproof component covers the waterproof terminal 86 and the second charging terminal 86. The connection point of charging terminal 28. In this way, the waterproof performance of the second charging component 24 can be further improved.

In some embodiments, the second charging component 24 includes a housing 93 and a temperature sensor 94 , the temperature sensor 94 is located inside the housing 93 , and the temperature sensor 94 is used to collect the internal temperature of the housing 93 . In this way, when the temperature in the housing 93 is too high, corresponding actions can be taken.

Referring to Figure 12, an embodiment of the present application provides a charging method for a movable platform system 100. The movable platform system 100 includes a movable platform 12 and a base station 14. The charging method includes:

Step S10, control the moving part 34 to adjust the position of the movable platform 12 located on the base station 14, so that the movable platform 12 is located at the target position of the base station 14;

Step S12, when the movable platform 12 cannot be adjusted to the target position of the base station 14, control the moving part 34 to repeatedly adjust the movable platform 12;

Step S14, until the movable platform 12 is located at the target position of the base station 14, the base station 14 charges the movable platform 12.

The above charging method adjusts the position of the movable platform 12 so that the movable platform 12 is located at the target position of the base station 14, thereby triggering the charging operation.

Specifically, the base station 14 may include an alignment device 30. The alignment device 30 includes a moving part 34 and a driving mechanism 36. The driving mechanism 36 is mechanically coupled with the moving part 34. The driving mechanism 36 can be used to drive the moving member 34 to move, thereby positioning the movable platform 12 and releasing the movable platform 12 . After the movable platform 12 is located on the base station 14 , the driving mechanism 36 can control the moving parts 34 to close to reposition the movable platform 12 on the base station 14 so that the movable platform 12 is located at the target position of the base station 14 . When at the target position, the movable platform 12 usually triggers the in-position switch to generate an in-position detection signal, which indicates that the movable platform 12 is at the target position, and the first charging terminal 22 and the second charging terminal 28 are connected, and the base station 14 The removable platform 12 can be charged.

If the base station 14 does not receive the position detection signal when the moving part 34 adjusts the position of the movable platform 12, indicating that the movable platform 12 has not been adjusted to the target position, at this time, the driving mechanism 36 can control the moving part 34. Release the movable platform 12, and then control the moving parts 34 to close again, and adjust the movable platform 12 to the target position again. Until the base station 14 receives the arrival detection signal, it indicates that the movable platform 12 is located at the target position of the base station 14, and the base station 14 charges the movable platform 12.

In one embodiment, both the base station 14 and the movable platform 12 may include a power carrier chip, and the base station 14 may transmit the communication request through the power line (including the connection formed by the first charging terminal 22 and the second charging terminal 28 through the power carrier chip). line) is transmitted to the movable platform 12, communicates with the power carrier chip of the movable platform 12, and obtains battery-related information (such as charging status) after the communication is established. The power line realizes wired communication between the base station 14 and the movable platform 12, ensuring the reliability of communication, optimizing the communication and charging connection scheme between the base station 14 and the movable platform 12 to the greatest extent, and using the power line communication reduces the need for communication signal line.

In one embodiment, the movable platform 12 is a drone, and the base station 14 is a drone airport. The UAV mainly includes a charging control module, an aircraft control module and a battery module. The UAV airport mainly includes a charging control module, an airport control module and an AC-DC power module. When the drone is moved to the target position by the moving part 34 (such as a push rod), the airport control module turns on the power module to provide power to the aircraft-less communication module. The airport and the drone establish wired communication through the power carrier signal of the charging terminal. When the communication is successfully established, the drone turns on the charging switch and adjusts the AC-DC power module input through communication with the airport control module to complete the drone charging function.

In some embodiments, the moving member 34 is controlled to position the movable platform 12 located on the base station 14 so that the movable platform 12 is located at a target position of the base station 14; when the movable platform 12 fails to be positioned to the base station When the target position of 14 is reached, the moving part 34 is controlled to perform repeated positioning of the movable platform 12, including:

The moving parts 34 are controlled to close to clamp the movable platform 12 at the target position of the base station 14. When the movable platform 12 fails to be adjusted to the target position of the base station 14, the moving parts 34 are controlled to release the movable platform 12 and start again. The moving parts 34 are controlled to be closed, and the process is repeated to control the movable platform 12 to be adjusted to the target position of the base station 14 . In this way, the movable platform 12 can be repositioned by closing the moving part 34 , and repositioned by releasing the moving part 34 .

Specifically, there may be multiple moving parts 34 (two or more than two). When closing, the plurality of moving parts 34 move together in the direction of the movable platform 12 and jointly push the movable platform 12 to move to the target position, so that the movable platform 12 can be clamped at the target position of the base station 14 .

When the position detection signal is not received, it indicates that the movable platform 12 cannot be positioned to the target position of the base station 14 . At this time, the moving part 34 is controlled to release the movable platform 12 and is controlled to close again. This process is repeated to control the movable platform 12 to be adjusted to the target position of the base station 14 . When the position detection signal is received, it indicates that the movable platform 12 is positioned to the target position of the base station 14, and the base station 14 can charge the movable platform 12.

In some embodiments, when the movable platform 12 fails to be adjusted to the target position of the base station 14, the moving part 34 is controlled to repeatedly adjust the movable platform 12, including:

Whether the movable platform 12 is adjusted to the target position of the base station 14 can be identified by the base station 14. When the movable platform 12 is adjusted to the target position of the base station 14, the base station 14 can obtain the in-position detection signal. If the base station 14 does not obtain the in-position detection signal The signal controls the moving member 34 to repeat the positioning of the movable platform 12 . In this way, it can be determined that the movable platform 12 is positioned to the target position of the base through the position detection signal.

Specifically, the driving mechanism 36 may include an in-position switch. When the moving member 34 is controlled to adjust the movable platform 12 to the target position of the base station 14, the movable platform 12 will trigger the in-position switch to generate an in-position detection signal, which the base station can obtain. The arrival detection signal indicates that the movable platform 12 is at the target position, and the first charging terminal 22 and the second charging terminal 28 are connected, and the base station 14 can charge the movable platform 12 . If the base station 14 does not obtain the position detection signal, the base station 14 can control the moving part to repeat the positioning of the movable platform.

In one embodiment, the charging method further includes:

When the number of times that the position detection signal is not received after each repositioning of the movable platform 12 is less than the number threshold, the moving part 34 is controlled to release the movable platform 12, and the moving part 34 is controlled to close again to reposition the movable platform 12 to the base station. Target position of 14;

When the number of times that the in-position detection signal is not received after each repositioning of the movable platform 12 is not less than the number threshold, abnormal information is reported. In this way, charging abnormalities can be reported to remind relevant personnel to perform troubleshooting.

Specifically, the number of times threshold can be set according to specific circumstances. In one example, the number threshold is 3 times. After adjusting the movable platform 12 three times and still not receiving the position detection signal, abnormal information is reported. Abnormal information can be reported to the server, designated mobile terminals, etc. to remind relevant personnel to perform troubleshooting.

In some embodiments, charging the mobile platform 12 by the base station 14 includes:

The base station 14 communicates with the movable platform 12 to obtain battery-related information of the movable platform 12;

The base station 14 determines whether charging conditions are met based on battery-related information;

When the charging conditions are met, the base station 14 charges the battery of the movable platform 12 . In this manner, the base station 14 can charge the movable platform 12 .

Specifically, in one embodiment, after the base station 14 receives the arrival detection signal, the base station 14 can turn on the charging power supply (such as a 12V power supply) to prepare for charging the movable platform 12, and at the same time, the base station 14 can attempt communication. For example, the base station 14 may send a communication request to the mobile platform 12, and after receiving a confirmation request sent back by the mobile platform 12 based on the communication request, the base station 14 may determine that the communication with the mobile platform 12 is successful. The base station 14 may then send a request to obtain the battery-related information to the movable platform 12, and the movable platform 12 sends the battery-related information to the base station 14 based on the request. The base station 14 determines whether charging conditions are met based on battery-related information. When the charging conditions are met, the base station 14 charges the battery of the movable platform 12 .

In one embodiment, the charging conditions may include that the temperature of the battery core is within a set range and the power of the battery core is lower than a set power threshold. When the collected battery core temperature is within the set range and the battery power is lower than the set power threshold, it can be considered that the charging conditions are met, and the base station 14 charges the movable platform 12 . It can be understood that in other embodiments, the charging conditions may also include other conditions, and are not limited to the above two conditions.

In some embodiments, the charging method includes:

When the communication between the base station 14 and the movable platform 12 is not successful, the moving part 34 is controlled to release the movable platform 12, and the moving part 34 is controlled to close to adjust the movable platform 12 to the target position of the base station 14. In this way, the movable platform 12 can be repositioned.

Specifically, in one embodiment, upon receiving the presence detection signal, the base station 14 may send a communication request to the movable platform 12 . Within the preset time period for sending the communication request, if a confirmation request sent back by the mobile platform 12 based on the communication request is received, the base station 14 can determine that the communication with the mobile platform 12 is successful. Within the preset time period for sending the communication request, the base station 14 does not receive the confirmation request sent back by the mobile platform 12, and it can be determined that the communication between the base station 14 and the mobile platform 12 is not successful. At this time, it may be caused by the accidental loosening of the first charging terminal 22 and the second charging terminal 28 . Therefore, the base station 14 can control the moving parts 34 to release the movable platform 12, and control the moving parts 34 to close again to adjust the movable platform 12 to the target position of the base station 14, thereby repositioning the movable platform 12. Upon receiving the presence detection signal, base station 14 may attempt communication with movable platform 12 again.

In one embodiment, mobile platform 12 may send a communication request to base station 14. Within the preset time period for sending the communication request, if a confirmation request sent back by the base station 14 based on the communication request is received, the movable platform 12 can determine that the communication with the base station 14 is successful. Within the preset time period for sending the communication request, the mobile platform 12 does not receive the confirmation request sent back by the base station 14, and it can be determined that the base station 14 and the mobile platform 12 did not communicate successfully.

In some embodiments, the charging method further includes:

When the battery core temperature of the movable platform 12 is greater than the first temperature threshold, the base station 14 cools down the movable platform 12 . In this way, the battery core can meet the charging conditions.

Specifically, the battery may include multiple cells. If the temperature of the cells is too high, it is easy to cause low charging efficiency, and in severe cases, the battery may even explode. Therefore, when the battery core temperature is greater than the first temperature threshold, the base station 14 can cool down the movable platform 12 .

In one embodiment, the base station 14 is equipped with an air conditioner, and the cooling measures include the base station 14 starting the air conditioner to cool down the movable platform 12 . For example, an air conditioner is provided below the landing platform 32. When the air conditioner is activated, cold air can be blown toward the movable platform 12. In one embodiment, the base station 14 is equipped with a fan, and the cooling measures include the base station 14 starting the fan to cool down the movable platform 12 .

In some embodiments, the charging method includes:

When the battery core temperature of the movable platform 12 is less than the second temperature threshold, the movable platform 12 turns on the battery heating function to heat the battery core. In this way, the battery core can meet the charging conditions.

Specifically, the battery may include multiple cells. If the temperature of the cell is too low, the cell activity is insufficient, which may easily lead to low charging efficiency. Therefore, when the battery core temperature is lower than the second temperature threshold, the movable platform 12 turns on the battery heating function to heat the battery core. The first temperature threshold is greater than the second temperature threshold, and a temperature range may be formed between the first temperature threshold and the second temperature threshold, and the charging conditions include that the battery core temperature is within this temperature range. In one example, the first temperature threshold is 40 degrees Celsius and the second temperature threshold is 5 degrees Celsius. It can be understood that the temperature threshold in the embodiment of the present application is not limited to this, and can also be set to other temperature thresholds.

In one embodiment, the battery heating function can utilize the heat generated by the battery core to increase the temperature of the battery core. In one embodiment, the battery heating function can use an external heating element to heat the battery core to increase the temperature of the battery core. External heating elements may include PCT materials, heating films, heating fluids, etc.

In some embodiments, the charging method includes:

During the charging process, the temperature of the charging terminal is detected. If the temperature exceeds the preset temperature threshold, charging is terminated and abnormal information is reported;

Otherwise, charging ends when the battery of the movable platform 12 is charged to a predetermined level. In this way, charging safety can be ensured.

Specifically, the temperature of the charging terminal may rise abnormally due to accident. High temperatures can easily cause damage to internal structural components. For example, plastics may be deformed or scorched by high temperatures. In severe cases, short circuits and fires may occur. Metals may be more easily oxidized due to high temperatures and lose their conductivity. Therefore, when the temperature of the charging terminal exceeds the preset temperature threshold, charging is terminated and abnormal information is reported, which can remind relevant personnel to perform troubleshooting. The preset temperature threshold can be specifically set according to actual needs.

When the battery of the movable platform 12 is charged to a predetermined level, the base station 14 can end charging the movable platform 12, and the movable platform 12 can wait for a work command. The predetermined battery level may include 100%, 95%, etc. battery percentages.

In the illustrated embodiment, the temperature sensor 94 detects and monitors the temperature of the second charging terminal 28. When the temperature of the second charging terminal 28 exceeds the preset temperature threshold, the base station 14 can end charging and report abnormal information.

In one embodiment, the temperature sensor 94 can detect and monitor the temperature of the first charging terminal 22 . When the temperature of the first charging terminal 22 exceeds a preset temperature threshold, the base station 14 can end charging and report abnormal information.

In one embodiment, the temperature sensor 94 can detect the temperature of the first charging terminal 22 and the second charging terminal 28 and monitor when the temperature of the first charging terminal 22 exceeds the first preset temperature threshold, or the temperature of the second charging terminal 28 When the temperature exceeds the second preset temperature threshold, the base station 14 may end charging and report abnormal information. The first preset temperature threshold may be equal to the second preset temperature threshold, or may not be equal, and is specifically set according to the actual situation.

Please refer to Figure 13, which shows a flow chart of a charging method according to a specific embodiment of the present application.

After receiving the landing signal of the drone, the airport opened the hatch to expose the landing platform for the drone to land. After the drone landed, the front and rear left and right servo pushrods were closed to try to move the drone to the target location.

After the in-position switches of the front and rear left and right servos are triggered, it indicates that the drone has been moved to the target position. Otherwise, the push rods of the front and rear left and right servos are released and then closed again to try to move the drone to the target position. If the number of times the push rod is opened and closed exceeds the threshold, such as 3 times, it can be considered that the front, rear, left and right servo push rods cannot successfully position the drone to the target position, and there is an abnormality in charging. The airport can report the abnormal situation to the user. end, reminding the user for maintenance.

If the position switches of the front and rear left and right servos are triggered, indicating that the drone has been moved to the target position, the airport can turn on the power, supply power to the charging module of the drone, and try to communicate with the battery to obtain battery information such as battery power. As a more reliable method, if communication fails, the front, rear, left and right servo pushrods can be released again and then closed again to try to move the drone to the target position.

If the communication is successful, the airport can obtain the battery information and determine whether the drone meets the charging conditions to decide whether to charge. Since the battery temperature will affect the charging rate and battery life, the airport can decide whether to adjust the temperature based on the battery temperature, such as turning on the air conditioner to cool the battery, or turning on the battery heating function to increase the battery temperature.

During the charging process, the airport can detect the temperature of the charging terminal to determine whether the charging is abnormal. If the charging terminal is overheated beyond a certain threshold, the abnormal information can be reported to the user terminal.

To sum up, the movable platform system 100 according to the embodiment of the present application can achieve at least the following technical effects:

1. Charging the base station 14 does not require a high-precision mechanical structure for battery replacement, saving costs and improving reliability.

2. The method for the base station 14 to charge the movable platform 12 is simple and reliable.

In the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be in conjunction with the description of the embodiments. or examples describe specific features, structures, materials, or characteristics that are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principles and purposes of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A movable platform system, characterized by including:

The movable platform includes a body and a first charging component. The first charging component is provided on the body. The body is provided with a first guide structure. The first charging component has a first charging terminal;

A base station including a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;

Wherein, the movable platform system is configured such that the second charging component moves toward the body and achieves positioning and docking through the first guide structure and the second guide structure, and the second charging terminal further Move to connect with the first charging terminal.
The movable platform system according to claim 1, wherein one of the first charging terminal and the second charging terminal is a clip, and the other is a single conductive piece,

The single conductive piece is inserted into the clip to achieve charging and data transmission.
The movable platform system according to claim 1, wherein the first guide structure includes a positioning post provided on the body, and the second guide structure is provided with a first positioning groove,

At least a part of the positioning post is located in the first positioning groove to realize positioning and docking of the first guide structure and the second guide structure.
The movable platform system according to claim 3, wherein the guide opening of the first positioning groove gradually shrinks from outside to inside.
The movable platform system according to claim 3, wherein the guide opening of the first positioning slot is provided with a first guide surface, and the positioning post can slide into the first guide surface along the first guide surface. Positioning slots to achieve positioning and docking.
The movable platform system according to claim 1, wherein the body is further provided with a third guide structure spaced apart from the first guide structure, and the third guide structure is configured to guide the third guide structure. When the two charging terminals move further, they are guided so that the second charging terminal is positionally connected to the first charging terminal.
The movable platform system according to claim 6, wherein the third guide structure includes a second positioning groove provided on the body, and the guide opening of the second positioning groove is provided with a second guide surface. , the second charging terminal can slide into the second positioning groove along the second guide surface so that the second charging terminal and the first charging terminal are positioned and docked.
The movable platform system according to claim 1, wherein the first charging component includes a first fixed base located in the body, and the first charging terminal is located in the first fixed base.
The movable platform system according to claim 8, wherein the side wall of the first fixed base is provided with a through hole communicating with the internal space of the first fixed base.
The movable platform system according to claim 8, wherein the first fixed base is provided with a first opening and a first baffle, and the first baffle closes the first opening. When the second charging terminal is further moved and connected to the first charging terminal, the second charging terminal pushes away the first baffle so that the second charging terminal is connected to the first charging terminal.
The movable platform system according to claim 1, wherein the second charging component includes a resisting portion and a second fixed base, and the second guide structure movably penetrates the resisting portion,

The second fixed seat is connected to a support base, and the second fixed seat is at least partially located in the second guide structure. A part of the second charging terminal is located in the second fixed seat, and the other part is located in the second fixed seat. Outside the second fixed seat,

An elastic member is provided between the front outer wall of the support base and the front inner wall of the resisting portion. When the second charging terminal further moves and is connected to the first charging terminal, the support base compresses the Elastic parts.
The movable platform system according to claim 11, wherein the second charging component includes a waterproof housing, and the waterproof housing is located in the second fixed base,

A part of the second charging terminal is located inside the waterproof housing, and the other part is located outside the waterproof housing. A floating member is provided between the circumferential outer wall of the waterproof housing and the circumferential inner wall of the second fixing base.
The movable platform system of claim 12, wherein the floating member includes a rubber ring.
The movable platform system according to claim 12, wherein the second charging component further includes a waterproof component and a waterproof terminal, and the waterproof terminal is connected to the second charging terminal,

The waterproof component is located in the waterproof housing, and covers the connection between the waterproof terminal and the second charging terminal.
The movable platform system according to claim 1, wherein the second guide structure is provided with a second opening and a second baffle, and the second baffle closes the second opening. When the second charging terminal is further moved and connected to the first charging terminal, the second charging terminal pushes away the second baffle.
The movable platform system according to claim 1, wherein the second charging component includes a housing and a temperature sensor, the temperature sensor is located in the housing, and the temperature sensor is used to collect the interior of the housing. temperature.
The movable platform system according to claim 1, wherein the movable platform includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship.
A movable platform, characterized by including:

ontology; and

A first charging component, the first charging component is provided on the body, the body is provided with a first guide structure, the first charging component has a first charging terminal,

Wherein, the movable platform is configured to realize positioning and docking with the second guide structure of the base station through the first guide structure, and the first charging terminal is further connected with a second base station that moves relative to the second guide structure. Charging terminal connection.
The movable platform according to claim 18, wherein one of the first charging terminal and the second charging terminal is a clip, and the other is a single conductive piece,

The single conductive piece is inserted into the clip to achieve charging and data transmission.
The movable platform according to claim 18, wherein the first guide structure includes a positioning post provided on the body, and at least a part of the positioning post is used to accommodate the second guide structure. in the first positioning groove to achieve positioning and docking of the first guide structure and the second guide structure.
The movable platform according to claim 18, wherein the body is further provided with a third guide structure spaced apart from the first guide structure, and the third guide structure is configured to guide the second guide structure. When the charging terminal moves further, it is guided so that the second charging terminal is positionally connected to the first charging terminal.
The movable platform according to claim 21, wherein the third guide structure includes a second positioning groove provided on the body, and the guide opening of the second positioning groove is provided with a second guide surface, The second charging terminal can slide into the second positioning groove along the second guide surface so that the second charging terminal is positioned and docked with the first charging terminal.
The movable platform according to claim 17, wherein the first charging component includes a first fixed base located in the body, and the first charging terminal is located in the first fixed base.
The movable platform according to claim 23, wherein the side wall of the first fixed base is provided with a through hole communicating with the internal space of the first fixed base.
The movable platform according to claim 23, wherein the first fixed base is provided with a first opening and a first baffle, the first baffle closes the first opening, and in the second When the charging terminal further moves and is connected to the first charging terminal, the first baffle is pushed open by the second charging terminal so that the second charging terminal is connected to the first charging terminal.
The movable platform according to claim 17, characterized in that the movable platform includes at least one of a sweeping robot, a drone, an unmanned vehicle, and an unmanned ship.
A base station for charging mobile platforms, characterized in that the base station includes:

a movable second charging component, the second charging component having a second guide structure and a second charging terminal, the second charging terminal being movable relative to the second guide structure;

Wherein, the base station is configured such that the second charging component moves toward the movable platform and achieves positioning and docking through the second guide structure and the first guide structure of the movable platform, and the second charging component The charging terminal further moves and is connected to the first charging terminal of the movable platform.
The base station according to claim 27, wherein one of the first charging terminal and the second charging terminal is a clip, and the other is a single conductive piece,

The single conductive piece is inserted into the clip to achieve charging and data transmission.
The base station according to claim 27, wherein the second guide structure is provided with a first positioning groove,

The first positioning groove is used to accommodate at least part of the positioning post of the first guide structure to achieve positioning and docking of the first guide structure and the guide structure.
The base station according to claim 29, wherein the guide opening of the first positioning groove gradually shrinks from outside to inside.
The base station according to claim 29, wherein the guide opening of the first positioning groove is provided with a first guide surface, and the positioning post can slide into the first positioning groove along the first guide surface to Realize positioning and docking.
The base station according to claim 27, wherein the second charging component includes a resisting portion and a second fixed base, and the second guide structure movably penetrates the resisting portion,

The second fixed seat is connected to a support base, and the second fixed seat is at least partially located in the second guide structure. A part of the second charging terminal is located in the second fixed seat, and the other part is located in the second fixed seat. Outside the second fixed seat,

An elastic member is provided between the front outer wall of the support base and the front inner wall of the resisting portion. When the second charging terminal further moves and is connected to the first charging terminal, the support base compresses the Elastic parts.
The base station according to claim 32, wherein the second charging component includes a waterproof housing, and the waterproof housing is located in the second fixing base,

A part of the second charging terminal is located inside the waterproof housing, and the other part is located outside the waterproof housing. A floating member is provided between the circumferential outer wall of the waterproof housing and the circumferential inner wall of the second fixing base.
The base station according to claim 33, wherein the floating member includes a rubber ring.
The base station according to claim 33, wherein the second charging component further includes a waterproof component and a waterproof terminal, and the waterproof terminal is connected to the second charging terminal,

The waterproof component is located in the waterproof housing, and covers the connection between the waterproof terminal and the second charging terminal.
The base station according to claim 27, characterized in that the second guide structure is provided with a second opening and a second baffle, the second baffle closes the second opening, and when the second charging terminal During further movement and connection with the first charging terminal, the second charging terminal pushes away the second baffle.
The base station according to claim 27, wherein the second charging component includes a housing and a temperature sensor, the temperature sensor is located in the housing, and the temperature sensor is used to collect the internal temperature of the housing.
A charging method for a movable platform system. The movable platform system includes a movable platform and a base station. It is characterized in that the charging method includes:

Control the moving member to adjust the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station;

When the movable platform fails to be adjusted to the target position of the base station, control the moving member to repeatedly adjust the movable platform;

The base station charges the movable platform until the movable platform is located at the target location of the base station.
The charging method according to claim 38, characterized in that the control moving member adjusts the position of the movable platform located on the base station so that the movable platform is located at the target position of the base station; When the movable platform fails to be adjusted to the target position of the base station, controlling the moving member to repeatedly adjust the movable platform includes:

Control the moving parts to close to clamp the movable platform at the target position of the base station, and control the moving parts to release the movable platform when the movable platform fails to be adjusted to the target position of the base station. The movable platform is controlled to close again, and the process is repeated to control the movable platform to be adjusted to the target position of the base station.
The charging method according to claim 38, characterized in that when the movable platform fails to be adjusted to the target position of the base station, the moving member is controlled to repeatedly adjust the movable platform. bits, including:

Whether the movable platform is adjusted to the target position of the base station can be identified by the base station. When the movable platform is adjusted to the target position of the base station, the base station can obtain an in-position detection signal. If The base station does not obtain the in-position detection signal and controls the moving member to repeat positioning of the movable platform.
The charging method according to claim 38, wherein charging the movable platform by the base station includes:

The base station communicates with the movable platform to obtain battery-related information of the movable platform;

The base station determines whether charging conditions are met based on the battery-related information;

When charging conditions are met, the base station charges the battery of the movable platform.
The charging method according to claim 41, characterized in that the charging method includes:

When the communication between the base station and the movable platform is not successful, the moving parts are controlled to release the movable platform, and the moving parts are controlled to close to adjust the movable platform to the target position of the base station.
The charging method according to claim 38, characterized in that the charging method further includes:

When the battery core temperature of the movable platform is greater than the first temperature threshold, the base station cools down the movable platform.
The charging method according to claim 38, characterized in that the charging method includes:

When the battery core temperature of the movable platform is less than the second temperature threshold, the movable platform turns on the battery heating function to heat the battery core.
The charging method according to claim 38, characterized in that the charging method includes:

During the charging process, the temperature of the charging terminal is detected. If the temperature exceeds the preset temperature threshold, charging is terminated and abnormal information is reported;

Otherwise, charging is terminated when the battery of the movable platform is charged to a predetermined level.