CN107591857A - The automatic charging equipment and its application method of mobile robot - Google Patents

Abstract

The invention provides the automatic charging equipment and its application method of a kind of mobile robot, the equipment includes mobile robot, conductive head, flexible adaptation mechanism, exposure mechanism, power transfer module, controller, control device, robot detection device, the live part of wherein mobile robot contacts with conductive head, conductive head is adapted in mechanism positioned at flexible, flexibility adapts to mechanism and is located in exposure mechanism, controller is located at the side of exposure mechanism, and power transfer module, robot detection device and control device pass through cable connection with controller.The present invention can be applied to robot automatic charging, and success rate is high, strong adaptability, effectively reduces cost of labor.

Description

Automatic charging device for mobile robot and method of use thereof

technical field

The invention relates to the field of robots, in particular to an automatic charging device for a mobile robot and a method for using the same.

Background technique

Since the 21st century, with the remarkable progress of artificial intelligence and sensor technology, autonomous mobile robots have played an increasingly important role in fields such as entertainment, housekeeping, and public places. However, due to the limitation of battery capacity, the continuous working time of mobile robots is often only a few hours, which cannot achieve the effect of long-term autonomous work. It needs human manual participation to charge it, which affects its work efficiency and increases the human burden. Therefore people hope that the mobile robot has the ability of self-charging.

At present, there are three main types of mobile robot batteries on the market: automatic charging, manual charging, and battery replacement. Among them, manual charging usually requires people to insert the charging head into the charging port of the robot, and battery replacement generally requires manual participation, and more battery spare parts need to be prepared, and automatic charging technology is an important charging technology route for the development of mobile robots.

The US patent No. US20040201361 describes a non-conductive charging method. However, due to the high requirements for the distance between the charging head and the charging pile, a set of flexible charging heads is also designed. However, the conductive head in this solution It moves together as a whole, so the degree of freedom of movement is not as many as the present invention. In addition, since the conductive head does not have a mechanism for moving forward and backward, the requirements for the position where the robot stops are relatively high.

The U.S. Patent No. US6859010 provides a charging system for sweeping robots. Similarly, the charging mechanism of this system does not have telescopic movement, and has higher requirements on the robot's stop position. When multi-robots participate in the work, it is impossible to judge whether the robot is in place by relying only on infrared signals, and it is also impossible to confirm the number and other information of the robot. In the present invention, a scanning gun is added to the charging pile, which can effectively judge the number of the robot and whether it is in place. Then turn on the charging power supply, which is safe and reliable.

The Chinese patent with the patent number CN201611014436 provides an automatic charging device for a wheeled robot, which includes a detection module that can detect whether the battery on the robot is fully charged, a control module that can charge the battery on the robot with a power conversion module, and designed two charging electrodes Structure, the charging head is easy to contact with the charging stand when the robot is charging, and the alignment accuracy of the robot is not high, which reduces the difficulty of control.

The Chinese patent with the patent number CN201610935438 discloses an automatic positioning method between a robot and a charging pile based on automatic charging, including using a power management unit to detect the power of the robot's power supply, and comparing the detected power with the set minimum power In contrast, the Bluetooth module is used to locate the robot while charging. The charging pile in the invention does not have the ability to detect whether the robot is in place and control the power output. At the same time, the positioning accuracy of the robot after it is in place is high.

Automatic charging equipment needs to have a high fault tolerance rate for the charging position of the robot, be able to judge the robot number, judge whether the robot is in place, control the output power, and have a high charging success rate.

Contents of the invention

Aiming at the defects in the prior art, the object of the present invention is to provide an automatic charging device for a mobile robot and a usage method thereof.

According to one aspect of the present invention, an automatic charging device for a mobile robot is provided, which is characterized in that it includes a mobile robot, a conductive head, a flexible adaptation mechanism, an extension mechanism, a power conversion module, a controller, a control device, and a robot detection device, The charging part of the mobile robot is in contact with the conductive head, the conductive head is located on the flexible adaptation mechanism, the flexible adaptation mechanism is located on the extension mechanism, the controller is located on the side of the extension mechanism, the power conversion module, robot detection equipment and control devices are all connected to the control connected by cables.

Preferably, the robot detection device is a two-dimensional code scanner or a one-dimensional code scanner or an infrared detection device or a laser detection device.

Preferably, the flexible adaptation mechanism includes an elastic device, a first guide bushing, a second guide bushing, and a fixed plate, wherein the conductive head will compress the elastic device backward after touching the mobile robot, and the elastic device provides continuous pressure to the The conductive head, the conductive head moves along the first guide bushing and the second guide bushing, both the first guide bushing and the second guiding bushing are fixed on the fixing plate, and the elastic device is located between the two fixing plates.

Preferably, the extension mechanism includes an extension power device, a guide rail, a locking mechanism, and an elastic reset mechanism. Underneath, the locking mechanism protrudes when the protruding mechanism retracts, and hooks the fixed plate. The elastic reset mechanism is located between the fixed plate and the protruding power device. The elastic reset mechanism provides thrust when the protruding mechanism protrudes, and also makes The extension mechanism remains somewhat flexible.

Preferably, the extension power device is an electromagnet or a linear motor or a cylinder or a ball screw or a rack and pinion or a belt.

The present invention also provides a method for using an automatic charging device for a mobile robot, which is characterized in that it includes the following steps:

Step 1, the mobile robot stops after moving to the charging position;

Step 2, the robot detection device scans the code on the mobile robot to determine whether the mobile robot is in place and records the robot number;

Step 3, the robot detection equipment transmits the information to the controller;

Step 4, the controller controls the extension mechanism to extend;

Step five, the extension mechanism contacts the conductive head to the mobile robot;

Step 6, the flexible adaptation mechanism ensures that the conductive head is in full contact with the mobile robot;

Step 7, the controller turns on the control device to make the conductive head generate voltage;

Step 8: After the mobile robot detects the voltage, turn on the power supply of the mobile robot and start charging;

Step nine, when the battery is fully charged, the mobile robot cuts off the power supply;

Step ten, the control device notifies the controller after detecting that there is no voltage;

Step eleven, the controller disconnects the power supply and retracts the extension mechanism;

Step 12, the mobile robot leaves the charging position.

Compared with the prior art, the present invention has the following beneficial effects: 1. Using the extension mechanism and the flexible adaptation mechanism, the error tolerance rate of the charging position of the robot is high; 2. Through the robot detection equipment, the robot number can be judged, and the robot Judging whether it is in place to prevent misoperation without a robot, it is safe and reliable, and can record the charging information of the robot; third, the output power is controllable, and the power output is controlled by the controller and the control device, and the charging success rate is high.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Figure 1 is a schematic diagram of the overall structure of the device of the present invention.

Fig. 2 is a schematic diagram of the detailed structure of the conductive head part and the flexible adaptation mechanism.

Figure 3 is a schematic diagram of the extension mechanism.

Fig. 4 is a schematic diagram of the workflow and method of the present invention.

In the figure: mobile robot 1, conductive head 2, flexible adaptation mechanism 3, extension mechanism 4, power conversion module 5, controller 8, control device 7, robot detection equipment 8, elastic device 301, first guide bushing 302, The second guide bushing 303 , the fixing plate 304 , the protruding power device 401 , the guide rail 402 , the locking mechanism 403 and the elastic reset mechanism 404 .

detailed description

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figure 1, the automatic charging equipment of the mobile robot of the present invention includes a mobile robot 1, a conductive head 2, a flexible adaptation mechanism 3, an extension mechanism 4, a power conversion module 5, a controller 6, a control device 7, and a robot detection device 8 , wherein the charging part of the mobile robot 1 is in contact with the conductive head 2, the conductive head 2 is located on the flexible adaptation mechanism 3, the flexible adaptation mechanism 3 is located on the extension mechanism 4, the controller 6 is located on the side of the extension mechanism 4, and the power conversion module 5 , the robot detection device 8 and the control device 7 are all connected to the controller 6 through cables.

The power conversion module 5 includes a transformer and a relay that can convert 220V to DC 48V. The transformer and the relay are connected to convert the mains power into a charging power source available for the battery. The power conversion module can only output current when there is a load.

The controller 6 can choose a PLC or a single-chip microcomputer module for processing sensor signals and realizing the control logic of the charging system.

The control device 7 includes a plurality of relays, terminals, switches and diodes, the purpose of which is to execute the control instructions of the controller and control the input and output of current and signals.

The robot detection device 8 may be a two-dimensional code scanner or a one-dimensional code scanner or an infrared detection device or a laser detection device, which is used to determine whether the robot is in place, and to determine the number of the robot.

The contact shape of the conductive head and the charging part of the mobile robot 1 includes but is not limited to a spherical surface, a plane and a conical surface. The charging contact shape of the spherical surface can ensure that when the robot is not parallel to the charging pile, the charging part can also maintain contact with the robot.

The material of the conductive head includes but not limited to copper, which reduces the cost.

The overall shape of the conductive head includes but is not limited to a cylindrical shape, and when the conductive head rotates, the charging effect is not affected.

As shown in Figure 2, the flexible adapting mechanism 3 in the present invention includes an elastic device 301, a first guide bushing 302, a second guide bushing 303, and a fixed plate 304, wherein the conductive head 2 will move toward the mobile robot 1 after touching the mobile robot 1. After compressing the elastic device 301, the elastic device 301 provides continuous pressure to the conductive head 2, and the conductive head 2 moves along the first guide bushing 302 and the second guide bushing 303, and the first guide bushing 302 and the second guide bushing 303 are all fixed on the fixing plate 304, and the elastic device 301 is located between the two fixing plates 304. This mechanism can ensure that when there is a certain deviation in the stop position of the robot, the charging mechanism can also contact the robot, and at the same time generate a certain pressure to reduce the contact resistance. The elastic device 301 can be a spring or rubber or plastic or a rubber cord or a pneumatic spring or a hydraulic spring.

As shown in Figure 3, the extension mechanism 4 in the present invention includes an extension power device 401, a guide rail 402, a locking mechanism 403, and an elastic reset mechanism 404, wherein the extension power device 401 can be an electromagnet or a linear motor or a cylinder or a ball Lead screw or rack and pinion, belt, etc., the end of the protruding power device 401 is connected with the fixed plate 304, the guide rail 402 is a guiding mechanism and is connected with the fixed plate 304, the locking mechanism 403 is located under the protruding power device 401, and the locking mechanism 403 is in the When the extension mechanism is retracted, it stretches out and hooks the fixed plate 304. The elastic return mechanism 404 is located between the fixed plate 304 and the extension power device 401. The elastic return mechanism 404 provides thrust when the extension mechanism is extended, and also makes the extension The output mechanism remains flexible. When the charging mechanism is retracted and the power is cut off, the locking mechanism can lock the charging mechanism so that it does not extend out.

The locking mechanism 403 can be an electromagnet or a small motor. When the charging mechanism is withdrawn and the power is cut off, the locking mechanism can lock the charging mechanism so that it does not stretch out.

The elastic return mechanism 404 includes a guide rail and a spring outside the guide rail. When the charging mechanism is retracted, the spring has an elastic force to push outward.

Since the positioning accuracy of the mobile robot is usually at the centimeter level, the stop position is not the same every time it is charged, and the above-mentioned flexible adaptation mechanism 3 can make fault tolerance for the stop position of the robot in multiple degrees of freedom. Strong adaptability, the entire charging process is fully automated without manual intervention, effectively reducing labor costs.

As shown in Figure 4, the using method of the automatic charging device of the mobile robot of the present invention comprises the following steps:

Step 1, the mobile robot stops after moving to the charging position;

Step 2, the robot detection device scans the code on the mobile robot to determine whether the mobile robot is in place and records the robot number;

Step 3, the robot detection equipment transmits the information to the controller;

Step 4, the controller controls the extension mechanism to extend;

Step five, the extension mechanism contacts the conductive head to the mobile robot;

Step 6, the flexible adaptation mechanism ensures that the conductive head is in full contact with the mobile robot;

Step 7, the controller turns on the control device to make the conductive head generate voltage;

Step 8: After the mobile robot detects the voltage, turn on the power supply of the mobile robot and start charging;

Step nine, when the battery is fully charged, the mobile robot cuts off the power supply;

Step ten, the control device notifies the controller after detecting that there is no voltage;

Step eleven, the controller disconnects the power supply and retracts the extension mechanism;

Step 12, the mobile robot leaves the charging position.

The invention utilizes the extension mechanism and the flexible adaptation mechanism to have a high error tolerance rate for the charging position of the robot; through the robot detection equipment, it can judge the number of the robot, judge whether the robot is in place, and prevent misoperation without the robot, which is safe and reliable , and can record the charging information of the robot; the output power is controllable, and the power output is controlled by the controller and the control device, and the charging success rate is high.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (6)

1. An automatic charging device for a mobile robot, characterized in that it includes a mobile robot, a conductive head, a flexible adaptation mechanism, an extension mechanism, a power conversion module, a controller, a control device, and a robot detection device, wherein the charging part of the mobile robot In contact with the conductive head, the conductive head is located on the flexible adaptation mechanism, the flexible adaptation mechanism is located on the extension mechanism, the controller is located on the side of the extension mechanism, and the power conversion module, robot detection equipment and control devices are connected to the controller through cables. 2. The automatic charging device for a mobile robot according to claim 1, wherein the robot detection device is a two-dimensional code scanner or a one-dimensional code scanner or an infrared detection device or a laser detection device. 3. The automatic charging device for a mobile robot according to claim 1, wherein the flexible adaptation mechanism includes an elastic device, a first guide bushing, a second guide bushing, and a fixed plate, wherein the conductive head contacts the After moving the robot, the elastic device will be compressed backwards. The elastic device provides continuous pressure to the conductive head. The conductive head moves along the first guide bushing and the second guide bushing. The first guide bushing and the second guide bushing are fixed. On the fixed plates, the elastic means are located between two fixed plates. 4. The automatic charging device for a mobile robot according to claim 3, wherein the extension mechanism includes an extension power device, a guide rail, a locking mechanism, and an elastic reset mechanism, and the end of the extension power device is connected to the fixed plate, The guide rail is a guiding mechanism and is connected with the fixed plate. The locking mechanism is located under the protruding power device. When the protruding mechanism is retracted, the locking mechanism protrudes and hooks the fixed plate. The elastic reset mechanism is located between the fixed plate and the protruding power device. , the elastic return mechanism provides thrust when the extension mechanism is stretched out, and also keeps the extension mechanism flexible. 5. The automatic charging device of the mobile robot according to claim 4, characterized in that, the extending power device is an electromagnet or a linear motor or a cylinder or a ball screw or a rack and pinion or a belt. 6. A method for using an automatic charging device of a mobile robot, comprising the following steps: Step 1, the mobile robot stops after moving to the charging position; Step 2, the robot detection device scans the code on the mobile robot to determine whether the mobile robot is in place and records the robot number; Step 3, the robot detection equipment transmits the information to the controller; Step 4, the controller controls the extension mechanism to extend; Step five, the extension mechanism contacts the conductive head to the mobile robot; Step 6, the flexible adaptation mechanism ensures that the conductive head is in full contact with the mobile robot; Step 7, the controller turns on the control device to make the conductive head generate voltage; Step 8: After the mobile robot detects the voltage, turn on the power supply of the mobile robot and start charging; Step nine, when the battery is fully charged, the mobile robot cuts off the power supply; Step ten, the control device notifies the controller after detecting that there is no voltage; Step eleven, the controller disconnects the power supply and retracts the extension mechanism; Step 12, the mobile robot leaves the charging position.