CN108551192A - The wireless charging system of mobile robot - Google Patents
The wireless charging system of mobile robot Download PDFInfo
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- CN108551192A CN108551192A CN201810579177.XA CN201810579177A CN108551192A CN 108551192 A CN108551192 A CN 108551192A CN 201810579177 A CN201810579177 A CN 201810579177A CN 108551192 A CN108551192 A CN 108551192A
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Abstract
The embodiment of the invention discloses a kind of wireless charging systems of mobile robot, belong to Intelligent logistics technical field, which includes：Mobile robot, the mobile robot are equipped with rechargable power supplies and wireless charging receiving terminal；Workspace, the mobile robot are waited in line when executing task in the workspace, and wireless charging transmitting terminal is equipped in the workspace；Stand in channel area, the mobile robot are advanced when executing task in the path of travel area, and the path of travel area is equipped with one or more charged areas, and wireless charging transmitting terminal is equipped in the charged area；The mobile robot executes wireless charging operation when the workspace is waited in line and/or at the charged area in being advanced through the path of travel area.By the scheme of the application, the working efficiency of mobile robot is improved.
Description
Technical Field
The invention relates to the technical field of intelligent logistics, in particular to a wireless charging system of a mobile robot.
Background
With the development of electronic commerce, new retail modes are continuously created, the shopping concepts of people are continuously changed, the consumption experience is more and more emphasized, and the timeliness plays a crucial role in the user experience.
Warehousing services, an important link behind consumer services, play a crucial role in the timeliness of goods. At present, large logistics enterprises at home and abroad try to accelerate the handling speed of a warehouse to improve the timeliness of goods and reduce the transportation time of goods. The mainstream intelligent warehousing scheme at present mainly comprises an automatic three-dimensional warehouse solution and an intelligent warehousing robot solution. All of them adopt a form of 'goods to people' for directly transporting goods to a goods picker, wherein the automatic three-dimensional warehouse has high goods picking efficiency and high throughput, but has high construction and maintenance cost and inflexible use. Although the goods picking efficiency of the intelligent storage robot is lower than that of an automatic three-dimensional warehouse, the intelligent storage robot is flexible in use mode, low in input cost, high in input-output ratio and flexible in operation and maintenance.
The intelligent warehousing robot solution for the goods-to-people robot is widely popularized, and the robot usually works by using a battery carried by the robot, so that the condition that the battery is dead in the goods conveying process of the robot can be caused by the limitation of conveying mileage or the weight of the goods during the goods conveying process of the robot. Or, in order to ensure that the robot for transporting the goods has sufficient electric quantity, the robot needs to go to a preset destination in advance for charging under the condition of remaining a certain electric quantity, and the frequent charging operation of the robot can reduce the utilization rate of the robot.
Disclosure of Invention
In the existing automatic warehouse robot system, in general, if reasonable electric quantity and path planning are not performed, the robot may run out of electric quantity in the half-way of transportation. Meanwhile, the robot is frequently charged, and the service efficiency of the robot is also affected. In addition, in order to cooperate with the robot for charging, special charging areas need to be arranged, and the arrangement of the charging areas also occupies the robot.
In view of the above, embodiments of the present invention provide a wireless charging system for a mobile robot, which at least partially solves the problems in the prior art.
The embodiment of the invention provides a wireless charging system of a mobile robot, which comprises:
the mobile robot is provided with a rechargeable power supply and a wireless charging receiving end;
a working area in which the mobile robot queues up while performing a task;
a travel passage zone in which the mobile robot travels while performing a task;
the working area is provided with a wireless charging transmitting terminal, and/or the travelling channel area is provided with one or more charging areas, and the charging areas are provided with wireless charging transmitting terminals;
the mobile robot performs wireless charging operations while waiting in line at the work area and/or while traveling through a charging area in the travel corridor area.
According to a specific implementation manner of the embodiment of the present invention, the system further includes:
a server controlling a wireless charging operation of the mobile robot.
According to a specific implementation manner of the embodiment of the invention, the server acquires the current electric quantity value of the mobile robot which is executing the task;
when the current electric quantity value is smaller than a first threshold value, the server sends a charging instruction to the mobile robot which is executing the task, and the mobile robot which is executing the task executes wireless charging operation when the mobile robot queues in a working area and waits and/or travels through a charging area in the travel passage area according to the charging instruction.
According to a specific implementation of an embodiment of the invention,
the server acquires the current electric quantity value of the mobile robot waiting in line in a working area;
and when the current electric quantity value is smaller than a second threshold value, the server sends a charging instruction to the mobile robot waiting in line in the working area, and the mobile robot executes wireless charging operation when waiting in line in the working area according to the charging instruction.
According to a specific implementation of an embodiment of the invention,
the server acquires a current electric quantity value of the mobile robot to be assigned with the task, when the current electric quantity value is smaller than a third threshold value, the server preferentially assigns the task to the mobile robot and sends a task instruction and a charging instruction to the mobile robot, and the mobile robot executes wireless charging operation when waiting in a queue in a working area and/or passing through a charging area in the travelling channel area according to the charging instruction.
According to a specific implementation manner of the embodiment of the present invention, the task instruction includes a travel path, and the travel path passes through a charging area in the travel passage area.
According to a specific implementation manner of the embodiment of the invention, the mobile robot detects the current electric quantity value of the rechargeable power supply in real time and sends the current electric quantity value to the server;
or,
and the server sends a reporting instruction to the mobile robot, and the mobile robot detects the current electric quantity value of the rechargeable power supply according to the reporting instruction and reports the current electric quantity value to the server.
According to a specific implementation manner of the embodiment of the present invention, the mobile robot obtains a current electric quantity value of the rechargeable power supply in real time, and when the current electric quantity value is smaller than a fourth threshold value, the mobile robot waits in a queue in a work area and/or automatically performs a wireless charging operation when traveling through a charging area in the travel passage area.
According to a specific implementation manner of the embodiment of the present invention, when the current electric quantity value is greater than or equal to a fifth threshold value, the mobile robot automatically avoids the charging area when traveling through the travel passage area, or the mobile robot does not perform a wireless charging operation when waiting in a queue at a work area and/or when traveling through the charging area in the travel passage area.
According to a specific implementation manner of the embodiment of the invention, when the current electric quantity value is greater than or equal to the sixth threshold value, the mobile robot runs at the first speed.
According to a specific implementation manner of the embodiment of the invention, when the current electric quantity value is smaller than the sixth threshold value, the mobile robot travels through the charging area in the travel passage zone at the second speed, and the second speed is smaller than the first speed.
According to a specific implementation manner of the embodiment of the invention, the server controls the transmitting power of the wireless charging transmitting terminal based on the current electric quantity value.
According to the wireless charging system of the mobile robot, the wireless charging module is arranged on the robot, so that the robot can perform charging operation in a working area while working, effective charging management is performed by using the gap time of queuing or goods conveying of the robot, the robot does not need to perform charging operation when the electric quantity is low, and the conveying efficiency of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wireless charging system of a mobile robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a target shelf structure according to an embodiment of the present invention;
fig. 4 is a schematic flow chart illustrating a process of controlling a mobile robot to wirelessly charge by a server according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides a wireless charging system for a mobile robot, including a mobile robot 1, a work area 4, and a travel passage area 6.
The mobile robot 1 is responsible for transporting articles, the mobile robot 1 can communicate with the server 3, and the mobile robot 1 can acquire form contents through communication connection with the server 3. The contents of the form may be an order of goods to be sorted according to the needs of the user, the form may contain various types of articles (goods to be sorted), and the articles to be sorted on the same form need to be packaged by one or more appliances (e.g., turnover boxes). The items corresponding to the forms are usually placed by using a storage container (e.g., a transfer box), and after the mobile robot 1 acquires the contents of the forms, the storage container 4 associated with the forms can be selected and transported. As an example, referring to fig. 2, the mobile robot 1 has a gripping device 104 and a plurality of temporary storage locations 1031.
The mobile robot 1 is provided with a power supply, the power supply provides a power source for the mobile robot, and the power supply can be charged in a wired or wireless mode, so that the mobile robot is provided with a wireless charging receiving end 1001. The wireless charging receiving terminal 1001 may perform wireless charging in various ways. For example, the coupling may be performed by various means such as electromagnetic coupling, photoelectric coupling, or electromagnetic resonance.
A work area 4 is provided near the operation table, the operation table is used for allocating articles to be transported to the mobile robot 1, the work area 4 is applied to a plurality of scenarios of article transportation, for example, the work area 4 may be used for article sorting, or other application scenarios of operating articles, and the application scenario of the work area 4 is not limited herein. For example, when the sorting method is applied to a sorting scene, the working area 4 may be a sorting platform, and the traveling passage area 6 may be an intermediate passage formed by the partitions arranged in the matrix on the sorting platform; in the case of picking scenarios, the working area 4 may be a picking workstation and the travel lane area 6 may be an intermediate lane formed by rectangular shelves.
When the mobile robot 1 performs a task, it is generally necessary to wait for the operation desk to perform task allocation on the mobile robot 1 in the working area 4 (for example, allocating an article to be transported, or sorting an article transported on the mobile robot 1, etc.), and at this time, the mobile robot 1 generally needs to wait for a period of time in the working area 4, and therefore, a wireless charging transmitting terminal 5 is provided below the working area 4.
The wireless charging transmitting terminal 5 can perform wireless transmission in various modes such as electromagnetic coupling, photoelectric coupling, electromagnetic resonance and the like.
Taking electromagnetic coupling as an example, the wireless charging transmitting terminal 5 includes a coil inside, and the coil may be any one of a ring coil, a solenoid coil, or a figure-8 coil, only from the winding manner of the coil. The annular coil is the magnetic coupling structure which is adopted at the earliest time, and is convenient to wind and simple to analyze. The solenoid coil can adopt a typical 'copper-clad-iron' structure, and the magnetic force lines of the solenoid coil are concentrated, so that the coupling coefficient is high. The 8-shaped coil is similar to the annular coil and is formed by connecting two annular coils in series in an opposite direction to generate magnetic fields in opposite directions.
The mobile robot 1 generally carries articles from the goods shelf 2 to the operation table, and for this purpose, the system is provided with a traveling passage area 6 in which the mobile robot 1 travels when performing tasks, the traveling passage area being provided with one or more charging areas in which wireless charging transmitters 5 are provided. By arranging a plurality of charging areas in the traveling passage area 6, the robot can charge while working in the process of carrying articles in the traveling passage area.
Referring to fig. 2, an embodiment of the present invention provides a mobile robot 1, which includes a driving device 101, a body 102, a receiving device 103, and a gripping device 104.
The driving device 101 is a driving component of the mobile robot 1, and as an example, the driving device 101 may include one or more wheels, and the mobile robot 1 is moved by rolling of the wheels. The driving device 101 may be disposed at a bottom of the mobile robot 1. Of course, the driving device 101 may be provided in other parts of the mobile robot 1.
The mobile robot 1 can communicate with a server that performs article transportation scheduling, and the communication method may be a wired method or a wireless method. By communicating with the scheduling server, the mobile robot 1 can know an article transportation task including destination coordinates assigned to the mobile robot 1 and a specific ID identification (e.g., article number, etc.) of a target article, and the driving device 101 automatically moves the mobile robot 1 to a preset position based on the task received by the mobile robot 1.
The body 102 is an integral support member of the mobile robot 1, and as one case, the body 102 is disposed above the driving device 101, and the body 102 is used to support the mobile robot 1.
In order to facilitate the transportation of the articles, a containing device 103 for placing one or more articles is disposed on the mobile robot 1, the containing device 103 is disposed on the body 102, the containing device 103 has one or more temporary storage locations 1031, and each temporary storage location 1031 can place one or more articles 3 to be transported.
After the driving device 101 transports the mobile robot 1 to a preset position, the target item is automatically selected by the grasping device 104. The grabbing device 104 selects a target item from the item storage device corresponding to the preset position based on the task received by the mobile robot 1, and automatically places the selected target item in the temporary storage location 1031 of the accommodating device 103.
The gripping device 104 can be implemented in various ways, and according to a specific implementation manner of the embodiment of the present invention, the gripping device 104 includes a telescopic assembly 1042, the telescopic assembly 1042 selects a target item from the item storage device, and in order to cooperate with the telescopic assembly 1042, the gripping device 104 can further include a telescopic support 1043, and the telescopic support 1043 is used for supporting the telescopic assembly 1042.
In order to place target objects with different heights into the temporary storage location, according to a specific implementation manner of the embodiment of the present invention, the gripping device 104 includes a lifting assembly 1045, the lifting assembly 1045 lifts the telescopic assembly 1042 to a height matching with the target object, and the lifting assembly 1045 may be any device capable of lifting and lowering the height.
In the process of selecting an article, the gripping device 104 needs to perform posture adjustment based on actual needs, and according to a specific implementation manner of the embodiment of the present invention, the automatic article transportation equipment further includes: the rotating member 105, the accommodating device 103 and the grasping device 104 are disposed above the rotating member 105.
The telescopic assembly 1042 may select an article in a plurality of ways, and according to a specific implementation manner of the embodiment of the present invention, the telescopic assembly 1042 includes a clamping portion 1041, and the clamping portion 1041 selects a target article from the article storage device corresponding to the preset position in a clamping manner.
It should be understood that the structure of the mobile robot shown above is only an exemplary one, and the structure of the mobile robot is not limited in the present invention.
Fig. 3 is a schematic diagram of a shelf 2 according to an embodiment of the present invention, and the storage container and the picking container may be a specific implementation form of the shelf 2, and the shelf 2 stores the items 7. In a particular embodiment, the pallet 2 comprises a plurality of storage bins, each capable of containing an item 7. In addition, in certain embodiments, the items 7 may also be suspended from hooks or bars within the shelf 2 or on the shelf 2. The items 7 can be placed on the shelf 2 in any suitable manner on the interior or exterior surface of the shelf 2. The pallet 2 can be rolled, carried, or otherwise moved by the mobile robot 1. In order to facilitate the movement of the pallet 2 by the handling robot, the pallet 2 comprises one or more supports 202 and temporary pallet identification points 201 for identifying the temporary pallet, and the item storage system may comprise any suitable number of pallets 2.
Item 7 represents any item suitable for storing, sorting, or transporting in an automated inventory, warehouse, manufacturing, and/or parts handling system, which may be any material, and may be a living or inanimate object. As an example, the item 7 may represent an item of a commodity stored in a warehouse. The mobile robot 1 may retrieve a designated shelf 2, which shelf 2 contains a particular item 7 associated with the customer order to be packaged for delivery to the customer or other party.
As another example, the item 7 may represent baggage stored in a baggage facility at an airport. The mobile robot 1 can retrieve the racks 2 containing the baggage to be transported, tracked. This may include selecting a particular baggage item for explosives screening, moving a baggage item associated with a flight that has switched gates, or removing baggage items belonging to passengers that have missed a flight.
As yet another example, the item 7 may represent various components of a manufacturing kit. More specifically, these components may represent components intended to be included in an assembled product, such as computer components for a customized computer system. In such an embodiment, the mobile robot 1 may retrieve the specific component identified by the specification associated with the customer order.
As yet another example, the item 7 may represent a person. For example, in a hospital environment, the shelf 2 may represent a bed containing a particular patient. Thus, the item storage system may be configured to provide a safe and effective system for moving hospital beds, which limits the possibility of patient injury and reduces the possibility of errors due to human error. In general, items 7 may be any suitable items suitable for storage in any suitable form of shelf 2.
In operation, the mobile robot 1 is able to move between points within a workspace associated with an item storage system and, when coupled to a rack 2, is able to transport the rack 2 between locations within the workspace and may also acquire picked objects on the target rack by way of the grasping device. Based on the received command, the mobile robot 1 may determine a movement destination of the mobile robot 1. For example, in a particular embodiment, the mobile robot 1 may receive information identifying the destination of the mobile robot 1 from an administrator or management device (e.g., server 3) of the item storage system. The mobile robot 1 may receive information via a wireless interface, a wired connection or using any other suitable means to facilitate communication with an operator or management device of the item storage system. Generally, the mobile robot 1 may be controlled to any desired place in whole or in part based on a command of a control management device or an operator.
By judging the current remaining capacity of the mobile robot, it can be determined whether the mobile robot needs to perform a charging operation, that is, the mobile robot 1 can be made to perform a wireless charging operation while waiting in a queue in the work area and/or while traveling through a charging area in the travel passage area.
A plurality of mobile robots 1 are usually arranged in the system, and charge and discharge control needs to be performed on all the mobile robots in the system, and for this purpose, according to a specific implementation manner of the embodiment of the present invention, the system further includes: a server 3, the server 3 controlling a wireless charging operation of the mobile robot 1. The server 3 is connected to the mobile robot in a wired or wireless communication manner.
The server 3 can perform charging control on the mobile robot 1 according to various strategies, and the current remaining electric quantity value of the mobile robot is an important basis for the server 3 to formulate a control strategy. According to a specific implementation manner of the embodiment of the invention, the server acquires the current electric quantity value of the mobile robot which is executing the task.
When the current electric quantity value is smaller than a first threshold value, the server 3 sends a charging instruction to the mobile robot 1 which is executing the task, and the mobile robot 1 which is executing the task executes a wireless charging operation when queuing in a work area and/or traveling through a charging area in the traveling passage area according to the charging instruction. The server 3 may determine the wireless charging area matched with the mobile robot 1 in various ways. For example, the server 3 may search for a wireless charging area that is closest to the mobile robot 1 and is in an idle state, and designate that the mobile robot 1 moves to the wireless charging area.
According to the condition of the remaining power of the mobile robot 1, the server 3 may control the mobile robot to perform a charging operation or not to perform the charging operation, according to a specific implementation manner of the embodiment of the present invention, the server obtains a current power value of the mobile robot 1 waiting in line in the working area 4, when the current power value is smaller than a second threshold (for example, 30%), the server 3 sends a charging instruction to the mobile robot 1 waiting in line in the working area 4, and the mobile robot 1 performs a wireless charging operation while waiting in line in the working area 4 according to the charging instruction.
As another situation, the server 3 may also determine the priority of charging for the mobile robot 1 according to the remaining power condition of the mobile robot 1, according to a specific implementation manner of the embodiment of the present invention, the server obtains the current power value of the mobile robot 1 to which the task is to be allocated, when the current power value is smaller than the third threshold, the server 3 preferentially allocates the task to the mobile robot 1 and sends the task instruction and the charging instruction to the mobile robot 1, and the mobile robot 1 performs the wireless charging operation when waiting in queue in the work area 4 and/or when traveling through the charging area in the travel lane area 6 according to the charging instruction. Through the arrangement mode, the mobile robot which urgently needs to be charged can be ensured to be charged preferentially.
The mobile robot 1 needs to perform charging operation in the process of transporting articles, and when the server 3 performs charging planning on the mobile robot 1, the server needs to set a motion path of the mobile robot 1 at the same time, so that the mobile robot can be ensured to achieve the purpose of charging while working. According to a specific implementation manner of the embodiment of the present invention, the task instruction includes a travel path, and the travel path passes through a charging area in the travel passage zone 6.
The electric quantity value of the mobile robot 1 can be transmitted to the server 3 in various ways, as an example, the mobile robot 1 can monitor the current electric quantity condition of the mobile robot at any time, and when the mobile robot 1 finds that the electric quantity of the mobile robot is too low to be charged, the mobile robot 1 can actively report the current electric quantity value condition and actively transmit the current electric quantity value to the server 3. According to a specific implementation manner of the embodiment of the present invention, the mobile robot 1 detects the current electric quantity value of the rechargeable power supply in real time and sends the current electric quantity value to the server 3.
In addition, the server 3 may also estimate the power usage of the mobile robot 1 according to the operating condition of the mobile robot 1, and when the server 3 estimates that the power of the mobile robot 1 is not much left, the server 3 sends a report instruction to the mobile robot 1, and the mobile robot 1 detects the current power of the rechargeable power supply according to the report instruction and reports the current power to the server 3.
By setting different situations to report the electric quantity value, the phenomenon that a meaningless electric quantity value is sent frequently can be avoided, and the performance influence or interference of frequent data requests on the server 3 or the mobile robot 1 is reduced.
In addition to the charging operation by the control of the server 3, the mobile robot 1 may search for a charging area by itself to perform self-charging. As an example, the mobile robot 1 may obtain position coordinates of all chargeable areas in the system from the server 3 in advance, and when the mobile robot 1 finds that it is in a low battery condition, it goes to the chargeable areas to perform charging operation. According to a specific implementation manner of the embodiment of the present invention, the mobile robot 1 obtains the current electric quantity value of the rechargeable power source in real time, and when the current electric quantity value is smaller than the fourth threshold value, the mobile robot 1 automatically performs the wireless charging operation while waiting in a queue in the working area 4 and/or while traveling through the charging area in the travel passage area 6.
Not all mobile robots need to be charged, and mobile robots that do not need to be charged can avoid the charging mobile robots by themselves in order to avoid the charging mobile robots from affecting the charging mobile robots. According to a specific implementation manner of the embodiment of the present invention, when the current electric quantity value is greater than or equal to the fifth threshold value, the mobile robot 1 automatically avoids the charging area while traveling through the travel passage area 6, or the mobile robot 1 does not perform the wireless charging operation while waiting in line at the work area 4 and/or while traveling through the charging area in the travel passage area 6. Therefore, a large number of chargeable areas are saved actively, and convenience is provided for the mobile robot needing to be charged.
The charging area is generally of a certain length, and the mobile robot 1 needs to move while being charged, and for this purpose, a moving speed needs to be set for the mobile robot in a charged state. According to a specific implementation manner of the embodiment of the present invention, when the current electric quantity value is greater than or equal to the sixth threshold value, the mobile robot 1 operates at the first speed, which may be a normal speed.
According to a specific implementation of the embodiment of the present invention, when the current charge value is less than the sixth threshold value, the mobile robot 1 travels through the charging area in the travel corridor 6 at the second speed, which is less than the first speed, for example, the second speed is 50% of the first speed.
Besides the control of charging by controlling the moving speed of the mobile robot, the charging efficiency can also be controlled by controlling the transmitting power of the wireless charging transmitting terminal. According to a specific implementation manner of the embodiment of the present invention, the server 3 controls the transmitting power of the wireless charging transmitting terminal based on the current electric quantity value of the mobile robot 1. For the mobile robot 1 with low electric quantity, the wireless charging transmitting terminal is controlled to charge with higher transmitting frequency, and for the electric quantity, the normal operation of the mobile robot 1 is not influenced, and the wireless charging transmitting terminal adopts lower transmitting frequency to perform charging operation. By controlling the wireless charging transmitting terminal to perform charging operation with different transmitting powers, on one hand, energy can be saved, and on the other hand, damage to a battery on the mobile robot caused by excessive charging power can be prevented.
According to the wireless charging system of the mobile robot, the wireless charging module is arranged on the robot, so that the robot can perform charging operation in a working area while working, effective charging management is performed by using the gap time of queuing or goods conveying of the robot, the robot does not need to perform charging operation when the electric quantity is low, and the conveying efficiency of the robot is improved.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
While ordinal numbers such as "first," "second," etc., will be used to describe various components, those components are not limited herein. The term is used only to distinguish one element from another. For example, a first component could be termed a second component, and, similarly, a second component could be termed a first component, without departing from the teachings of the inventive concepts. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, numbers, steps, operations, components, elements, or combinations thereof, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, elements, or groups thereof.
Terms used herein, including technical and scientific terms, have the same meaning as terms commonly understood by one of ordinary skill in the art, unless otherwise defined. It will be understood that terms defined in commonly used dictionaries have meanings that are consistent with their meanings in the prior art.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A wireless charging system for a mobile robot, comprising:
the mobile robot is provided with a rechargeable power supply and a wireless charging receiving end;
a working area in which the mobile robot queues up while performing a task;
a travel passage zone in which the mobile robot travels while performing a task;
the working area is provided with a wireless charging transmitting terminal, and/or the travelling channel area is provided with one or more charging areas, and the charging areas are provided with wireless charging transmitting terminals;
the mobile robot performs wireless charging operations while waiting in line at the work area and/or while traveling through a charging area in the travel corridor area.
2. The wireless charging system for a mobile robot according to claim 1, further comprising:
a server controlling a wireless charging operation of the mobile robot.
3. The wireless charging system for a mobile robot according to claim 2,
the server acquires a current electric quantity value of the mobile robot which is executing a task;
when the current electric quantity value is smaller than a first threshold value, the server sends a charging instruction to the mobile robot which is executing the task, and the mobile robot which is executing the task executes wireless charging operation when the mobile robot queues in a working area and waits and/or travels through a charging area in the travel passage area according to the charging instruction.
4. The wireless charging system for a mobile robot according to claim 3,
the server acquires the current electric quantity value of the mobile robot waiting in line in a working area;
and when the current electric quantity value is smaller than a second threshold value, the server sends a charging instruction to the mobile robot waiting in line in the working area, and the mobile robot executes wireless charging operation when waiting in line in the working area according to the charging instruction.
5. The wireless charging system for a mobile robot according to claim 2,
the server acquires a current electric quantity value of the mobile robot to be assigned with the task, when the current electric quantity value is smaller than a third threshold value, the server preferentially assigns the task to the mobile robot and sends a task instruction and a charging instruction to the mobile robot, and the mobile robot executes wireless charging operation when waiting in a queue in a working area and/or passing through a charging area in the travelling channel area according to the charging instruction.
6. The wireless charging system for a mobile robot according to claim 5, wherein the task instruction includes a travel path that passes through a charging area in the travel passage section.
7. The wireless charging system for a mobile robot according to claim 6,
the mobile robot detects the current electric quantity value of the chargeable power supply in real time and sends the current electric quantity value to the server;
or,
and the server sends a reporting instruction to the mobile robot, and the mobile robot detects the current electric quantity value of the rechargeable power supply according to the reporting instruction and reports the current electric quantity value to the server.
8. The wireless charging system for a mobile robot according to claim 2, wherein:
the mobile robot acquires the current electric quantity value of the rechargeable power supply in real time, and when the current electric quantity value is smaller than a fourth threshold value, the mobile robot waits in a queue in a working area and/or automatically executes wireless charging operation when traveling through a charging area in the traveling passage area.
9. The wireless charging system for a mobile robot according to claim 8, wherein:
when the current electric quantity value is larger than or equal to a fifth threshold value, the mobile robot automatically avoids the charging area when traveling through the traveling passage area, or the mobile robot does not perform wireless charging operation when waiting in a queue in a working area and/or traveling through the charging area in the traveling passage area.
10. The wireless charging system for a mobile robot according to any one of claims 3 to 9, wherein:
when the current electric quantity value is greater than or equal to a sixth threshold value, the mobile robot operates at a first speed.
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| CN201810579177.XA CN108551192A (en) | 2018-06-06 | 2018-06-06 | The wireless charging system of mobile robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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