CN112383109A - Automatic recharging system of mobile robot - Google Patents
Automatic recharging system of mobile robot Download PDFInfo
- Publication number
- CN112383109A CN112383109A CN202011304577.3A CN202011304577A CN112383109A CN 112383109 A CN112383109 A CN 112383109A CN 202011304577 A CN202011304577 A CN 202011304577A CN 112383109 A CN112383109 A CN 112383109A
- Authority
- CN
- China
- Prior art keywords
- infrared
- module
- mobile robot
- receiving module
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明公开了一种移动机器人的自动回充系统，包括充电座和移动机器人，充电座包括充电座主控模块以及分别与充电座主控模块连接的双目红外发射模块、左定位红外发射模块、右定位红外发射模块、左屏障红外发射模块和右屏障红外发射模块，双目红外发射模块用于从充电座正面向外发射红外编码信号以引导移动机器人回充，左定位红外发射模块和右定位红外发射模块用于从充电座正面向外发射红外信号以定位移动机器人与充电座正面的距离，左屏障红外发射模块和右屏障红外发射模块用于分别从充电座的左右两侧向外发射作为屏障的红外编码信号。本发明实现了移动机器人自动对准上座充电，可靠性和效率高，结构简单，易于实现。
The invention discloses an automatic recharging system for a mobile robot, comprising a charging base and a mobile robot. The charging base includes a charging base main control module, a binocular infrared emission module and a left positioning infrared emission module respectively connected with the charging base main control module. , Right positioning infrared transmitter module, left barrier infrared transmitter module and right barrier infrared transmitter module, binocular infrared transmitter module is used to emit infrared coded signals from the front of the charging base to guide the mobile robot to recharge, left positioning infrared transmitter module and right The positioning infrared emission module is used to emit infrared signals from the front of the charging base to locate the distance between the mobile robot and the front of the charging base. The left barrier infrared emission module and the right barrier infrared emission module are used to emit from the left and right sides of the charging base respectively. Infrared encoded signal as barrier. The invention realizes that the mobile robot automatically aligns with the upper seat for charging, has high reliability and efficiency, has a simple structure and is easy to implement.
Description
Technical Field
The invention belongs to the technical field of automatic charging control of robots, and particularly relates to an automatic recharging system of a mobile robot.
Background
With the rapid development of society and science and technology, intelligent robots have penetrated all aspects of social life of people, and the requirements of people on various autonomous mobile robots in the aspects of intellectualization, interactivity, practicability and the like are higher and higher. Such as: automatic robot of sweeping the floor, education robot, library guide robot, storage material transportation robot etc, its function is also constantly increasing, the robot is autonomic to be moved and is brought the transition of automatic recharging technique because of the supplementary energy, the automatic recharging technical demand of the mobile robot of intelligent at present is more and more powerful, do not adopt automatic recharging will lead to frequent manual loaded down with trivial details operation that charges and look for the electric quantity not enough and lead to shutting down in the place that is difficult for the discovery, efficiency and intelligent experience are extremely poor.
The existing automatic recharging scheme mainly comprises laser code scanning positioning, RF wireless positioning and visual positioning to realize automatic returning of the mobile robot, and the scheme is adopted, namely the hardware cost is high or the software control development is complex and long. In addition, the automatic back-charging scheme of the prior art can not realize the charging of the upper seat on the back of the mobile robot, and for some mobile robots, such as mobile cleaning robots, mobile education robots and material transportation robots, the mobile robots can be loaded with various kinds of hanging loads, and the charging elastic sheet cannot be placed at the front bottom shell or the rear bottom shell in anticipation of the position of the charging elastic sheet, but placed at the back, so that the automatic back-charging scheme is required to realize the charging of the upper seat on the back of the mobile robot.
Disclosure of Invention
The present invention is directed to an automatic recharging system for a mobile robot to solve the above problems.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a mobile robot's automatic system of recharging, including charging seat and mobile robot, the charging seat includes charging seat host system and the two mesh infrared emission modules of being connected with charging seat host system respectively, left side location infrared emission module, right side location infrared emission module, left side barrier infrared emission module and right barrier infrared emission module, two mesh infrared emission modules are used for openly outwards launching infrared code signal from the charging seat and recharges in order to guide mobile robot, left side location infrared emission module and right side location infrared emission module are used for openly outwards launching infrared signal from the charging seat and fix a position mobile robot and the positive distance of charging seat, left side barrier infrared emission module and right barrier infrared emission module are used for outwards launching the infrared code signal as the barrier from the left and right sides of charging seat respectively.
Furthermore, the binocular infrared emission module comprises a left eye infrared emission module and a right eye infrared emission module, the infrared wavelengths of the left eye infrared emission module and the right eye infrared emission module are 940nm, and the emission distance is 3-4 m.
Furthermore, the infrared wavelength of the left positioning infrared emission module and the infrared wavelength of the right positioning infrared emission module are 940nm, and the emission distance is 15 cm.
Furthermore, the infrared wavelength of the left barrier infrared emission module and the right barrier infrared emission module is 940nm, and the emission distance is 0.5 m.
Furthermore, the binocular infrared emission module, the left positioning infrared emission module, the right positioning infrared emission module, the left barrier infrared emission module and the right barrier infrared emission module respectively comprise an infrared light-emitting diode, a current-limiting resistor and a triode, the current-limiting resistor is used for limiting the current of the infrared light-emitting diode, the triode is connected with the infrared light-emitting diode in series, and the base of the triode is connected with the control output end of the charging seat main control module.
Furthermore, the left positioning infrared emission module and the right positioning infrared emission module are respectively arranged on the left side and the right side of the binocular infrared emission module.
Further, the mobile robot comprises a robot main control module, and a binocular infrared receiving module, a left monocular infrared receiving module, a right monocular infrared receiving module, a left positioning infrared receiving module and a right positioning infrared receiving module which are respectively connected with the robot main control module, wherein the binocular infrared receiving module, the left positioning infrared receiving module and the right positioning infrared receiving module are arranged at the front side of the mobile robot, the left monocular infrared receiving module and the right monocular infrared receiving module are respectively arranged at the left side and the right side of the mobile robot, the left positioning infrared receiving module and the right positioning infrared receiving module are used for receiving infrared signals transmitted by the left positioning infrared transmitting module or the right positioning infrared transmitting module so as to position the distance between the mobile robot and the front side of the charging seat, and the binocular infrared receiving module, the left monocular infrared receiving module and the right monocular infrared receiving module are used for receiving the binocular infrared signals transmitted by the binocular infrared transmitting module, And the infrared coding signal is transmitted by the left barrier infrared transmitting module or the right barrier infrared transmitting module.
Furthermore, the binocular infrared receiving module comprises a left eye infrared receiving module and a right eye infrared receiving module, the left eye infrared receiving module and the right eye infrared receiving module both comprise an infrared coding signal receiving unit and an RC filter circuit, and the RC filter circuit is used for filtering a power supply and an output signal of the infrared coding signal receiving unit.
Furthermore, the left monocular infrared receiving module and the right monocular infrared receiving module respectively comprise an infrared coding signal receiving unit and an RC filter circuit, and the RC filter circuit is used for filtering a power supply and an output signal of the infrared coding signal receiving unit.
Furthermore, the left positioning infrared receiving module and the right positioning infrared receiving module respectively comprise an infrared receiving tube, a filter circuit and an AD sampling circuit, the AD sampling circuit is used for AD sampling of analog signals output by the infrared receiving tube, and the filter circuit is used for filtering of sampling signals of the AD sampling circuit.
The invention has the beneficial technical effects that:
according to the invention, through arranging the binocular infrared emission module, the left positioning infrared emission module and the right positioning infrared emission module, the mobile robot can be accurately, quickly and effectively charged by sitting on the front side or sitting on the back side, the safety, the reliability and the success rate are high, the circuit structure is simple, the realization is easy, the cost is greatly reduced, and the application range is wide.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 block diagram of the electrical connections of a charging cradle according to an embodiment of the present invention;
fig. 2 is an electrical connection block diagram of a mobile robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a charging cradle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of signal transmission of various infrared emission modules of a charging dock according to an embodiment of the present invention;
FIG. 6 is a partial circuit diagram one of an embodiment of the present invention;
FIG. 7 is a second partial circuit diagram according to an embodiment of the present invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention will now be further described with reference to the accompanying drawings and detailed description.
As shown in fig. 1-7, an automatic recharging system for a mobile robot includes a charging base 1 and a mobile robot 2, where the charging base 1 includes a charging base main control module 1 and a binocular infrared emission module 12, a left positioning infrared emission module 13, a right positioning infrared emission module 14, a left barrier infrared emission module 15 and a right barrier infrared emission module 16, the binocular infrared emission module 12 is used to emit two infrared code signals from the front of the charging base 1 to guide the mobile robot 2 to recharge, the left positioning infrared emission module 13 and the right positioning infrared emission module 14 are used to emit infrared signals from the front of the charging base 1 to position the distance between the mobile robot 2 and the front of the charging base 1 when the mobile robot 2 is close to the front of the charging base 1, and the left barrier infrared emission module 15 and the right barrier infrared emission module 16 are used to emit infrared code signals as barriers from the left and right sides of the charging base 1 to the outside, respectively Number (n).
Specifically, the binocular infrared emitting module 12 includes a left eye infrared emitting module and a right eye infrared emitting module, the left eye infrared emitting module is configured to emit a left eye infrared coded signal, and the right eye infrared emitting module is configured to emit a right eye infrared coded signal, in this specific embodiment, the infrared wavelengths of the left eye infrared emitting module and the right eye infrared emitting module are 940nm, the emitting distance is about 3-4m, and the emitting angle is about 30 degrees, that is, the left eye infrared coded signal and the right eye infrared coded signal are both in a fan shape of about 30 degrees, as shown in fig. 5, but not limited thereto, in other embodiments, the wavelengths, the emitting distances, and the emitting angles of the left eye infrared emitting module and the right eye infrared emitting module may be selected according to actual needs.
Binocular infrared emission module 12 is used for guiding mobile robot 2 accurate alignment charging seat 1's positive intermediate position, also realizes simultaneously that the wide range leads mobile robot 2 to charging seat 1 near, through binocular accurate alignment, improves accuracy and efficiency.
In this specific embodiment, the infrared wavelength of the left positioning infrared emission module 13 and the infrared wavelength of the right positioning infrared emission module 14 are 940nm, the emission distance is about 15cm, and the emission angle is about 30 degrees, as shown in fig. 5, but not limited thereto, in other embodiments, the wavelengths, the emission distances, and the emission angles of the left positioning infrared emission module 13 and the right positioning infrared emission module 14 may be selected according to actual needs.
The infrared signals emitted by the left positioning infrared emission module 13 and the right positioning infrared emission module 14 realize proximity distance indication when the mobile robot sits on the front, so that overshoot and collision to the charging seat 1 in the process of sitting on the mobile robot are prevented, and meanwhile, the alignment signal confirmation of the mobile robot 2 is mutually verified by matching with the binocular infrared emission module 12, so that the accurate alignment is further improved; when the back upper seat is needed to be charged, close distance indication is achieved, the binocular infrared emission module 12 guides the mobile robot 2 to be in front of the charging seat 1, the infrared signals emitted by the left positioning infrared emission module 13 and the right positioning infrared emission module 14 are collected to confirm the actual distance from the charging seat 1, then the robot body is overturned by 180 degrees, and then the robot body retreats to the charging seat 1, and automatic back upper seat charging with high efficiency and accuracy is achieved.
In this embodiment, the infrared wavelength of the left barrier infrared emission module 15 and the right barrier infrared emission module 16 is 940nm, the emission distance is about 0.5m, the emission angle is about 90 degrees, and the coverage area is in a sector shape of a 4-th circle, and covers the range near the left side or the range near the right side of the charging stand 1, as shown in fig. 5, but not limited thereto, in other embodiments, the wavelength, the emission distance, and the emission angle of the left barrier infrared emission module 15 and the right barrier infrared emission module 16 may be selected according to actual needs.
The infrared code signal of left protective screen infrared emission module 15 and the transmission of right protective screen infrared emission module 16 is used for preventing that mobile robot 2 from hitting charging seat 1 at the operation in-process, and when mobile robot 2 received this infrared code signal promptly, can know that mobile robot 2 is close to charging seat 1 to can make corresponding action of evading, prevent to hit charging seat 1, also realize the wide range and guide mobile robot 2 to charging seat 1 near when the execution looks for charging seat 1 simultaneously.
In this embodiment, the binocular infrared emitting module 12, the left positioning infrared emitting module 13, the right positioning infrared emitting module 13, the left barrier infrared emitting module 15 and the right barrier infrared emitting module 16 all include an infrared light emitting diode, a current limiting resistor and a triode, the current limiting resistor is used for limiting the current of the infrared light emitting diode, the triode is connected in series with the infrared light emitting diode, the base of the triode is connected with the control output end of the charging stand main control module, the specific circuit connection is shown in fig. 6 and 7 in detail, and this is not described in detail, the circuit structure is adopted, the structure is simple, the implementation is easy, the cost is low, but not limited thereto.
In this embodiment, the left positioning infrared emission module 13 and the right positioning infrared emission module 14 are respectively disposed on the left side and the right side of the binocular infrared emission module 12, so that the structural layout is more reasonable and compact.
In this embodiment, the mobile robot 2 includes a robot main control module 21, and a binocular infrared receiving module 22, a left monocular infrared receiving module 25, a right monocular infrared receiving module 26, a left positioning infrared receiving module 23, and a right positioning infrared receiving module 24 respectively connected to the robot main control module 21, the binocular infrared receiving module 22, the left positioning infrared receiving module 23, and the right positioning infrared receiving module 24 are disposed at the front side of the advancing direction of the mobile robot 2, the left monocular infrared receiving module 25 and the right monocular infrared receiving module 26 are respectively disposed at the left and right sides of the mobile robot 2, the left positioning infrared receiving module 23 and the right positioning infrared receiving module 24 are used for receiving the infrared signals emitted by the left positioning infrared emitting module 13 and the right positioning infrared emitting module 14 to position the distance between the mobile robot 2 and the front side of the charging stand 1, the binocular infrared receiving module 22, the left monocular infrared receiving module 25 and the right monocular infrared receiving module 26 are used for receiving the infrared coding signals transmitted 16 by the binocular infrared transmitting module 22, the left barrier infrared transmitting module 15 or the right barrier infrared transmitting module.
In this embodiment, the binocular infrared receiving module 22 includes a left eye infrared receiving module and a right eye infrared receiving module, the left eye infrared receiving module and the right eye infrared receiving module are arranged on the front side of the mobile robot 2 at left and right intervals, the left eye infrared receiving module and the right eye infrared receiving module both include an infrared coded signal receiving unit and an RC filter circuit, and the RC filter circuit is used for filtering a power supply and an output signal of the infrared coded signal receiving unit.
The left positioning infrared receiving module 23 and the right positioning infrared receiving module 24 respectively comprise an infrared receiving tube, a filter circuit and an AD sampling circuit, the AD sampling circuit is used for AD sampling of analog signals output by the infrared receiving tube, the filter circuit is used for filtering of the sampling signals of the AD sampling circuit and outputting the signals to the robot main control module 21, and the robot main control module 21 can obtain the distance between the mobile robot 2 and the front side of the charging seat 1 according to the size of the sampling signals.
In this embodiment, the left positioning infrared receiving module 23 and the right positioning infrared receiving module 24 are respectively disposed on the left and right sides of the binocular infrared receiving module 22.
The left monocular infrared receiving module 25 and the right monocular infrared receiving module 26 respectively include an infrared coded signal receiving unit and an RC filter circuit for filtering a power supply and an output signal of the infrared coded signal receiving unit. The left monocular infrared receiving module 25 and the right monocular infrared receiving module 26 are arranged, so that the efficiency of the mobile robot 2 for searching for the charging seat is further improved, and the reliability is improved.
In this embodiment, the charging seat main control module 11 and the robot main control module 21 can be implemented by a single chip or a PLC controller.
The specific circuit connections for this embodiment are shown in fig. 6 and 7, which are not described in detail, but are not limited thereto.
When the mobile robot 2 needs to be recharged, the mobile robot 2 starts to search the charging stand 1, when the mobile robot 2 enters an infrared coding signal area transmitted by the binocular infrared transmitting module 12, the left barrier infrared transmitting module 15 or the right barrier infrared transmitting module 16, the binocular infrared receiving module 22, the left monocular infrared receiving module 25 or the right monocular infrared receiving module 26 will receive corresponding infrared coding signals, and transmit the infrared coding signals to the robot main control module 21 after decoding, then the robot main control module 21 judges which infrared receiving module receives the infrared coding signals and which infrared coding signals, so as to judge the position of the mobile robot 2, further control the mobile robot 2 to move forward, backward, left turn, right turn and the like to adjust the posture, and enable the mobile robot 2 to slowly move to the infrared coding signal area transmitted by the binocular infrared transmitting module 12, then, the binocular infrared receiving module 22 receives the infrared coding signal transmitted by the binocular infrared transmitting module 12, guides the mobile robot 2 to accurately aim at the middle position of the front surface of the charging seat 1 and slowly approaches to the charging seat 1, and then, the left positioning infrared receiving module 23 and the right positioning infrared receiving module 24 respectively receive the infrared signals transmitted by the left positioning infrared transmitting module 13 and the right positioning infrared transmitting module 14, so that the actual distance from the mobile robot 2 to the charging seat 1 is obtained, the approach distance indication during the front seat-up is realized, and the charging seat 1 is prevented from being overshot in the seat-up process; when the back upper seat is needed to be charged, the approach distance indication is realized, the mobile robot 2 is confirmed to be actually away from the charging seat 1, then the robot body is overturned by 180 degrees and is retreated to the charging seat 1, and the automatic back upper seat charging with high efficiency and accuracy is realized.
The invention can realize accurate, rapid and effective front upper seat charging or back upper seat charging of the mobile robot, has high safety and reliability, simple circuit structure, easy realization, greatly reduced cost and wide application range.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011304577.3A CN112383109A (en) | 2020-11-19 | 2020-11-19 | Automatic recharging system of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011304577.3A CN112383109A (en) | 2020-11-19 | 2020-11-19 | Automatic recharging system of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112383109A true CN112383109A (en) | 2021-02-19 |
Family
ID=74584469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011304577.3A Pending CN112383109A (en) | 2020-11-19 | 2020-11-19 | Automatic recharging system of mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112383109A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890707A (en) * | 2021-03-18 | 2021-06-04 | 广东乐生智能科技有限公司 | Dust collector of intelligent floor sweeping and dust collecting device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070096675A1 (en) * | 2005-10-27 | 2007-05-03 | Lg Electronics Inc. | Mobile robot charge station return system |
| US20080174268A1 (en) * | 2006-12-27 | 2008-07-24 | Keun Mo Koo | Automatic charging apparatus of autonomous mobile robot and automatic charging method using the same |
| CN106026288A (en) * | 2016-07-18 | 2016-10-12 | 旗瀚科技有限公司 | Robot automatic charging system and charging method thereof |
| CN106406316A (en) * | 2016-10-26 | 2017-02-15 | 山东大学 | Autonomous charging system and charging method thereof for intelligent home accompanying robot |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN213521365U (en) * | 2020-11-19 | 2021-06-22 | 厦门博电电子有限公司 | Automatic recharging system of mobile robot |
-
2020
- 2020-11-19 CN CN202011304577.3A patent/CN112383109A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070096675A1 (en) * | 2005-10-27 | 2007-05-03 | Lg Electronics Inc. | Mobile robot charge station return system |
| US20080174268A1 (en) * | 2006-12-27 | 2008-07-24 | Keun Mo Koo | Automatic charging apparatus of autonomous mobile robot and automatic charging method using the same |
| CN106026288A (en) * | 2016-07-18 | 2016-10-12 | 旗瀚科技有限公司 | Robot automatic charging system and charging method thereof |
| CN106406316A (en) * | 2016-10-26 | 2017-02-15 | 山东大学 | Autonomous charging system and charging method thereof for intelligent home accompanying robot |
| CN106814739A (en) * | 2017-04-01 | 2017-06-09 | 珠海市微半导体有限公司 | A kind of mobile robot recharges control system and control method |
| CN213521365U (en) * | 2020-11-19 | 2021-06-22 | 厦门博电电子有限公司 | Automatic recharging system of mobile robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890707A (en) * | 2021-03-18 | 2021-06-04 | 广东乐生智能科技有限公司 | Dust collector of intelligent floor sweeping and dust collecting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102983454B (en) | Artificial intelligence charging system | |
| TWI305610B (en) | Path guidance method for autonomous mobile device | |
| CN101375781B (en) | Ground processing system and method for contacting joint of ground processing equipment and charging stand | |
| CN102262407B (en) | Guide and operating system | |
| CN100999078A (en) | Automatic charging method of robot and its automatic charging device | |
| CN201469183U (en) | Ground processing system | |
| CN110138073B (en) | Solar online autonomous hybrid charging device and method for electric power inspection robot | |
| KR101738931B1 (en) | Signal guided cleaning device and signal guided cleaning system thereof | |
| CN104416568B (en) | The control method of automatic working system and automatic running device | |
| RU2005114218A (en) | AUTOMATED CLEANING SYSTEM AND METHOD FOR ITS CHARGING FROM EXTERNAL CHARGING DEVICE | |
| CN105511497A (en) | Automatic robot charging system with voice prompting function | |
| CN102983460B (en) | Intelligent plug device of artificial intelligence charging system | |
| CN107896008A (en) | Robot self-service system for charging and method | |
| CN210669643U (en) | Control system of wireless charger | |
| CN213521365U (en) | Automatic recharging system of mobile robot | |
| CN112383109A (en) | Automatic recharging system of mobile robot | |
| CN108469819A (en) | A kind of z font return path planing methods of automatic dust absorption machine people | |
| CN110138072B (en) | Solar online charging device and method for power inspection robot | |
| CN108988423A (en) | Charging pile and its recognition methods, intelligent mobile device, system | |
| CN113440062A (en) | Base station, self-moving device and docking system | |
| CN208489662U (en) | Cradle, mobile robot and automatic charging system | |
| CN102983461B (en) | Intelligent socket of artificial intelligence charging system | |
| CN215227260U (en) | Mobile robot, base station and system of mobile robot | |
| CN106093789A (en) | A kind of household service robot realizing electric power detection distant early warning | |
| CN210686371U (en) | Smart fan with remove base |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |