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FR3049359B1 - METHOD FOR RECHARGING A BATTERY - Google Patents

METHOD FOR RECHARGING A BATTERY Download PDF

Info

Publication number
FR3049359B1
FR3049359B1 FR1652469A FR1652469A FR3049359B1 FR 3049359 B1 FR3049359 B1 FR 3049359B1 FR 1652469 A FR1652469 A FR 1652469A FR 1652469 A FR1652469 A FR 1652469A FR 3049359 B1 FR3049359 B1 FR 3049359B1
Authority
FR
France
Prior art keywords
robot
recharging
battery
base
recharging base
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.)
Expired - Fee Related
Application number
FR1652469A
Other languages
French (fr)
Other versions
FR3049359A1 (en
Inventor
Lucas SOUCHET
Nicolas Garcia
Louis-Kenzo Cahier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aldebaran SAS
Original Assignee
Aldebaran Robotics SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Aldebaran Robotics SA filed Critical Aldebaran Robotics SA
Priority to FR1652469A priority Critical patent/FR3049359B1/en
Priority to PCT/EP2017/056384 priority patent/WO2017162535A1/en
Publication of FR3049359A1 publication Critical patent/FR3049359A1/en
Application granted granted Critical
Publication of FR3049359B1 publication Critical patent/FR3049359B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de recharge d'une batterie d'un robot sur une base de rechargement de forme complémentaire au robot et apte à réceptionner le robot et destinée à recharger la batterie du robot, la base de rechargement étant connectable à une source électrique, la base de rechargement comprenant un connecteur électrique disposé de façon à permettre une connexion physique de la batterie avec le connecteur électrique permettant une connexion électrique de la batterie avec la base de rechargement pour effectuer la recharge de la batterie. Selon l'invention, le procédé comprend les étapes suivantes : • Positionnement du robot devant la base de rechargement dans un premier sens de déplacement privilégié (étape 1003), • Demi-tour du robot sur lui-même (étape 1004), • Recul du robot vers la base dans un second sens, opposé au premier sens de déplacement privilégié, pour entrer en contact avec la base (étape 1005), • Montée en reculant du robot sur la base de rechargement dans le second sens (étape 1006), • Positionnement du robot sur la base de rechargement jusqu'à la connexion physique (étape 1010), • Connexion électrique de la batterie avec la base de rechargement (étape 1019), • Recharge de la batterie (étape 1014).The invention relates to a method for recharging a battery of a robot on a recharging base of complementary shape to the robot and able to receive the robot and intended to recharge the battery of the robot, the recharging base being connectable to a source electrical, the recharging base comprising an electrical connector arranged so as to allow a physical connection of the battery with the electrical connector allowing an electrical connection of the battery with the recharging base to perform the recharging of the battery. According to the invention, the method comprises the following steps: • Positioning of the robot in front of the recharging base in a first preferred direction of movement (step 1003), • U-turn of the robot on itself (step 1004), • Recoil of the robot towards the base in a second direction, opposite to the first privileged direction of movement, to come into contact with the base (step 1005), • Climbing the robot backwards on the recharging base in the second direction (step 1006), • Positioning of the robot on the recharging base until the physical connection (step 1010), • Electrical connection of the battery with the recharging base (step 1019), • Recharging of the battery (step 1014).

FR1652469A 2016-03-23 2016-03-23 METHOD FOR RECHARGING A BATTERY Expired - Fee Related FR3049359B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1652469A FR3049359B1 (en) 2016-03-23 2016-03-23 METHOD FOR RECHARGING A BATTERY
PCT/EP2017/056384 WO2017162535A1 (en) 2016-03-23 2017-03-17 Method for recharging a battery

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1652469A FR3049359B1 (en) 2016-03-23 2016-03-23 METHOD FOR RECHARGING A BATTERY
FR1652469 2016-03-23

Publications (2)

Publication Number Publication Date
FR3049359A1 FR3049359A1 (en) 2017-09-29
FR3049359B1 true FR3049359B1 (en) 2020-01-10

Family

ID=56263858

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1652469A Expired - Fee Related FR3049359B1 (en) 2016-03-23 2016-03-23 METHOD FOR RECHARGING A BATTERY

Country Status (2)

Country Link
FR (1) FR3049359B1 (en)
WO (1) WO2017162535A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2828589B1 (en) * 2001-08-07 2003-12-05 France Telecom ELECTRIC CONNECTION SYSTEM BETWEEN A VEHICLE AND A CHARGING STATION OR THE LIKE
EP1819026A3 (en) * 2006-02-14 2017-08-30 Honda Motor Co., Ltd. Charging system for legged mobile robot
KR102118051B1 (en) * 2014-01-17 2020-06-02 엘지전자 주식회사 robot cleaning system and charge method of the same
FR3021914B1 (en) * 2014-06-05 2018-02-23 Aldebaran Robotics BASE FOR RECHARGING A BATTERY AND METHOD FOR CHARGING USING SUCH A BASE

Also Published As

Publication number Publication date
FR3049359A1 (en) 2017-09-29
WO2017162535A1 (en) 2017-09-28

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