201104999 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種充電系統，特別是指— 動載具的自動充電系統. '有移 【先前技術】 現今的移動載具（例如：機器人）通常是與一自動充電夺 置相互配合使用，以透過自動充電裝置對移動裁㈣Μ 電。 目前的自動充電裝置是採用影像、光線及雷射測距儀 來導引移動載具靠近或遠離自動充電裝置，但是雷射測距 儀過於昂貴，使得自動充電裝置在製作上需要耗費相當大 的成本，且在移動載具充電的過程中，自動充電裝置是透 過量測充電電流或電壓的方式，以判斷是否充電完成，如 此的判斷方式無法得知移動載具在充電時的及·時功率會 降低判斷的精確度。 【發明内容】 因此，本發明之目的，即在提供一種可以降低製作上 的成本的自動充電裝置。 於是’本發明自動充電裝置，係供一移動載具充電使 用，其中包含：一雷射光源、一充電單元及一控制單元。 雷射光源用以導引移動載具靠近或遠離自動充電裝 置，充電單元用以對移動栽具進行充電；控制單元包括一 控制電路及一訊號收發器，訊號收發器用以接收一請求訊 號’並根據該請求訊號’令控制電路開啟雷射光源，以導 201104999 ’使得控制電路控制 引移動載具靠近並與充電單元電連接 充電單元對移動載具進行充電。 較佳地，自動充雷奘w 裝置還包3—威體、一散熱風扇及 :極限開關。殼體用於容置雷射光源、充電單元及控制單 八有開孔，政熱風扇的大小與殼體的開孔孔徑相 對應，用以對雷射光源、充電單元及控制單元進行散敎； 極限開關在移動載具電極接觸充電電極板時被觸發，並發201104999 VI. Description of the Invention: [Technical Field] The present invention relates to a charging system, and more particularly to an automatic charging system for a mobile vehicle. 'Shifted [Prior Art] Today's mobile vehicles (eg, robots) It is usually used in conjunction with an automatic charging device to move (4) through the automatic charging device. The current automatic charging device uses an image, light and laser range finder to guide the mobile vehicle to approach or away from the automatic charging device, but the laser range finder is too expensive, so that the automatic charging device requires a considerable amount of production. Cost, and in the process of charging the mobile vehicle, the automatic charging device measures the charging current or voltage to determine whether the charging is completed. Such a judgment method cannot know the power and time of the mobile vehicle during charging. Will reduce the accuracy of the judgment. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an automatic charging device that can reduce the cost of manufacturing. Thus, the automatic charging device of the present invention is used for charging a mobile vehicle, comprising: a laser light source, a charging unit and a control unit. The laser light source is used to guide the mobile vehicle to be close to or away from the automatic charging device, and the charging unit is used for charging the mobile device; the control unit includes a control circuit and a signal transceiver, and the signal transceiver is configured to receive a request signal 'and According to the request signal, the control circuit turns on the laser light source to guide 201104999' so that the control circuit controls the mobile carrier to approach and electrically connect the charging unit to the charging unit to charge the mobile vehicle. Preferably, the automatic charging and charging device further comprises a 3-body, a cooling fan and a limit switch. The housing is used for accommodating the laser light source, the charging unit and the control unit. The size of the thermal fan corresponds to the aperture of the housing, and is used for diverging the laser light source, the charging unit and the control unit. The limit switch is triggered when the moving carrier electrode contacts the charging electrode plate
出-確認訊號至控制電路，以告知控制電路移動載具與充 電電極板電極接觸完成。 較佳地，充電單元包括一充電電路、至少二充電電極 板及一馬達。充電電路用以對移動載具進行充電；充電電 極板可分離地電連接移動載具，以傳送電力至㈣載且； 馬達受控制電路驅動並控制充電電極板向外㈣，使充電 電極板可與移動載具電極接觸。 較佳地，控制單元還包括用w $ 電流與充電電壓的電力偵測模組。 此外本發明之另一目的，即在提供一種可以根據雷 射光源移動的移動載具。 於疋本發明移動載具，係與一自動充電裝置配合使 用，該自動充電裝置具有一雷射光源，其中包含：一充電 座、一控制單元及一電池。 充電座用以與自動充電裝置電連接且接收自動充電裝 置所傳送之電力，控制單元包括—雷射接收器、一位置計 算模組及—控制電路，該雷射純n接收雷射光源並將其 201104999 轉換成一位置訊號，該位置計算模組根據位置訊號計算出 移動裁具相對於雷射光源的位置，控制電路根據位置計算 模組的汁算結果控制移動載具移動至自動充電裝置，使充 電座可以與自動充電裝置電連接；電池用以儲存且供應移 動載具所需的電力。 較佳地，控制單元還包括一用以伯測電池的充電電流 ”充電電壓的電力偵測模組，及—用以估測電池供應移動 載具運作所剩餘的電力及時間的估測模組。 進一步地’估賴組是利用以下方程式（A)估測出電池 供應移動載具運作所剩餘的時間： 間 其中，4該電池供應該移動载具正常運作所剩餘的時 ^為一最低臨界功率、、、為-迴歸參數。 而上述方程式是利用以下—聯立方程式組聯立解得： 如。+(Σή+(Σ 彳 (Σ'κ+(Σ'2κ+(2>f)«2=2>,兄 (Σ^κ++(Σ^4κ= 其中，為該電池所剩餘的電力。 二次曲線迴歸理論 此外，上述聯立方程式組是由利用 知到之以下方程式所衍生的： 式 y = aQ^- αλχ + a2x2 + e 其中，e為量測誤差，再利用最小平 方法可得以 下方程 201104999 ^ = Σ (y> - «〇 - αΛ - a2xf)2 其令量測誤差平方差，4取㈣數，利用上述 該-方程式切該聯立方程式組，並於其巾解得^ 之值。 2 4夕’本發明之另—目的，即在提供-種可以降低製 作上的成本的具有移動載具之自動充電系統。 於是，本發明具有移動載具之自動充電系統’包含-移動載具及一自動充電裝置。The acknowledgment signal is sent to the control circuit to inform the control circuit that the moving carrier is in contact with the charging electrode plate electrode. Preferably, the charging unit comprises a charging circuit, at least two charging electrode plates and a motor. The charging circuit is configured to charge the mobile carrier; the charging electrode plate is detachably electrically connected to the moving carrier to transmit power to the (four) carrier; and the motor is driven by the control circuit and controls the charging electrode plate outward (four), so that the charging electrode plate can be Contact with the mobile carrier electrode. Preferably, the control unit further includes a power detection module that uses w $ current and a charging voltage. Furthermore, another object of the invention is to provide a mobile carrier that can be moved in accordance with a laser source. The mobile vehicle of the present invention is used in conjunction with an automatic charging device having a laser light source comprising: a charging stand, a control unit and a battery. The charging stand is electrically connected to the automatic charging device and receives the power transmitted by the automatic charging device, and the control unit comprises a laser receiver, a position calculating module and a control circuit, and the laser pure n receives the laser light source and The 201104999 is converted into a position signal, and the position calculation module calculates the position of the mobile cutting tool relative to the laser light source according to the position signal, and the control circuit controls the moving carrier to move to the automatic charging device according to the juice calculation result of the position calculation module, so that The charging stand can be electrically connected to an automatic charging device; the battery is used to store and supply the power required to move the carrier. Preferably, the control unit further includes a power detecting module for measuring the charging current of the battery, and an estimating module for estimating the remaining power and time of the battery supplying the mobile device. Further, the 'evaluation group' uses the following equation (A) to estimate the remaining time for the battery to supply the mobile vehicle to operate: where 4, the battery supplies the remaining time of the normal operation of the mobile vehicle is a minimum critical The power, , and are - regression parameters. The above equations are solved by the following - simultaneous equations: eg +(Σή+(Σ 彳(Σ'κ+(Σ'2κ+(2>f)« 2=2>, brother (Σ^κ++(Σ^4κ= where, is the power remaining in the battery. Quadratic regression theory. In addition, the above-mentioned simultaneous equations are derived from the following equations. : y = aQ^- αλχ + a2x2 + e where e is the measurement error, and then use the least squares method to obtain the following equation 201104999 ^ = Σ (y> - «〇- αΛ - a2xf)2 The square difference, 4 (four) number, using the above-mentioned equation to cut the joint equation group, and The towel solves the value of ^. 2 4's another object of the present invention is to provide an automatic charging system with a mobile carrier that can reduce the cost of production. Thus, the present invention has automatic charging of a mobile vehicle. The system 'includes' a mobile vehicle and an automatic charging device.
自動充電裝置包括-—<φ· 6J. 〇. 田射先源、一充電單元及一控制 單元，雷^光源用以導引移動載具靠近或遠離自動充電裝 置，充電單元用以對移動載具進行充電；控制單元具有一 控制電路& afL唬收發态，該訊號收發器用以接收一請求 訊號’並根據該請求訊號，令控制電路開啟雷射光源，以 導引移動載具靠近並與充電單元電連接，使得控制電路控 制充電單元對移動載具進行充電，如此利用雷射光源導引 移動載具的移動，可降低製作上的成本。 較佳地，移動載具包含一充電座、一控制單元及一電 池充電座用以與自動充電裝置電連接且接收自動充電裝 置所傳送之電力；控制單元包括一雷射接收器、一位置計 异模組及一控制電路，該雷射接收器接收雷射光源並將其 轉換成一位置訊號’該位置計算模組根據位置訊號計算出 移動載具相對於雷射光源的位置，控制電路根據位置計算 模組的計异結果控制移動載具移動至自動充電裝置，使充 電座可以與自動充電裝置電連接；電池用以儲存且供應移 201104999 動載具所需的電力。移動载具與自動充電裝置的内部電路 組成皆與上述相同，不多加詳述。 此外，本發明之另一目的，即在提供一種可以自動導 引移動載具進行充電的移動載具之自動充電方法。 於是’本發明移動載具之自動充電方法，係應用於一 自動充電裝置與-移動载具之間，其中包含以下步驟： (A) 令移動載具判斷其剩餘電力是否低於—最低臨界功 率，若是，則令移動載具發出一請求訊號； (B) 令自動充電裝置於接收到請求訊號時，令自動充電 裝置發出一雷射光源； (C) 令移動載具根據雷射光源的導引自動移動至自動充 電裝置並電連接自動充電裝置；及 (D) 々自動充電裝置對移動載具進行充電。 進一步地’步驟（D)具有以下子步驟： — (D-D令自Μ電裝置_移動載具之充電電流是否低 ；又疋值若疋，則執行步驟（D-2)，否則執行步驟（D_ 3)， (D-2)令自動充電裝置以高電壓對移動載具進行充電； 及 (D-3)令自動充電裝置以低電壓對移動載具進行充電。 較佳地’更包含-位於步驟(D)之後的步驟(Ε):令自動 電裝置判斷移動載具充電時的功率是否達一飽和臨界功 。’若是’則令自動充電裝置停止對移動载具充電，若 否，則持續執行步驟（D)。 201104999 較佳地，更包含一位於步驟（E)之後的步驟（F):令自動 充電裝置於判斷移動載具充電完成時，令自動充電裝置發 出雷射光源，使移動載具與自動充電裝置相對分離。 此外，本發明之另一目的，即在提供一種可以導引移 動載具進行充電的移動載具之自動充電方法。 於是，本發明移動载具之自動充電方法，係應用於一 用以對一移動載具自動充電的自動充電裝置中，其中包含 以下步驟：The automatic charging device comprises - - < φ · 6J. 〇. The field source, a charging unit and a control unit, the lightning source is used to guide the moving carrier to approach or away from the automatic charging device, and the charging unit is used for moving The vehicle is charged; the control unit has a control circuit & afL唬 transceiver state, the signal transceiver is configured to receive a request signal 'and according to the request signal, the control circuit turns on the laser light source to guide the mobile vehicle to approach and The charging unit is electrically connected, so that the control circuit controls the charging unit to charge the moving carrier, so that the movement of the moving carrier is guided by the laser light source, thereby reducing the manufacturing cost. Preferably, the mobile carrier comprises a charging stand, a control unit and a battery charging stand for electrically connecting with the automatic charging device and receiving the power transmitted by the automatic charging device; the control unit comprises a laser receiver and a position meter a different module and a control circuit, the laser receiver receives the laser light source and converts it into a position signal. The position calculation module calculates the position of the mobile vehicle relative to the laser light source according to the position signal, and the control circuit is based on the position The calculation result of the calculation module controls the movement of the mobile vehicle to the automatic charging device so that the charging stand can be electrically connected to the automatic charging device; the battery is used to store and supply the power required to move the 201104999 moving carrier. The internal circuit components of the mobile carrier and the automatic charging device are the same as above, and will not be described in detail. Further, another object of the present invention is to provide an automatic charging method for a mobile carrier that can automatically guide a mobile carrier for charging. Thus, the automatic charging method of the mobile carrier of the present invention is applied between an automatic charging device and a mobile carrier, and includes the following steps: (A) causing the mobile vehicle to determine whether the remaining power is lower than - the minimum critical power If yes, the mobile vehicle sends a request signal; (B) causes the automatic charging device to emit a laser light source when receiving the request signal; (C) the mobile vehicle is guided by the laser light source Automatically move to the automatic charging device and electrically connect the automatic charging device; and (D) 々 automatic charging device to charge the mobile vehicle. Further, 'Step (D) has the following sub-steps: - (DD makes the charging current of the self-tapping device _ mobile carrier low; if the value is 疋, then step (D-2) is performed, otherwise the step (D_) 3), (D-2) causes the automatic charging device to charge the mobile carrier at a high voltage; and (D-3) causes the automatic charging device to charge the mobile carrier at a low voltage. Preferably, 'more included-located Step (D) after step (D): Let the automatic electric device determine whether the power when the mobile vehicle is charged reaches a saturation critical power. If it is, the automatic charging device stops charging the mobile vehicle, and if not, continues Step (D) is performed. 201104999 Preferably, further comprising a step (F) after the step (E): causing the automatic charging device to emit a laser light source to make the mobile device perform the charging of the mobile vehicle The vehicle is relatively separated from the automatic charging device. Further, another object of the present invention is to provide an automatic charging method for a mobile vehicle that can guide a mobile vehicle for charging. Thus, the automatic charging method for the mobile vehicle of the present invention Department For use in an automatic charging device for automatically charging a mobile vehicle, the following steps are included:
(A) 令自動充電裝置偵測是否接收到一請求訊號，若 是，則執行步驟（B); (B) 令自動充電裝置發出一雷射光源，以導引移動载具 靠近並電連接自動充電裝置；及 (C) 令自動充電裝置對移動載具進行充電。 進一步地，步驟（C)包括以下子步驟： (C-1)令自動充電裝置偵測移動載具之充電電流是否低 ^設定值’若是’則執行步驟（c_2)，否則執行步驟（c_ (C-2)令自動充電裝置以高電壓對移動載具進行充電； (C-3)令自動充電裝置以低電壓對移動載具進行充電。 較佳地’更包含-位於步驟(〇之後的步驟(D):令自動 充電裝置偵測移動載具充電時的功率是否達—飽和臨界功 率，若是，則令自動充電裝置停止對移動載具充電，若 否，則持續執行步驟（C) 201104999 較佳地’更包含一位於步驟（D)之後的步驟（E):令自動 充電裝置於判斷移動载具充電完成時，令自動充電裝置發 出雷射光源，使移動載具與自動充電裝置相對分離。 本發明之功效在於，利用雷射光源導引移動載具移動 並與自動充電裝置電連接，以進行自動化地充電，如此可 降低自動充電裝置在製作上的成本，此外，在充電的過程 中，自動充電裝置會同時偵測充電電壓及充電電流，如此 可求得及時功率，以增加判斷移動載具之充電狀態的精確 度。 【實施方式】 有關本發明之前述及其他技術内容、特點與功效，在 以下配合參考圖式之一個較佳實施例的詳細說明中，將可 清楚的呈現。 參閱圖1及圖2,圖1為本發明具有移動載具之自動充 電系統之較佳實施例，該自動充電系統1〇〇包含一自動充 電裝置10及一移動載具20,其主要是利用自動充電裝置 10對移動載具20進行自動化地充電，當移動載具2〇電力 不足時，自動充電裝置10會導引移動載具2〇靠近並電連 接自動充電裝置10,以對移動載具20進行充電，在本實施 例中，所指的電連接為電極連接，且移動載具20可為一機 器人或機器狗，且自動充電裝置10包括一基座丨、一殼體 2、一雷射光源3、一充電單元4、一控制單元5、—散熱風 扇6、及一極限開關7。 基座1用以支撐整個自動充電裝置1〇且連接一供應電 10 201104999 源（圖未示），使其可以提供自動充電裝置1〇中所有元件所 需的電力；殼體2連接於基座卜用以容置雷射光源3、充 電單元4及控卿元5,㈣止外界_物掉人㈣響自動 充電裝置10的運作，在殼體2的頂壁21上開設有一開孔 22。雷射光源3裝設於殼體2中，用以導引移動載具加靠 近或遠離自動充電裝置1〇。 充電單兀4中具有一馬達41、至少二充電電極板^及(A) causing the automatic charging device to detect whether a request signal is received, and if so, performing step (B); (B) causing the automatic charging device to emit a laser light source to guide the mobile vehicle to approach and electrically connect to automatically charge And (C) causing the automatic charging device to charge the mobile vehicle. Further, the step (C) comprises the following sub-steps: (C-1) causing the automatic charging device to detect whether the charging current of the mobile vehicle is low. ^ If the setting value is 'if', the step (c_2) is performed, otherwise the step (c_(c) is executed. C-2) The automatic charging device charges the mobile vehicle at a high voltage; (C-3) causes the automatic charging device to charge the mobile vehicle at a low voltage. Preferably, the 'more included' is located in the step (after the step) Step (D): causing the automatic charging device to detect whether the power of the mobile vehicle is charged to the saturation critical power, and if so, the automatic charging device stops charging the mobile vehicle, and if not, the step (C) is continued. Preferably, the method further includes a step (E) after the step (D): when the automatic charging device determines that the mobile vehicle is fully charged, the automatic charging device emits a laser light source, so that the mobile vehicle is opposite to the automatic charging device. The utility model has the advantages that the laser light source is used to guide the movement of the mobile vehicle and is electrically connected with the automatic charging device for automatic charging, thereby reducing the manufacturing cost of the automatic charging device. In addition, during the charging process, the automatic charging device detects the charging voltage and the charging current at the same time, so that the timely power can be obtained to increase the accuracy of determining the charging state of the mobile carrier. And other technical contents, features and effects will be clearly shown in the following detailed description of a preferred embodiment with reference to the drawings. Referring to Figures 1 and 2, Figure 1 is an automatic embodiment of the present invention. In a preferred embodiment of the charging system, the automatic charging system 1 includes an automatic charging device 10 and a mobile carrier 20, which mainly utilizes the automatic charging device 10 to automatically charge the mobile carrier 20 when moving the vehicle. 2. When the power is insufficient, the automatic charging device 10 guides the mobile carrier 2 to approach and electrically connect the automatic charging device 10 to charge the mobile carrier 20. In the present embodiment, the electrical connection is an electrode connection. The mobile carrier 20 can be a robot or a robot dog, and the automatic charging device 10 includes a base, a housing 2, a laser light source 3, a charging unit 4, and a control unit. The unit 5, the cooling fan 6, and a limit switch 7. The base 1 is used to support the entire automatic charging device 1 and is connected to a supply source 10 201104999 source (not shown), so that it can provide an automatic charging device. The power required for all components; the housing 2 is connected to the pedestal for accommodating the laser light source 3, the charging unit 4, and the control unit 5, and (4) stopping the external _ thing falling off (four) ringing the operation of the automatic charging device 10, An opening 22 is defined in the top wall 21 of the housing 2. The laser light source 3 is mounted in the housing 2 for guiding the moving carrier to be close to or away from the automatic charging device 1 . a motor 41, at least two charging electrode plates and
-充電電路43。本實施例之馬達41為—直流馬達，用以控 制充電電極板42的伸縮，當移動載具2()靠近自動充電裝 置.1〇時’馬達41會驅動充電電極板42伸μ外露於殼體 2 ’反之，當移動载具20遠離自動充電裝置10時，馬達41 =驅動充電電極板42縮人至殼體2的下方，以避免遭到碰 才里或觸電的情形發生，以確保安全。 在本實施例中，充電電極板42共有四片，但不从“ 限以電極接觸移動載具Μ並傳送電力至移動載具2〇。 充電电極板42的上面兩片分別為充電時的正極與負極，而 下面兩片則作為移動載具2〇與充電電極板42順利電連接 之確認接點，換言之，充電電極板42至少要有—個作為正 極的電極板及-個作為負極的電極板即可。充電電路U設 置於殼體2中1以在移動載具20與充電電極板42電連 接後，對移動載具20進行充電。 參閱圖3及圖4,控制單元5設置於殼體2巾，具有一 電力偵測模組51、一控制電路52及—訊號收發器Μ。電 51用以在充電電路43充電的過程中，偵測移 201104999 動載具20的充電電流與充電電壓，其中具有至少一電壓量 測器511、至少一電流量測器512、一調校單元513、〆運 算單元514及一資料傳輸介面515。在本實施例中，電歷量 測器511與電流量測器512分別為四個，其用意容後補述。 電壓畺測器511與電流量測器512分別用以量測出移動 載具20充電時的充電電壓與充電電流’圖4中的負載9〇 是指移動載具20的電池，其作用容後補述。電壓量測器 511與電流量測器512將其量測結果傳送至調校單元513， 調校單元5 13具有數量與電壓量測器5丨丨及電流量測器5 i 2 對應的放大電路516與校正電路517、一比較電路518及一 轉換電路519，換言之，放大電路516與校正電路517會各 有八個，且分別對應耦接一個電壓量測器511或電流量測器 512。 以電流量測器512來說，放大電路516用以將電流量 /貝J器512所輸出之δ孔號予以放大，再經由校正電路$ 17將 電流型式之量測值做準位調整而調變為〇〜5伏特之電壓型 式里測值。所有調校後之量測值分別輪入至比較電路518 與轉換電路519，在實施例中，轉換電路519為一類比數位 轉換器比較電路518用以將高於一安全參考值之量測值 先予以篩除，以避免偵測之電流誤差過高。而轉換電路519 是將類比之電壓型式量測值轉換成數位之量測值⑴〜Μ)， 以利於運算單丨514計算與比較。上述之安全參考值是由 设计人員事先依量測的電流大小而設定。 運算單元514用以接收各個數位之量測值，並針對每 12 201104999 一電流量測器512之量測值各設定一門檻值（B1〜B4)與一 . 加權值（W1〜W4)，且該門檻值是設定為量測值的百分^五 至百分之十，加權值之初始值設定為運算單元514逐一 對每一里測值作驗證程序，於驗證程序中運算單元先 挑選其中一量測值作為驗證量測值（π)，挑選驗證量測值以 外之其他量測值作為配合量測值⑴），並將驗證量測值與配 合量測值分別相減得一差值，驗證量測值之門檻值（Bi)與配 合量測值之門檻值（Bj)相加得一和值，若該差值之絕對值小 • 於或等於和值的絕對值，則驗證量測值之加權值力口卜也就 是 ， 丨則 WHWi+l(其中 i=1 〜4，j=1 〜4) 在運算單兀514將驗證量測值逐一與所有配合量測值 驗證後，會再另選一驗證量測值重複驗證程序，直到所有 量測值都完成驗證程序，因此，每一個量測值皆會有一個 加權值。接著，運算單元514計算出每一量測值與其加權 冑之乘# ’並將所有量測值之上述乘積相加，#除以所有 量測值之加權值總和，即Ι=(Σ IiWi)/(s w〇，可得到該時間 點(電流量測器512量測到充電電流的時間點)之最終電流量 測值I。同理，電壓量測器511同樣藉由運算單元514的運 算得到該時間點之最終電壓量測值v;資料傳輸介面515用 以將該電壓量測值V與電流量測值j傳送至控制電路”。 、一特：說明的是，本實施例是取樣四個電壓值及電流值 進行計算，因此對應的電壓量測器511及電流量測器M2的 數量分別為四個，其用意在於增加最終電壓量測值v及電 13 201104999 流量測值i的精確度，當然，其取樣的個數可依不同需求而 改變，並不以本實施例為限。 控制電路52根據電壓量測值V與電流量測值I判斷出 移動载具在充電時的功率，在本實施例中，充電電路43是 採用二階段的充電方式’因此，當電流量測值I高於一設定 值時’控制電路52控制充電電路43以低電壓對移動載具 20進行充電；當電流量測值I低於該設定值時，控制電路 52則會控制充電電路43改以高電壓對移動載具2〇進行充 電°此外’由於本實施例之電力偵測模組51是同時量測電 壓與電流，故控制電路52可得知移動載具2〇充電時的功 率’且當移動載具20充電時的功率達到一飽和臨界功率 時，即表示移動載具2〇充電已滿，控制電路52會控制充 電電路43停止充電。訊號收發器53用以在自動充電裝置 W與移動載具2G之間以無線的方式傳送訊號，無線的方式 可有很多種··紅外線、藍芽（bluet〇〇th)或是射頻（Radi〇 Frequency，RF)技術。 參閱圖1及圖2，散熱風扇6裝設於基座丨上且裝設於 殼體2的頂壁21上方，其大小與殼體2的開孔π孔徑相 對應用以提供雷射光源3、充電單以及控制單元5散熱 之用’極限開關7裝設於基座！且位於充電電極板42的下 =，在移動載具2G電連接自動充電裝置1G時，會接觸觸 發極限開1 7’使其發出〜確認訊號至控制電路Μ，以土 知控制電路52移動載具2〇與自動充電裝置1〇已電連接完 成0 14 201104999 移動載具20包括一充電座8、一控制單元9及一電池 90(即圖4中之負载9〇)。配合參閱圖5，充電座8具有四個 充電座電極板81，用以與自動充電裝置1〇的充電電極板 42電極接觸’使得自動充電裝i 1〇與移動載具20之間能 夠傳送電力，以進秄#雪。估p 立u β 進仃充電值侍注思的是，充電座電極板 81的寬度為充電電極板42的寬度的五倍，以增加移動載具 20與自動充電震£ 1〇順利電連接之成功率，但不以五倍為 限。而電池90是用以儲存及供應移動載具2〇運作所需的 電力。 “參閱圖6,移動載具2〇的控制單元9具有一電力偵測 杈組91、一估測模組92、一控制電路％、一訊號收發器 94、-雷射接收器95及—位置計算模組％。其中，電力摘 測模組91與訊號收發器94的電路與功能與自動充電裝置 10的相同’故不再贅述：估測模組92肖以在移動載具、2〇 為非充電狀態時，例如：工作狀態，估測電池90可供應移 動載具20運作所剩餘的時間及電力。f射接收器95、^以 接收雷射光源3所發出的雷射光’並將其轉換成一位置訊 號輸出至位置計算模組96 ;位置計算模έ 异镇組96根據位置訊號 »异出移動載具20相對於雷射光源3的位置，使得控制電 ^ 93可以根據該計算結果控制移動载具2q移動至自動充 電裝置10。 =本實施例中’估測模組92是利_下方式進行電池 y〇中剩餘電力的估測： 首先，利用二次曲線迴歸理論可得以下方程式 15 201104999 y = a〇+alx + a2X2 +e ，， (1) 為電池90所剩餘的電力，：C為電池90供應移 動載具2〇運作所剩餘的時間、為量測誤差，《。、二 -迴歸參數。之後再則最小平方法可得方程式（2):卜、 A — (2) 其中1為量測誤差平方差，《為取樣電壓量測值V及 電流量測值I的個數，太者 本貝施例為1〇〇。且將方程式（1)與方 程式（2)相互聯立可得方程組（3) : /、 «α。+(ΣΉ +(5»2 =2兄 (Σ\Κ+(Σ〇1+(Σ〇2=2>, (3) α丨及α2，並將迴歸 (Σ〇。+(Σ +(Σ<)α2=2¾ 由聯立方程組（3)可解得迴歸參數 ，妖α。“丨久《2，亚册迴歸 參數代回方程式（1)’且假設一最 (4) 聢低L界功率Ρ,的方程式 (4) α2χ + αλχ ^a0=Ps 最後由方H(4)及迴歸參數，可解得_的時間 _ai+Afe-4a2(a〇-/>j (5) 2a2 由於χ為電池90供應移動載具2〇運作所「剩餘」的時 間，因此’若禮為負值，即表示電池9〇㈣力為充足飽 滿的值為正值，則表示達到最低臨界功率户 剩餘的時間’在此所指的最低臨界功率6是指移動载旦9〇 能夠移動到自動充電裝置1G最低所需的電力， 用者自行設定。換言之’透過，即可得知電池％還有多少 16 201104999 時間會達到最低臨界功率6，且當χ等於零時，表示電池9〇 的輸出功率已達臨界，必須告知自動充電裝置1〇以進行充 電，以防止出現移動載具20在未到達自動充電裝置1〇就 完全沒電而停在半路中之現象。 因此移動載具20的控制電路93於估測模組92估測 出電池90的輸出功率等於或低於該最低臨界功率乃時發 出一請求訊號並透過訊號收發器94傳送至自動充電裝置 以告知自動充電裝置1〇準備進行充電。 參閱圖卜圖3、圖6及圖7’圖7為本實施例具有移 動載具之自動充電系統1〇〇之自動充電的流程。 步驟10，估測模組92估測電池90之剩餘電力是否低 於最低臨界功率若是’則控制電路93發出—請求訊號 並藉由訊號收發器94傳送至自動充電裝置1〇，使得自動充 電裝置10執行步驟2〇。 步驟20,自動充電裝置1〇的控制電路52開啟雷射光 源3及驅動馬達41運作，開啟雷射㈣3是為了導弓|移動 載具20移動至自動充電裝4 1〇，而驅動馬達41是為了將 充電電極板42伸出殼體2外，以準備與移動載具2〇電連 接。特別說明的是’在本實施例中，雷射光源3的有效距 離為6公尺，但可以增加雷射光的功率來增長其有效距 離，不以本實施例為限。 一 ν驟30，雷射接收器95接收雷射光源3所發出的雷射 光並將其轉換成位置訊號傳送至位置計算模、组96。 步驟4〇，位置計算模組96根據位置訊號計算出移動載 17 201104999 具20相對於雷射光源的位置ι〇，並將其結果傳送至控制電 路93，使得控制電路93根據其結果控制移動载具2〇移 動。 步驟50，自動充電裝置10的控制電路52偵測是否接 收到極限開關7被接觸觸發而發出的確認訊號，若是，則 表示移動載具20的充電座8與自動充電裝置1〇的充電電 極板42相電連接，故控制電路52將雷射光源3關閉並執 行步驟60 ;否則持續執行步驟4〇。 步驟60,自動充電裝置1〇的控制電路52控制充電電 路43對移動載具20的電池9〇進行充電，且電力镇測模組 51開始針對電池90的充電電壓及充電電流進行取樣。當電 力偵測模組51所偵測出的電流量測值j高於設定值時控 制電路52控制充電電路43以低電壓對移動載具2〇進行充 電；當電流量測值I低於該設定值時，控制電路52則會控 制充電電路43改以高電壓對移動載具2〇進行充電。 步驟70，自動充電裝置丨〇的控制電路52判斷電池9〇 在充電時的功率是否達到一飽和臨界功率，即電池9〇的電 力是否已經飽和，若是，則表示移動載具2〇充電結束控 制電路52將控制充電電路43停止充電；否則持續執行步 驟60。 值得一提的是，在本實施例中，在自動充電裝置1〇對 移動載具20充電的過程中（步驟6〇)，移動載具2〇的電力偵 測模組91也會針對電池9〇的充電電壓及充電電流進行取 樣，移動載具20的控制電路93同樣會判斷電池9〇在充電 18 201104999 3的功率疋否達到飽和臨界功率若是，則發出一終止訊 儿且透過δί1號收發器94傳送至自動充電裝置w的控制 ^ 使其在接收到終止訊號後停止充電電路43對電池 90充電。特別說明的是’在電池9〇充電的過程中，雖然同 ^會有兩個電力制模組51、91在對其充電電壓及充電電 但只要其中之一控制電路叫或93)判斷出充 電時的功率達到飽和臨界功率，該控制電路52(或叫即會 藉由其訊號收發器53(或94)告知對方，使得另一控制電路 93 (或52)進行檢測喊認，當確認無異後，則充電電路a停 二對電池90充電，如此更能避免電& %發生過充之現 。當然’也可以其中一個電力偵測模組51(或9”對充電 電壓及充電電流進行偵測即可’並不以本實施例為限。 步驟80自動充電裝置1〇的控制電路％開啟雷射光 源3 ’使移動載具20與自動充電裝置1〇相對分離使得移 動栽具2〇可繼續其工作，且控制電路52還會驅動馬達41 將充電電極板42「縮人」殼體2中。在本實施例中，移動 移動載具20遠離不動的自動充電裝置1〇，當然也可以是自 動充電裝置1〇遠離不動的移動载具2〇，或是兩者相對移動 分離，不以本實施例為限。 综上所述’本發明具有移動載具的自動充電系統謂 利用雷射光源3導引移動載具2〇靠近或遠離自動充電裝置 1〇’如此可節省自動充電裝置10在製作上的成本，且電力 债測模組5!在進行電力偵測時，是同時針對充電電壓及充 電電流進行伯測，如此可求得電池9〇在充電時的及時功 19 201104999 率，以增加判斷移動載具2〇之充電狀態的精確度。此外， 本發明還利用迴歸理論及多項式曲線來達到移動載具20剩 餘電力的估測。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及發明說明内容所作之簡單的等效變化與修飾皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是一立體圖，說明本發明具有移動載具之自動充 電系統之較佳實施例； 圖2疋一側視圖’說明本實施例之自動充電裝置中元 件的關係； 圖3是一電路方塊示意圖，說明充電單元與控制單元 中的内部電路； 圖4是一電路方塊圖，說明本實施例之電力偵測模組 的内部電路； 圖5是一立體圖，說明本實施例移動載具之充電座的 態樣； 圖6是一電路方塊圖，說明本實施例之移動載具的内 部電路；及 圖7是一流程圖，說明本發明具有移動載具的自動充 電方法。 20 201104999 【主要元件符號說明】 100… •…自動充電系統 10…… •…自動充電裝置 20…… •…移動載具 1 ....... 基座 2 ....... …·殼體 21…… •…頂壁 22…… •…開孔 3 ....... •…雷射光源 4 ....... …·充電單元 41…… —馬達 42…… …充電電極板 43…… …充電電路 5 ....... …·控制單元 51…… …·電力偵測模組 511 ···. •…電壓量測器 512 .··. …·電流量測器 513 ··· …調校單元 514 .··· …運算單元 515 .......資料傳輸介面 516 .......放大電路 517 .......校正電路 518 .......比較電路 519 .......轉換電路 52 .........控制電路 53 .........訊號收發器 6 ..........散熱風扇 7 ..........極限開關 8 ..........充電座 9 ..........控制單元 90 .........電池 91 .........電力偵測模組 92 .........估測模組 93 .........控制電路 94 .........訊號收發器 95 .........雷射接收器 96 .........位置計算模組 21a charging circuit 43. The motor 41 of the present embodiment is a DC motor for controlling the expansion and contraction of the charging electrode plate 42. When the moving carrier 2 () is close to the automatic charging device, the motor 41 drives the charging electrode plate 42 to be exposed to the shell. Body 2 'Conversely, when the moving carrier 20 is away from the automatic charging device 10, the motor 41 = drives the charging electrode plate 42 to be condensed below the casing 2 to avoid accidents or electric shocks to ensure safety. . In the present embodiment, the charging electrode plates 42 have a total of four sheets, but do not move the carrier Μ from the electrode contact and transmit power to the moving carrier 2 〇. The upper two pieces of the charging electrode plate 42 are respectively charged. The positive electrode and the negative electrode, and the lower two pieces serve as confirmation contacts for the smooth electrical connection between the mobile carrier 2 and the charging electrode plate 42, in other words, the charging electrode plate 42 has at least one electrode plate as a positive electrode and one as a negative electrode. The electrode plate may be disposed. The charging circuit U is disposed in the casing 2 to charge the mobile carrier 20 after the mobile carrier 20 is electrically connected to the charging electrode plate 42. Referring to Figures 3 and 4, the control unit 5 is disposed at The housing 2 has a power detecting module 51, a control circuit 52 and a signal transceiver. The electric 51 is used to detect the charging current of the moving carrier 20 during the charging process of the charging circuit 43. The charging voltage has at least one voltage measuring device 511, at least one current measuring device 512, a calibration unit 513, a chirping operation unit 514, and a data transmission interface 515. In the embodiment, the electronic calendar measuring device 511 Four with the current measuring device 512 The voltage detector 511 and the current measuring device 512 are respectively used to measure the charging voltage and the charging current when the mobile carrier 20 is charged. The load 9 in FIG. 4 refers to the moving carrier 20 . The battery is further described. The voltage measuring device 511 and the current measuring device 512 transmit the measurement result to the calibration unit 513. The calibration unit 5 13 has a quantity and voltage measuring device 5 and current. The measuring circuit 5 i 2 corresponding to the amplifying circuit 516 and the correcting circuit 517, a comparing circuit 518 and a converting circuit 519, in other words, the amplifying circuit 516 and the correcting circuit 517 will each have eight, and respectively coupled to a voltage measurement The current measuring device 512 is used to amplify the δ hole number output by the current amount/the 512, and then the current type is corrected by the correction circuit $17. The measured value is adjusted to the level and is adjusted to the measured value in the voltage type of 〇~5 volts. All the measured values are rounded to the comparison circuit 518 and the conversion circuit 519, respectively, in the embodiment, the conversion circuit 519 Used for an analog-to-digital converter comparison circuit 518 The measured value higher than a safety reference value is first screened to avoid the detection current error being too high, and the conversion circuit 519 is a measurement value (1)~Μ) which converts the analog voltage type measurement value into a digital position. In order to facilitate the calculation and comparison of the operation unit 514. The above-mentioned safety reference value is set by the designer according to the magnitude of the current measured. The operation unit 514 is configured to receive the measurement values of the respective digits, and for each 12 201104999 a current amount The measured values of the detector 512 are each set to a threshold value (B1 to B4) and a weighted value (W1 to W4), and the threshold value is set to a percentage of the measured value ^5 to 10%, weighted The initial value of the value is set to be a verification program by the operation unit 514 for each measurement value. In the verification program, the operation unit first selects one of the measurement values as the verification measurement value (π), and selects the verification measurement value. The measured value is used as the measured value (1)), and the verification measured value and the combined measured value are respectively reduced by a difference, and the threshold value (Bi) of the measured value and the threshold value of the measured value are verified (Bj Add a sum value, if the absolute value of the difference • At or equal to the absolute value of the sum value, verify that the weighted value of the measured value is the same, that is, WHWi+l (where i=1 〜4, j=1 ～4) will be verified in the operation unit 514 After the measured values are verified one by one with all the measured values, another verification test is repeated to verify the verification process until all the measured values complete the verification process. Therefore, each measured value will have a weighted value. Next, the operation unit 514 calculates the multiplication of each measurement value and its weight 胄 and adds the above products of all the measurement values, and divides # by the sum of the weighted values of all the measurement values, that is, Ι = (Σ IiWi) /(sw〇, the final current measurement value I at the time point (the time point at which the current measuring device 512 measures the charging current) can be obtained. Similarly, the voltage measuring device 511 is also obtained by the operation of the arithmetic unit 514. The final voltage measurement value v at the time point; the data transmission interface 515 is used to transmit the voltage measurement value V and the current measurement value j to the control circuit.", a special: the embodiment is a sampling four The voltage value and the current value are calculated, so the number of the corresponding voltage measuring device 511 and the current measuring device M2 are respectively four, which is intended to increase the accuracy of the final voltage measurement value v and the electricity 13 201104999 flow rate measurement i For example, the number of samples may be changed according to different requirements, and is not limited to the embodiment. The control circuit 52 determines the power of the mobile vehicle during charging according to the voltage measurement value V and the current measurement value I. In this embodiment, the charging circuit 43 is two. The charging mode of the stage ' Therefore, when the current measurement value I is higher than a set value, the control circuit 52 controls the charging circuit 43 to charge the mobile carrier 20 at a low voltage; when the current measurement value I is lower than the set value The control circuit 52 controls the charging circuit 43 to charge the mobile carrier 2〇 with a high voltage. Further, since the power detecting module 51 of the present embodiment simultaneously measures voltage and current, the control circuit 52 can obtain Knowing that the mobile vehicle 2's power at the time of charging' and when the power of the mobile carrier 20 is charged reaches a saturation critical power, it means that the mobile vehicle 2 is fully charged, and the control circuit 52 controls the charging circuit 43 to stop charging. The signal transceiver 53 is configured to wirelessly transmit signals between the automatic charging device W and the mobile carrier 2G. The wireless method can be various. Infrared, blue-tray or radio frequency (Radi〇) Frequency, RF) technology. Referring to FIG. 1 and FIG. 2, the cooling fan 6 is mounted on the base cymbal and mounted on the top wall 21 of the casing 2, and its size is opposite to the opening π aperture of the casing 2 Provide laser light source 3, charging list And the control unit 5 uses the 'limit switch 7 to be mounted on the base! and is located below the charging electrode plate 42. When the mobile carrier 2G is electrically connected to the automatic charging device 1G, the trigger limit is opened 1 7' Sending the acknowledgment signal to the control circuit Μ, moving the carrier 2 to the earth control circuit 52 and the automatic charging device 1 〇 has been electrically connected. 0 14 201104999 The mobile carrier 20 includes a charging stand 8, a control unit 9 and a battery. 90 (ie, load 9〇 in Fig. 4). Referring to Fig. 5, the charging stand 8 has four charging stand electrode plates 81 for contacting the electrodes of the charging electrode plate 42 of the automatic charging device 1' to make the automatic charging device i 1〇 and the mobile carrier 20 can transmit power to enter #雪. It is estimated that the width of the charging pad electrode plate 81 is five times the width of the charging electrode plate 42 to increase the smooth electrical connection between the mobile carrier 20 and the automatic charging shock. Success rate, but not limited to five times. The battery 90 is used to store and supply the power required to operate the mobile carrier. Referring to Figure 6, the control unit 9 of the mobile carrier 2 has a power detection unit 91, an estimation module 92, a control circuit %, a signal transceiver 94, a laser receiver 95, and a position. The calculation module %, wherein the circuit and function of the power extraction module 91 and the signal transceiver 94 are the same as those of the automatic charging device 10, so the description is no longer repeated: the estimation module 92 is in the mobile vehicle, In the non-charging state, for example, the operating state, the estimated battery 90 can supply the time and power remaining for the operation of the mobile carrier 20. The receiver 95 receives the laser light emitted by the laser source 3 and Converting into a position signal output to the position calculation module 96; the position calculation module έ 96 sets the position of the carrier 20 relative to the laser light source 3 according to the position signal », so that the control circuit 93 can be controlled according to the calculation result The mobile vehicle 2q is moved to the automatic charging device 10. In the present embodiment, the estimation module 92 is an estimate of the remaining power in the battery y〇 in the profit mode: First, the quadratic regression theory can be used to obtain the following program. 15 201104999 y = a〇+alx + a2 X2 +e , , (1) is the power remaining in the battery 90, : C is the time remaining for the operation of the mobile vehicle 2 when the battery 90 is supplied, and is the measurement error, "., two-regression parameters. The Xiaoping method can obtain the equation (2): Bu, A — (2) where 1 is the squared error of the measurement error, “for the measured voltage measurement value V and the current measurement value I, the example of the 1〇〇. And equation (1) and equation (2) are connected to each other to obtain the system of equations (3): /, «α.+(ΣΉ +(5»2 = 2 brothers (Σ\Κ+(Σ〇 1+(Σ〇2=2>, (3) α丨 and α2, and the regression (Σ〇.+(Σ +(Σ<)α2=23⁄4 can be solved by the simultaneous equations (3), Demon α. "丨久" 2, the sub-regression parameter returns to equation (1)' and assumes that the most (4) depreciates the L-boundary power Ρ, equation (4) α2χ + αλχ ^a0=Ps Finally by the square H (4) and the regression parameters, the time at which _ can be solved _ai+Afe-4a2(a〇-/>j (5) 2a2 Since χ is the time for the battery 90 to supply the mobile vehicle 2 〇 operation "remaining", Therefore, if the gift is negative, it means that the battery is 9〇 (four) and the force is full and the value is positive. The remaining time to the lowest critical power household 'the lowest critical power 6 referred to here is the minimum power required to move the carrier 9 〇 to the automatic charging device 1G, which is set by the user. In other words, 'through, you can get Knowing how much battery %% 2011 201104999 time will reach the minimum critical power of 6, and when χ is equal to zero, it means that the output power of the battery 9〇 has reached the critical point, the automatic charging device 1 must be informed to charge to prevent the mobile vehicle from appearing. 20 When the automatic charging device 1 is not reached, it is completely out of power and stops in the middle of the road. Therefore, the control circuit 93 of the mobile carrier 20 sends a request signal to the automatic charging device through the signal transceiver 94 when the estimation module 92 estimates that the output power of the battery 90 is equal to or lower than the minimum critical power. The automatic charging device 1 is ready to be charged. Referring to Figures 3, 6, and 7', Figure 7 is a flow chart of the automatic charging system of the automatic charging system having the moving carrier. In step 10, the estimation module 92 estimates whether the remaining power of the battery 90 is lower than the minimum critical power. If the control circuit 93 sends a request signal and transmits it to the automatic charging device 1 by the signal transceiver 94, the automatic charging device is enabled. 10 Perform step 2〇. In step 20, the control circuit 52 of the automatic charging device 1 turns on the laser light source 3 and the driving motor 41 to operate, and the laser (4) 3 is turned on for the guide bow|moving carrier 20 to move to the automatic charging device 41, and the driving motor 41 is In order to extend the charging electrode plate 42 out of the housing 2, it is ready to be electrically connected to the moving carrier 2A. Specifically, in the present embodiment, the effective distance of the laser light source 3 is 6 meters, but the power of the laser light can be increased to increase its effective distance, which is not limited to this embodiment. In a step 30, the laser receiver 95 receives the laser light emitted by the laser source 3 and converts it into a position signal for transmission to the position calculation mode, group 96. Step 4: The position calculation module 96 calculates the position ι of the mobile load 17 201104999 with respect to the laser light source according to the position signal, and transmits the result to the control circuit 93, so that the control circuit 93 controls the mobile load according to the result. With 2 moves. In step 50, the control circuit 52 of the automatic charging device 10 detects whether a confirmation signal sent by the contact switch 7 by the contact trigger is received, and if so, the charging socket 8 of the mobile carrier 20 and the charging electrode plate of the automatic charging device 1 are detected. The 42 phase is electrically connected, so the control circuit 52 turns off the laser light source 3 and performs step 60; otherwise, step 4 is continued. In step 60, the control circuit 52 of the automatic charging device 1 controls the charging circuit 43 to charge the battery 9 of the mobile carrier 20, and the power-sampling module 51 starts sampling the charging voltage and the charging current of the battery 90. When the current measurement value j detected by the power detection module 51 is higher than the set value, the control circuit 52 controls the charging circuit 43 to charge the mobile carrier 2〇 at a low voltage; when the current measurement value I is lower than the current value When the value is set, the control circuit 52 controls the charging circuit 43 to charge the mobile carrier 2 at a high voltage. Step 70, the control circuit 52 of the automatic charging device 判断 determines whether the power of the battery 9 充电 is at a saturation critical power, that is, whether the power of the battery 9 已经 is saturated, and if so, the mobile vehicle 2 〇 charging end control The circuit 52 will control the charging circuit 43 to stop charging; otherwise, step 60 continues. It is worth mentioning that in the embodiment, in the process of charging the mobile vehicle 20 by the automatic charging device 1 (step 6〇), the power detecting module 91 of the moving carrier 2 is also directed to the battery 9 The charging voltage and the charging current of the crucible are sampled, and the control circuit 93 of the mobile carrier 20 also judges whether the power of the battery 9 is charged at the temperature of the 2011-0499 3 or not reaches the saturation critical power. If yes, a termination message is sent and transmitted and received through the δί1. The device 94 transmits control to the automatic charging device w to stop the charging circuit 43 from charging the battery 90 after receiving the termination signal. In particular, in the process of charging the battery 9 ,, although there are two power modules 51, 91 charging voltage and charging power, as long as one of the control circuits is called or 93), the charging is judged. When the power reaches the saturation critical power, the control circuit 52 (or the signal transceiver 53 (or 94) informs the other party that the other control circuit 93 (or 52) performs the detection and acknowledgment when the confirmation is no different. After that, the charging circuit a stops charging the battery 90, so that the charging & % can be prevented from being overcharged. Of course, one of the power detecting modules 51 (or 9) can perform charging voltage and charging current. The detection can be 'not limited to this embodiment. Step 80: The control circuit of the automatic charging device 1 turns on the laser light source 3' to make the mobile carrier 20 and the automatic charging device 1 〇 relatively separated so that the mobile device 2〇 The operation can continue, and the control circuit 52 also drives the motor 41 to "shrink" the charging electrode plate 42 into the housing 2. In this embodiment, the moving mobile carrier 20 is moved away from the stationary automatic charging device 1 Can be an automatic charging device The movable mobile vehicle 2〇 or the relative movement of the two is separated, and is not limited to the embodiment. In summary, the automatic charging system with the mobile vehicle of the present invention uses the laser light source 3 to guide the mobile load. It is possible to save the cost of the automatic charging device 10 in manufacturing, and the power compensation module 5! In this way, the timing of the battery 9〇 at the time of charging 19 201104999 can be obtained to increase the accuracy of judging the state of charge of the mobile carrier. In addition, the present invention also utilizes regression theory and polynomial curves to achieve the mobile vehicle. The estimation of the remaining power is only for the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simplicity of the invention and the description of the invention are simple. The equivalent changes and modifications are still within the scope of the present invention. [Simplified Schematic] FIG. 1 is a perspective view showing the automatic charging of the mobile carrier of the present invention. 2 is a side view ' illustrating the relationship of components in the automatic charging device of the present embodiment; FIG. 3 is a circuit block diagram showing the internal circuit in the charging unit and the control unit; FIG. 4 is a The circuit block diagram illustrates the internal circuit of the power detecting module of the present embodiment; FIG. 5 is a perspective view of the charging stand of the mobile carrier of the present embodiment; FIG. 6 is a circuit block diagram illustrating the present embodiment. The internal circuit of the mobile carrier; and Figure 7 is a flow chart illustrating the automatic charging method of the mobile carrier of the present invention. 20 201104999 [Description of main component symbols] 100... •...Automatic charging system 10... •...Automatic charging Device 20... •...moving carrier 1 ....... pedestal 2 . . . ... housing 21 ... • top wall 22... •... opening 3 .... ...•...the laser light source 4............the charging unit 41...the motor 42...the charging electrode plate 43...the charging circuit 5............the control unit 51...... .... Power detection module 511 ···.•...voltage measuring device 512 . ··· Current measuring device 513 ···· calibrating unit 514 . . . . ... computing unit 515 .... data transmission interface 516 .... amplification circuit 517 .... ...correction circuit 518 .... comparison circuit 519 .... conversion circuit 52 ... ... control circuit 53 ... ... signal transceiver 6 .......... cooling fan 7 .......... limit switch 8 .......... charging seat 9 .......... Control unit 90 ... ... battery 91 ... ... power detection module 92 ... ... estimation module 93 .... .. control circuit 94 .... signal transceiver 95 ... ... laser receiver 96 ... ... position calculation module 21