A contact charging structure and inspection robot device

Abstract

A contact charging structure and inspection robot device, the charging structure includes: a charger base, a power supply component, a charging connection arm and a charging slide; the charging slide is installed on the charging connection arm; the charging connection arm is used to drive the charging slide to move, so that the charging slide contacts the power supply component, and the charging slide is electrically connected to the power supply component; a lower guide surface, one end of which transitions to the lower charging surface and forms a height difference with the other end; the power supply component is guided to contact and detach from the lower charging surface through the lower guide surface; the inspection robot device, the robot body is connected to the charging connection arm and electrically connected to the charging slide; when the charging slide contacts the power supply component, the power supply component charges the robot body. This charging structure can improve the battery life of the inspection robot, so that the inspection robot can be quickly charged in the case of power shortage, and can maintain normal operation, achieve the effect of unattended and autonomous inspection, and improve the efficiency and stability of charging.

Description

Technical Field

[0001] The present invention relates to the technical field of charging structures, and in particular to a contact-type charging structure and an inspection robot device. Background Art

[0002] There are two main technical solutions for existing inspection robots:

[0003] 1. Design a battery replacement device, set up a battery charging and replacement station at a specific track location, take out the battery that needs to be charged by the robot through a mechanical structure, put in the battery that has been fully charged at the station, and then the robot returns to work; for this solution, firstly, the mechanical structure of the inspection robot is complex and requires an additional drive source; secondly, the inspection robot needs to frequently disassemble and install the battery, which will damage the mechanical structure of the track robot, and there are requirements for the reliability of the structure and action of the battery replacement device.

[0004] 2. When the inspection robot is charging online, it will drive towards the charging device. There is a charging base perpendicular to the horizontal plane above (or below) the front end of the robot, which is equipped with charging carbon brushes and horizontally docked with the charging head of the charging device for charging. However, when the robot drives towards the charging device, it will have an impact force due to inertia, which may cause cumulative damage to the robot and the charging device. It can only be charged in one direction and cannot pass, so it cannot be used on closed tracks. At the same time, for complex on-site environments, the installation position of the track robot sometimes deviates, and there will be height changes in the vertical direction, which has a great impact on the horizontal contact charging method and is difficult to adjust. Summary of the invention

[0005] The object of the present invention is to provide a contact charging structure, which drives a power supply component to adjust its position through a charging slide, so that the power supply component fully fits the charging slide.

[0006] The present invention also provides an inspection robot device, wherein the robot body cooperates with the above-mentioned charging structure so that the robot body can maintain charging with the charging structure.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A contact charging structure, comprising: a charger base, a power supply assembly, a charging connecting arm and a charging slide;

[0009] The power supply assembly is installed on the charger base;

[0010] The charging slide is mounted on the charging connection arm; the charging connection arm is used to drive the charging slide to move so that the charging slide contacts the power supply assembly, and the charging slide is electrically connected to the power supply assembly;

[0011] The charging slide is provided with a lower charging surface and a lower guiding surface; one end of the lower guiding surface transitions to the lower charging surface and forms a height difference with the other end; the power supply component is guided by the lower guiding surface to contact and detach from the lower charging surface.

[0012] Preferably, when the charging slide contacts the power supply assembly, the charging slide lifts the power supply assembly so that the position of the power supply assembly is adaptively adjusted.

[0013] Preferably, it further comprises: a buffer component; the buffer component comprises: a guide column;

[0014] The guide column is installed on the charger base frame, and the power supply component is installed on the guide column in a limited and movable manner.

[0015] Preferably, the buffer assembly comprises: a reset elastic member; one end of the reset elastic member contacts the charger base, and the other end contacts the power supply assembly.

[0016] Preferably, the power supply component is provided with a charging contact plate at the contact position between the power supply component and the charging slide; the charging contact plate is provided with an upper charging surface and an upper guiding surface;

[0017] The lower guide surface slides relatively to the upper guide surface to adjust the height of the charging contact plate and to fit and detach the upper charging surface from the lower charging surface.

[0018] Preferably, both ends of the upper charging surface are the upper guiding surfaces; and both ends of the lower charging surface are the lower guiding surfaces.

[0019] Preferably, it also includes: a mounting base; the charger base is movably connected to the mounting base; and the power supply components are located on both sides of the mounting base.

[0020] Preferably, it also includes: a movable track; the mounting base is provided with a track mounting groove; the movable track can be movably mounted in the track mounting groove; the movable track is connected to the charger base.

[0021] Preferably, it further comprises: a moving part; at least one side of the mounting base is provided with a robot moving path;

[0022] The moving part is used to connect to the robot body and provide a moving function for the robot body;

[0023] The moving part moves on the robot moving path.

[0024] A patrol robot device, comprising: a robot body and the above-mentioned charging structure;

[0025] The robot body is connected to the charging connecting arm and electrically connected to the charging slide; when the charging slide contacts the power supply component, the power supply component charges the robot body.

[0026] Preferably, it comprises: a position sensor; the position sensor is installed on the charging structure and is used to send position information to the robot body;

[0027] The charging method of the inspection robot device comprises the following steps:

[0028] Step (1): the robot body receives the charging instruction, decelerates in advance, and starts to approach the charging structure;

[0029] Step (2): The in-position sensor detects the position of the robot body and feeds back the position information to the robot body;

[0030] Step (3): the robot body processes and analyzes the position information to determine whether the charging slide is properly docked with the charging contact plate; if so, the robot body stops moving; if not, the robot body adjusts the position, the charging structure remains powered off, and step (2) is repeated;

[0031] Step (4): The charging structure is powered on, and the charging contact plate contacts the charging slide to charge the robot body.

[0032] Beneficial effects of the present invention:

[0033] This charging structure can improve the battery life of the inspection robot and provide the inspection robot with an autonomous charging function, so that the inspection robot can be quickly charged in the case of power shortage and can maintain normal operation, achieving the effect of unattended and autonomous inspection, and improving the efficiency and stability of charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural diagram of the charging structure;

[0035] Figure 2 It is a structural schematic diagram of the inspection robot device;

[0036] Figure 3 It is a structural diagram of the charging slide driving the power supply component.

[0037] in:

[0038] Charger base 1, power supply assembly 2, charging connecting arm 3, charging slide 4; buffer assembly 5; mounting base 6; moving track 7; moving part 8; robot body 9;

[0039] Charging contact plate 21; upper charging surface 211, upper guide surface 212;

[0040] A lower charging surface 41 and a lower guiding surface 42;

[0041] Guide column 51, resetting elastic member 52;

[0042] Track installation slot 61; robot moving track 62. DETAILED DESCRIPTION

[0043] The technical solution of the present invention is further described below through specific implementation modes in conjunction with the accompanying drawings.

[0044] A contact charging structure, comprising: a charger base 1, a power supply component 2, a charging connecting arm 3 and a charging slide 4;

[0045] The power supply component 2 is installed on the charger base frame 1;

[0046] The charging slide 4 is installed on the charging connection arm 3; the charging connection arm 3 is used to drive the charging slide 4 to move so that the charging slide 4 contacts the power supply component 2, and the charging slide 4 is electrically connected to the power supply component 2;

[0047] The charging slide 4 is provided with a lower charging surface 41 and a lower guide surface 42; one end of the lower guide surface 42 transitions to the lower charging surface 41 and forms a height difference d with the other end; the power supply component 2 is guided by the lower guide surface 42 to contact and disengage from the lower charging surface 41.

[0048] This charging structure is used to provide the robot with a quick contact charging function. Through the cooperation of the power supply component 2 with the lower charging surface 41 and the lower guide surface 42 of the charging slide 4, the robot can be automatically charged, solving the problems of poor contact during charging and the need to frequently remove the battery in the prior art.

[0049] Specifically, Figure 1 -like Figure 3 The charging connecting arm 3 is used to connect the robot body 9, and the robot body 9 can be suspended in mid-air or moved on the ground, etc.; when the robot body 9 needs to be charged, it will drive the charging connecting arm 3 to move, driving the charging slide 4 to move; when the charging slide 4 moves, it will pass through the power supply component 2 and contact the power supply component 2 through the lower guide surface 42; here, one of the power supply component 2 and the charging slide 4 can be set as a lifting applicator, and the other as a lifting receiver; after the lifting applicator contacts the lifting receiver, it drives the lifting receiver to move, causing the lifting receiver itself to change its displacement.

[0050] When the lifting applicator is the charging slide 4 and the lifting recipient is the power supply component 2, when the lower guide surface 42 keeps moving, the lower guide surface 42 will lift the power supply component 2. Under the guidance of the lower guide surface 42 with a height difference d at both ends, the power supply component 2 moves to the lower charging surface 41. The lower charging surface 41 maintains a planar contact with the power supply component 2, which increases the contact area between the two, ensures that the contact between the two is complete, and improves the stability of the robot charging. When the power supply component 2 contacts the lower guide surface 42 or the lower charging surface 41, the power supply component 2 is electrically connected to the robot body 9 through the charging slide 4, and the power supply component 2 charges the power supply of the robot body 9. When the robot body 9 is fully charged, the charging slide 4 continues to move and detaches from the power supply component 2, and the power supply component 2 can be reset under the action of gravity.

[0051] Similarly, when the lifting applicator is the power supply component 2 and the lifting recipient is the charging slide 4, the power supply component 2 drives the charging slide 4 to change its displacement by lifting the lower guide surface 42, so that the power supply component 2 contacts the lower charging surface 41, and the lower charging surface 41 sticks to the power supply component 2.

[0052] This charging structure can improve the battery life of the inspection robot and provide the inspection robot with an autonomous charging function, so that the inspection robot can be quickly charged in the case of power shortage and can maintain normal operation, achieving the effect of unattended and autonomous inspection, and improving the efficiency and stability of charging.

[0053] Preferably, when the charging slide 4 contacts the power supply component 2 , the charging slide 4 lifts the power supply component 2 , so that the position of the power supply component 2 is adaptively adjusted.

[0054] The position of the power supply component 2 can be adjusted, such as Figure 3 , its position can be moved in the vertical direction; when the charging slide 4 contacts the power supply component 2 and lifts it, the position of the power supply component 2 changes; for example, when the charging slide 4 moves to the left, the power supply component 2 moves upward after adjusting the position by the height difference d until it contacts the lower charging surface 41; when the charging slide 4 continues to move to the left, the power supply component 22 separates from the lower charging surface 41, and moves downward after adjusting the position by the height difference d until it completely separates from the lower guide surface 42;

[0055] The power supply component 2 can be pressed against the charging slide 4 located below under the action of gravity, ensuring the pressing force between the two; and when the charging slide 4 is separated from the power supply component 2, the power supply component 2 will be reset under the action of gravity, so that the charging slide 4 can repeatedly contact the power supply component 2 at the same position next time.

[0056] Preferably, it further comprises: a buffer component 5; the buffer component 5 comprises: a guide column 51;

[0057] The guide column 51 is installed on the charger base frame 1 , and the power supply component 2 is installed on the guide column 51 in a limited and movable manner.

[0058] The guide column 51 is used to provide guidance for the power supply component 2, so that the power supply component 2 always keeps moving along the extension direction of the guide column 51, thereby improving the movement stability of the power supply component 2, ensuring that the power supply component 2 can maintain the same movement trajectory each time it is lifted by the charging slide 4, and preventing the moving position of the power supply component 2 from being offset.

[0059] Preferably, the buffer assembly 5 comprises: a reset elastic member 52 ; one end of the reset elastic member 52 contacts the charger base 1 , and the other end contacts the power supply assembly 2 .

[0060] The resetting elastic member 52 is arranged between the charger base 1 and the power supply assembly 2. When the charging slide 4 holds up the power supply assembly 2, the charging slide 4 needs to overcome the elastic force of the resetting elastic member 52 to do work. The resetting elastic member 52 contracts and compresses, converting into elastic potential energy. The charging slide 4 also needs to overcome the gravity of the power supply assembly 2 to do work. Therefore, after the resetting elastic member 52 is arranged, the charging slide 4 moves slower than the embodiment when it is not arranged, effectively slowing down the relative movement rate between the charging slide 4 and the power supply assembly 2, so that the charging slide 4 can accurately contact the power supply assembly 2. At the same time, since the charging slide 4 will collide with the power supply assembly 2 when it moves, the introduction of the resetting elastic member 52 offsets part of the kinetic energy, so that the movement of the robot body 9 is more stable and will not shake.

[0061] like Figure 2 The reset elastic member 52 can be preferably sleeved on the guide column 51, and the guide column can be used to ensure that the telescopic direction of the reset elastic member 52 is consistent with that of the guide column.

[0062] The resetting elastic member 52 can be a known elastic workpiece, such as a spring, a rubber band, etc.

[0063] Preferably, the power supply component 2 is provided with a charging contact plate 21 at the contact position between the power supply component 2 and the charging slide 4; the charging contact plate 21 is provided with an upper charging surface 211 and an upper guiding surface 212;

[0064] The lower guide surface 42 slides relatively to the upper guide surface 212 to adjust the height of the charging contact plate 21 and to make the upper charging surface 211 fit to and separate from the lower charging surface 41 .

[0065] like Figure 3, this embodiment further optimizes the contact position of the power supply component 2 with the charging slide 4, and provides the power supply component 2 with a charging contact plate 21, which contacts the charging slide 4 through the charging contact plate 21. The lower guide surface 42 is attached to the upper guide surface 212, and the upper guide surface 212 on the charging contact plate 21 is lifted. When moving relatively, the upper guide surface 212 is height-adjusted under the guiding effect of the lower guide surface 42, and the vertical position of the power supply component 2 is adaptively adjusted until the lower charging surface 41 of the charging slide 4 moves to contact the upper charging surface 211 of the power supply component 2, and the lower charging surface 41 maintains the upper and lower positional relationship to contact the upper charging surface 211 located above, and the charging stability between the power supply component 2 and the robot body 9 is large. When charging is completed, the power supply component 2 can be reset by simply keeping the charging slide 4 moving, and finally detached from the charging slide 4.

[0066] Preferably, two ends of the upper charging surface 211 are the upper guiding surfaces 212 ; and two ends of the lower charging surface 41 are the lower guiding surfaces 42 .

[0067] The two ends of the upper charging surface 211 are upper guide surfaces 212, that is, one end of the upper guide surface 212 is connected to the upper charging surface 211, and the other end is inclined to the two sides of the charging contact plate 21; the two ends of the lower charging surface 41 are lower guide surfaces 42, one end of the lower guide surface 42 is connected to the lower charging surface 41, and the other end is inclined to the two sides of the charging slide 4; the upper guide surface 212 moves in correspondence with the lower guide surface 42, and the upper charging surface 211 moves in correspondence with the lower charging surface 41. Figure 3 , when the lower guide surface 42 at the left end of the charging slide 4 lifts the upper charging surface 211 at the right end of the charging contact plate 21, the upper guide surface 212 moves along the lower guide surface 42; after the lower charging surface 41 moves to the upper charging surface 211, the length of the lower charging surface 41 can be designed so that the lower charging surface 41 has enough length to contact the upper charging surface 211, thereby increasing the contact area between the two and reducing the difficulty of contact during charging. Furthermore, the upper guide surface 212 at the left end of the charging contact plate 21 moves along the lower charging surface 41 at the right end of the charging slide 4; that is, the relative movement between the charging slide 4 and the power supply component 2 is caused by the relative movement between the upper guide surface 212 and the lower guide surface 42, and the upper charging surface 211 and the lower charging surface 41, so as to ensure that the lower charging surface 41 is charged after contacting the upper charging surface 211, thereby improving the charging stability of the robot body 9.

[0068] The shape of the lower guide surface 42 is a plane or arc-shaped curved surface that is inclined and extends in a straight line, etc., and it guides the upper guide surface 212 to move by changing its own height difference d, so that the lower charging surface 41 contacts the upper charging surface 211. Preferably, the upper guide surface 212 is matched with the shape of the lower guide surface 42 to be close to the lower guide surface 42, ensuring that the two are closely fitted, and ensuring that the upper charging surface 211 is in close contact with the lower charging surface 41.

[0069] Preferably, it further comprises: a mounting base 6 ; the charger base 1 is movably connected to the mounting base 6 ; and the power supply assembly 2 is located on both sides of the mounting base 6 .

[0070] When the charger base 1 is movable to the mounting base 6, since the power supply components 2 are located on both sides of the mounting base 6, the charging slides 4 on both sides contact the power supply components 2 on both sides, which improves the charging stability of the robot body 9. Only the power supply components 2 on any side need to contact the corresponding charging slide 4 to complete the charging of the robot body 9, reducing the accuracy required when the robot body 9 is connected to the charging structure; at the same time, when the power supply components 2 on both sides contact the corresponding charging slide 4, they charge both sides, and the charging speed is twice that of single-sided charging.

[0071] Preferably, it further comprises: a movable track 7 ; the mounting base 6 is provided with a track mounting groove 61 ; the movable track 7 is movably mounted in the track mounting groove 61 ; the movable track 7 is connected to the charger base 1 .

[0072] The movable track 7 can be moved to the track mounting groove 61, and the movable track 7 is connected to the charger base 1. When the movable track 7 moves, the charger base 1 can move, driving the power supply component 2 to move, which makes it more convenient to adjust the position of the charger base 1 on the mounting base 6 to adjust the charging position of the robot body 9 and the charging structure.

[0073] Preferably, since the charger base 1 moves relative to the mounting base 6, when the charging slide 4 contacts the power supply component 2, in the power-on state, the charging slide 4 and the power supply component 2 are attracted by magnetic force. When the robot body 9 moves, the charging connecting arm 3 drives the power supply component 2 to move through the charging slide 4, thereby driving the charger base 1 to move relative to the mounting base 6. The power supply component 2 can be driven to move by the movement of the robot body 9, so that the inspection robot is in a charging state while moving, thereby ensuring charging stability. When charging is completed, the power supply to the power supply component 2 is disconnected, the magnetic attraction between the power supply component 2 and the charging slide 4 disappears, and the charging slide 4 can be freely detached from the power supply component 2.

[0074] Preferably, it further comprises: a moving part 8; at least one side of the mounting base 6 is provided with a robot moving path 62; the moving part 8 is used to connect to the robot body 9 and provide a moving function for the robot body 9;

[0075] The moving part 8 moves on the robot moving path 62 .

[0076] like Figure 2The robot body 9 can move on the mounting base 6 and contact the robot moving path 62 of the mounting base 6 through the moving part 8; when the moving part 8 moves on the robot moving path 62, since the robot moving path 62 extends horizontally, the robot body 9 is kept moving horizontally; the charging slide 4 moves horizontally, and after moving, it can contact the power supply component 2 horizontally, and the power supply component 2 will move under the guidance of the lower guide surface 42 and the lower charging surface 41, so that the power supply component 2 is closely attached to the charging slide 4, thereby ensuring the charging stability.

[0077] A patrol robot device, comprising: a robot body 9 and a charging structure 01 of any of the above embodiments;

[0078] The robot body 9 is connected to the charging connection arm 3 and electrically connected to the charging slide 4 ; when the charging slide 4 contacts the power supply component 2 , the power supply component 2 charges the robot body 9 .

[0079] Preferably, the inspection robot device improves the charging stability of the robot body 9 through the cooperation between the robot body 9 and the charging structure, solves the problem of the inspection robot in the prior art having a complex mechanical structure and requiring an additional driving source, and avoids the phenomenon in the prior art that the inspection robot needs to frequently disassemble and install the battery, which easily damages the robot's battery.

[0080] The robot body 9 is a well-known inspection robot. The charging structure is connected to the robot body 9 through the charging connecting arm 3. When the robot body 9 moves, the charging connecting arm 3 is driven to move, so that the charging slide 4 moves relatively to the power supply component 2, and the two are quickly contacted. The robot body 9 is provided with a power supply. After the power supply component 2 contacts the charging slide 4, the power supply of the robot body 9 is charged.

[0081] Preferably, it comprises: an in-place sensor (not shown); the in-place sensor is installed on the charging structure, and is used to send position information to the robot body; the in-place sensor is a conventional in-place sensor, and is used to detect whether the robot body is in place;

[0082] The charging method of the inspection robot device comprises the following steps:

[0083] Step (1): the robot body receives a charging instruction, decelerates in advance, and starts to approach the charging structure; wherein the charging instruction may be an instruction output by the system to the robot body so that the robot body enters a charging preparation state;

[0084] Step (2): The in-position sensor detects the position of the robot body and feeds back the position information to the robot body;

[0085] Step (3): the robot body processes and analyzes the position information to determine whether the charging slide is properly docked with the charging contact plate; if so, the robot body stops moving; if not, the robot body adjusts the position, the charging structure remains powered off, and step (2) is repeated;

[0086] Step (4): The charging structure is powered on, and the charging contact plate contacts the charging slide to charge the robot body.

[0087] In the description of the present invention, it is necessary to understand that the terms "front", "rear", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", "side", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0088] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A contact charging structure, characterized in that: include: Charger base, power supply assembly, charging connection arm and charging slide; The power supply assembly is installed on the charger base; The charging slide is mounted on the charging connection arm; the charging connection arm is used to drive the charging slide to move so that the charging slide contacts the power supply assembly, and the charging slide is electrically connected to the power supply assembly; The charging slide is provided with a lower charging surface and a lower guiding surface; one end of the lower guiding surface transitions to the lower charging surface and forms a height difference with the other end; the power supply component is guided by the lower guiding surface to contact and detach from the lower charging surface; The charging connection arm is used to connect the robot body, and the robot body drives the charging slide to move horizontally through the charging connection arm, and the power supply component moves adaptively in the vertical direction under the guidance of the lower guide surface until the power supply component contacts the lower charging surface; The charging structure is equipped with an in-place sensor; The in-position sensor is used to detect the position of the robot body and feed back the position information to the robot body; the robot body processes and analyzes the position information to determine whether the charging slide is well docked with the charging contact plate; if so, the robot body stops moving; if not, the robot body adjusts its position and the charging structure remains powered off.

2. The contact charging structure according to claim 1, characterized in that: When the charging slide contacts the power supply component, the charging slide lifts the power supply component so that the position of the power supply component is adaptively adjusted.

3. The contact charging structure according to claim 2, characterized in that: Also includes: Buffer components; The buffer assembly includes: a guide column; The guide column is installed on the charger base frame, and the power supply component is installed on the guide column in a limited and movable manner.

4. The contact charging structure according to claim 3, characterized in that: The buffer assembly comprises: a resetting elastic member; One end of the resetting elastic member contacts the charger base, and the other end contacts the power supply assembly.

5. The contact charging structure according to claim 2, characterized in that: The power supply component is provided with a charging contact plate at the contact position between the power supply component and the charging slide; the charging contact plate is provided with an upper charging surface and an upper guiding surface; The lower guide surface slides relatively to the upper guide surface to adjust the height of the charging contact plate and to fit and detach the upper charging surface from the lower charging surface.

6. The contact charging structure according to claim 5, characterized in that: The two ends of the upper charging surface are the upper guiding surfaces; the two ends of the lower charging surface are the lower guiding surfaces.

7. The contact charging structure according to any one of claims 1 to 6, characterized in that: Also includes: Install the base and moving tracks; The charger base is movably connected to the mounting base; the power supply components are located on both sides of the mounting base; The mounting base is provided with a track mounting groove; the movable track is movably mounted in the track mounting groove; and the movable track is connected to the charger base.

8. The charging structure according to claim 7, characterized in that: Also includes: Mobile Department; At least one side of the mounting base is provided with a robot moving path; The moving part is used to connect to the robot body and provide a moving function for the robot body; The moving part moves on the robot moving path.

9. A patrol robot device, characterized in that: include: A robot body and a charging structure as described in any one of claims 1 to 8; The robot body is connected to the charging connecting arm and electrically connected to the charging slide; when the charging slide contacts the power supply component, the power supply component charges the robot body.

10. The inspection robot device according to claim 9, characterized in that: The charging method of the inspection robot device comprises the following steps: Step (1): The robot body receives the charging instruction, decelerates in advance, and starts to approach the charging structure; Step (2): The position sensor detects the position of the robot body and feeds back the position information to the robot body; Step (3): the robot body processes and analyzes the position information to determine whether the charging slide is properly docked with the charging contact plate; if so, the robot body stops moving; if not, the robot body adjusts the position, the charging structure remains powered off, and step (2) is repeated; Step (4): The charging structure is powered on, and the charging contact plate contacts the charging slide to charge the robot body.

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