An auxiliary docking system and method

Abstract

This invention discloses an auxiliary docking system and method. The auxiliary docking system includes a first docking device and a second docking device. The first docking device includes a first A docking component and a first B docking component, and the second docking device includes a second docking component. When the first A docking component and the first B docking component simultaneously contact the second docking component, the first docking device and the second docking device are parallel. The first A docking component is electrically connected to a first A circuit, and the first B docking component is electrically connected to a first B circuit. When the second docking component contacts the first A docking component, the first A circuit is in a first state; when the second docking component contacts the first B docking component, the first B circuit is in a third state. This auxiliary docking system can reflect the docking status between the first docking device and the second docking device through the circuit status, so as to detect abnormal situations such as the mobile robot not fully docking with the charging pile.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an auxiliary docking system and method. Background Technology

[0002] In recent years, with the development of the robotics field, mobile robots have been widely used in various industries. Mobile robots consume their stored electrical energy during movement, thus requiring automatic recharging to maintain normal operation. The key technology for automatic recharging is how to automatically align the mobile robot with a charging station.

[0003] One existing solution is to use infrared signals to align the robot with the charging station. For example, Chinese patent number 201810207194.0 discloses a robot charging system and a control method for the robot to move directly in front of the charging station. This patent sets left and right signal transmitters on both sides of the charging station and left and right signal receivers on both sides of the robot. The relative pose of the robot and the charging station is determined by the received infrared signals, thus enabling the robot to align with the charging station and automatically return to charging. However, infrared signals have a problem where the relative pose cannot be accurately determined when the moving robot is too close to the charging station. Therefore, in practical applications, recharging based on infrared signals may encounter issues such as… Figure 1 As shown, the mobile robot successfully contacts the charging station in front of it and begins charging. However, there is an angle between the two that does not fully align, which is not conducive to charging and is unsightly. In existing technologies, such abnormalities cannot be detected by infrared signals. Utility Model Content

[0004] The purpose of this invention is to provide an auxiliary docking system and method that can detect abnormal situations such as mobile robots not being fully docked with charging piles.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] An auxiliary docking system includes a first docking device and a second docking device; the first docking device includes a first A docking component and a first B docking component, and the second docking device includes a second docking component; when the first A docking component and the first B docking component simultaneously contact the second docking component, the first docking device and the second docking device are parallel.

[0007] The first A docking piece is electrically connected to the first A circuit, and the first B docking piece is electrically connected to the first B circuit;

[0008] When the second docking member contacts the first A docking member, the first A circuit is in a first state; when the second docking member does not contact the first A docking member, the first A circuit is in a second state.

[0009] When the second docking member contacts the first B docking member, the first B circuit is in the third state; when the second docking member does not contact the first B docking member, the first B circuit is in the fourth state.

[0010] Optionally, the second docking member includes a second positive docking member and a second negative docking member; the second docking device further includes a second power supply member; the second positive docking member is electrically connected to the positive terminal of the second power supply member, and the second negative docking member is electrically connected to the negative terminal of the second power supply member;

[0011] The first A connector includes a first A positive connector and a first A negative connector, and the first B connector includes a first B positive connector and a first B negative connector; the first A positive connector is electrically connected to the first A negative connector through the first A circuit, and the first B positive connector is electrically connected to the first B negative connector through the first B circuit.

[0012] When the second positive electrode contact is in contact with the first A positive electrode contact and the second negative electrode contact is in contact with the first A negative electrode contact, the first A circuit is in the first state; otherwise, the first A circuit is in the second state.

[0013] When the second positive electrode contact is in contact with the first B positive electrode contact and the second negative electrode contact is in contact with the first B negative electrode contact, the first B circuit is in the third state; otherwise, the first B circuit is in the fourth state.

[0014] The first state and the third state are in a conducting state, and the second state and the fourth state are in a disconnected state.

[0015] Optionally, the first docking device further includes a first power supply component; the first A positive terminal docking component is electrically connected to the positive terminal of the first power supply component, and the first A negative terminal docking component is electrically connected to the negative terminal of the first power supply component; the first A circuit is electrically connected between the first A positive terminal docking component and the positive terminal of the first power supply component.

[0016] A first A short-circuit protection device is electrically connected between the first A positive terminal connector and the positive terminal of the first power supply device, or between the first A negative terminal connector and the negative terminal of the first power supply device.

[0017] A second positive short-circuit protection device is also electrically connected between the positive terminal of the second power supply component and the second positive terminal connector, and a second negative short-circuit protection device is also electrically connected between the negative terminal of the second power supply component and the second negative terminal connector.

[0018] The first A short-circuit protection device, the second positive short-circuit protection device, and the second negative short-circuit protection device are all self-resetting fuses.

[0019] Optionally, the first docking device further includes a first controller, which is electrically connected to the first A circuit and the first B circuit;

[0020] The first A circuit is a first A current detection circuit; the first controller is used to determine the on / off state of the first A current detection circuit based on the output of the first A current detection circuit;

[0021] The first B circuit is a first B voltage detection circuit or a first B current detection circuit; the first controller is used to determine the on / off state of the first B voltage detection circuit or the first B current detection circuit based on the output of the first B voltage detection circuit or the first B current detection circuit.

[0022] The first A current detection circuit includes a first A current detection chip, which is electrically connected between the first A positive terminal and the positive terminal of the first power supply component; the first A current detection chip is also electrically connected to the first controller; the first A short-circuit protection component is electrically connected between the first A current detection chip and the first A positive terminal.

[0023] The first B voltage detection circuit includes two voltage divider resistors connected in series between the first B positive terminal and the first B negative terminal, and the connection point between the first controller and the first B voltage detection circuit is located between the two voltage divider resistors.

[0024] When the first B circuit is the first B current measuring circuit, the first A negative terminal and the first B negative terminal are connected in series; the first B current detection circuit includes a first B current detection chip, which is electrically connected between the first B positive terminal and the positive terminal of the first power supply component; the first B current detection chip is also electrically connected to the first controller; a first B short-circuit protection device is also electrically connected between the first B current detection chip and the first B positive terminal; the first B short-circuit protection device is a self-resetting fuse.

[0025] Optionally, the first docking device includes a first housing, which includes a first left side plate and a first right side plate arranged in parallel, as well as a first front side plate and a first rear side plate arranged in parallel; the first left side plate and the first right side plate are respectively fixedly connected to both sides of the first front side plate, and the connection is provided with rounded corners;

[0026] The first A positive electrode connector, the first A negative electrode connector, the first B positive electrode connector, and the first B negative electrode connector are all fixedly installed on the first front side plate; the distance from the first A positive electrode connector to the first left side plate is less than the distance from the first B positive electrode connector to the first left side plate;

[0027] The distance between the first A positive electrode connector and the first left side plate is equal to the distance between the first A negative electrode connector and the first left side plate, and the distance between the first A positive electrode connector and the first right side plate is equal to the distance between the first A negative electrode connector and the first right side plate.

[0028] The distance between the first B positive electrode connector and the first left side plate is equal to the distance between the first B negative electrode connector and the first left side plate, and the distance between the first B positive electrode connector and the first right side plate is equal to the distance between the first B negative electrode connector and the first right side plate.

[0029] The second docking device includes a second housing, which includes a second left side plate and a second right side plate arranged in parallel, as well as a second front side plate and a second rear side plate arranged in parallel; the two sides of the second front side plate are respectively connected to the second left side plate and the second right side plate, and the connection is provided with rounded corners;

[0030] The second positive electrode connector and the second negative electrode connector are both fixedly installed on the second front side plate; the distance between the second positive electrode connector and the second left side plate is equal to the distance between the second negative electrode connector and the second left side plate, and the distance between the second positive electrode connector and the second right side plate is equal to the distance between the second negative electrode connector and the second right side plate.

[0031] The length of the first A positive electrode connector is equal to the length of the first B positive electrode connector; the length of the second positive electrode connector is greater than or equal to the sum of the length of the first A positive electrode connector, the distance between the first A positive electrode connector and the first B positive electrode connector, and the length of the first B positive electrode connector.

[0032] Optionally, the first docking device is a device to be charged, the first housing is the housing of the device to be charged, the first power supply is a battery, the second docking device is a charging device, the second housing is the housing of the charging device, and the second power supply is a power adapter; or, the first docking device is a charging device, the first housing is the housing of the charging device, the first power supply is a power adapter, the second docking device is a device to be charged, the second housing is the housing of the device to be charged, and the second power supply is a battery.

[0033] The auxiliary docking system also includes a mobile controller for controlling the movement of the mobile robot; the mobile controller is fixedly connected to the charging device, communicatively connected to the first controller, and electrically connected to the drive unit of the mobile robot;

[0034] When the first docking device is a device to be charged, the first controller is wired to the mobile controller; when the first docking device is a charging device, the first controller is wirelessly connected to the mobile controller.

[0035] The first controller is used to output a corresponding control signal to the mobile controller based on the on / off state of the first A circuit and the first B circuit; it is also used to determine the battery charge based on the output of the first A current detection circuit, and output a corresponding control signal to the mobile controller based on the battery charge.

[0036] The control signals include a first A control signal, a first B control signal, a second control signal, a third control signal, and a fourth control signal.

[0037] The first controller is configured to: after determining that the first A circuit is on and the first B circuit is off, output the first A control signal to the mobile controller; after determining that the first A circuit is off and the first B circuit is on, output the first B control signal to the mobile controller; after determining that the first A circuit is on and the first B circuit is on, output the second control signal to the mobile controller; after determining that the first A circuit is off and the first B circuit is off, output the third control signal to the mobile controller; and after determining that the battery power exceeds a preset power threshold, output the fourth control signal to the mobile controller.

[0038] The mobile controller is configured to: upon receiving the first control signal A, control the mobile robot to rotate in a first clockwise direction and translate towards the charging device; upon receiving the first control signal B, control the mobile robot to rotate in the opposite direction of the first clockwise direction and translate towards the charging device; upon receiving the second control signal, control the mobile robot to stop moving; upon receiving the third control signal, control the mobile robot to translate towards the charging device; and upon receiving the fourth control signal, control the mobile robot to travel along a preset path.

[0039] Optionally, the first controller is infrared communication connected to the mobile controller; the charging device includes an infrared A transmitter for emitting a first infrared signal and an infrared B transmitter for emitting a second infrared signal, the infrared A transmitter being electrically connected to an infrared A switch and the infrared B transmitter being electrically connected to an infrared B switch.

[0040] The first controller is electrically connected to the infrared A switch and the infrared B switch; the first controller is used to control the infrared A switch and the infrared B switch based on the on / off state of the first A circuit and the first B circuit and the battery power.

[0041] The device to be charged includes at least one infrared receiver for receiving the first infrared signal and the second infrared signal, the infrared receiver being electrically connected to an infrared signal processor; the infrared signal processor is electrically connected to the mobile controller, and the infrared signal processor is used to output corresponding control signals to the mobile controller based on the infrared signals received by the infrared receiver.

[0042] Optionally, an infrared emitting circuit board is fixedly connected inside the housing of the charging device, and both the infrared A transmitter and the infrared B transmitter are fixedly electrically connected to the infrared emitting circuit board.

[0043] An infrared emission isolation plate for blocking infrared rays is fixedly connected inside the housing of the charging device, and the infrared emission isolation plate is disposed between the infrared A emitter and the infrared B emitter.

[0044] An infrared control circuit board is fixedly connected inside the housing of the charging device, and the infrared control circuit board is electrically connected to the infrared emitting circuit board.

[0045] When the charging device is the first docking device, the first docking device includes the first A circuit, the first B circuit, at least one self-resetting fuse and the first controller, all of which are fixedly electrically connected to the infrared control circuit board.

[0046] When the charging device is the second docking device, the two self-resetting fuses included in the second docking device are fixedly electrically connected to the infrared control circuit board;

[0047] The housing of the charging device is fixedly connected to a first charging interface and a first USB interface for program burning. The infrared control circuit board is electrically connected to the first USB interface and the first charging interface. The power adapter is electrically connected to the first charging interface.

[0048] The charging device has a through infrared emitting slot on its housing, and an infrared emitting plate is fixedly embedded in the infrared emitting slot; the two infrared emitters are oriented toward the infrared emitting plate and the emitted infrared light passes through the infrared emitting plate.

[0049] The infrared emitting plate is U-shaped and includes an infrared emitting long plate and two infrared emitting short plates fixedly connected to both ends of the infrared emitting long plate. The infrared emitting long plate is embedded in the front side plate of the charging device housing, and the two infrared emitting short plates are embedded in the left side plate and right side plate of the charging device housing, respectively.

[0050] Optionally, the charging device includes a charging mounting base, and a charging mounting base ear is fixedly provided at each of the two ends of the charging mounting base; the charging device includes a charging mounting base support column corresponding to each of the charging mounting base ear, and each of the charging mounting base ear is slidably sleeved on the charging mounting base support column corresponding to it.

[0051] The charging mounting base support column is located inside the housing of the charging device, with one end fixedly connected to the housing of the charging device and the other end detachably connected to the charging mounting base limiting member; a charging mounting base spring is sleeved on the charging mounting base support column, and the charging mounting base spring is limited between the charging mounting base ear and the charging mounting base limiting member;

[0052] A conductive spring is fixedly connected to the charging mounting base; a through charging mounting groove is provided on the front side plate of the charging device, and the side of the charging mounting base connected to the conductive spring extends from the charging mounting groove to the outside of the housing of the charging device.

[0053] The conductive spring is U-shaped and includes a long conductive piece and two short conductive pieces fixedly connected to both ends of the long conductive piece; at least one of the two short conductive pieces is fixedly connected to a conductive lug, and the conductive lug has a conductive lug hole for connecting an electric wire.

[0054] The charging mounting base has conductive short piece connection through holes corresponding to each of the conductive short pieces. Each of the conductive short pieces passes through the corresponding conductive short piece connection through hole and is interference-fitted with it. The charging mounting base also has spare conductive through holes for wires to pass through to the conductive spring.

[0055] The first A positive electrode connector, the first A negative electrode connector, the first B positive electrode connector, the first B negative electrode connector, the second positive electrode connector, and the second negative electrode connector are all conductive springs; the charging device includes two parallel charging mounting bases, and at least one conductive spring is fixedly connected to each of the charging mounting bases.

[0056] Optionally, the housing of the device to be charged is fixedly provided with a plurality of mounting ears for charging and fixedly connected to the mobile robot. A charging bracket is fixedly connected inside the housing of the device to be charged. An infrared receiving circuit board and an infrared signal circuit board are fixedly connected to the charging bracket. Two infrared receivers are fixedly electrically connected to the infrared receiving circuit board. An infrared receiving isolation plate for isolating infrared signals is fixedly provided between the two infrared receivers. The infrared signal processor is fixedly electrically connected to the infrared signal circuit board. The infrared receiving circuit board is electrically connected to the infrared signal circuit board.

[0057] When the device to be charged is the first docking device, the first docking device includes the first A circuit, the first B circuit, at least one self-resetting fuse, and the first controller, all of which are fixedly electrically connected to the infrared signal circuit board; when the charging device is the second docking device, the second docking device includes two self-resetting fuses, which are fixedly electrically connected to the infrared signal circuit board.

[0058] The housing of the device to be charged is fixedly connected to a second charging interface and a second USB interface for program burning, and the infrared signal circuit board is electrically connected to the second charging interface and the second USB interface.

[0059] The front panel of the device to be charged has a through infrared receiving slot, and an infrared receiving plate is fixedly embedded in the infrared receiving slot; the receiving direction of the two infrared receivers is set towards the infrared receiving plate and the received infrared light passes through the infrared receiving plate; both the infrared receiving plate and the infrared emitting plate are black acrylic plates.

[0060] The device to be charged includes two parallel charging mounting bases, and the two ends of each charging mounting base are detachably connected to the charging bracket by screws; at least one conductive spring is fixedly connected to each charging mounting base; a through charging mounting groove is opened on the front side plate of the device to be charged, and the side of the charging mounting base connected to the conductive spring extends from the charging mounting groove to the outside of the housing of the device to be charged.

[0061] An auxiliary docking method, applicable to the aforementioned auxiliary docking system; the auxiliary docking method includes:

[0062] The first controller acquires the on / off status of the first A circuit and the first B circuit;

[0063] Based on the acquired on / off states of the first A circuit and the first B circuit, the first controller outputs corresponding control signals to the motion controller.

[0064] The mobile controller controls the mobile robot to move based on the received control signals.

[0065] Optionally, the control signal includes a first A control signal, a first B control signal, a second control signal, and a third control signal;

[0066] The first controller outputs corresponding control signals to the motion controller based on the acquired on / off states of the first A circuit and the first B circuit, specifically including:

[0067] After the first controller determines that the first A circuit is on and the first B circuit is off, it outputs the first A control signal to the motion controller; after the first controller determines that the first A circuit is off and the first B circuit is on, it outputs the first B control signal to the motion controller; after the first controller determines that the first A circuit is on and the first B circuit is on, it outputs the second control signal to the motion controller; when the first controller determines that the first A circuit is off and the first B circuit is off, it outputs the third control signal to the motion controller.

[0068] The mobile controller controls the mobile robot to move based on the received control signals, specifically including:

[0069] After receiving the first control signal A, the mobile controller controls the mobile robot to rotate in the first clockwise direction and translate towards the charging device; after receiving the first control signal B, the mobile controller controls the mobile robot to rotate in the opposite direction of the first clockwise direction and translate towards the charging device; after receiving the second control signal, the mobile controller controls the mobile robot to stop moving; after receiving the third control signal, the mobile controller controls the mobile robot to move towards the charging device.

[0070] The first controller acquires the on / off states of the first A circuit and the first B circuit, specifically including:

[0071] The first A circuit is a first A current detection circuit;

[0072] The first controller acquires the output of the first A current detection circuit and determines the on / off state of the first A current detection circuit based on the output of the first A current detection circuit.

[0073] The first B circuit is either a first B voltage detection circuit or a first B current detection circuit;

[0074] The first controller acquires the output of the first B voltage detection circuit or the first B current detection circuit, and determines the on / off state of the first B voltage detection circuit or the first B current detection circuit based on the output of the first B voltage detection circuit or the first B current detection circuit.

[0075] The auxiliary docking method also includes:

[0076] The first controller determines the battery level based on the output of the first A current detection circuit, and outputs a corresponding control signal to the mobile controller based on the battery level.

[0077] Optionally, the control signal may further include a fourth control signal;

[0078] The first controller outputs corresponding control signals to the mobile controller based on the battery's power level, specifically including:

[0079] After the first controller determines that the battery power exceeds a preset power threshold, it outputs the fourth control signal to the mobile controller.

[0080] The mobile controller controls the mobile robot to move based on the received control signals, and further includes:

[0081] After receiving the fourth control signal, the mobile controller controls the mobile robot to travel along a preset path;

[0082] The first controller controls the infrared A switch and the infrared B switch based on the control signal to be output, so that the infrared A transmitter and the infrared B transmitter output corresponding infrared signals; the infrared signal processor outputs the corresponding control signal to the mobile controller based on the infrared signal received by the infrared receiver;

[0083] The first controller outputs the first A control signal to the mobile controller, specifically including:

[0084] The first controller controls the infrared A switch to be turned on and the infrared B switch to be turned off, so that the infrared A transmitter emits an A signal; the infrared receiver receives the infrared A signal only once within a predetermined time, and the infrared signal processor outputs the first A control signal to the mobile controller.

[0085] The first controller outputs the first B control signal to the mobile controller, specifically including:

[0086] The first controller controls the infrared A switch to be turned off and the infrared B switch to be turned on, so that the infrared B transmitter emits a B signal; the infrared receiver receives only one infrared B signal within a predetermined time, and the infrared signal processor outputs a first B control signal to the mobile controller.

[0087] The first controller outputs the second control signal to the mobile controller, specifically including:

[0088] The first controller controls the infrared A switch to be turned on and the infrared B switch to be turned on, so that the infrared A transmitter emits the infrared A signal and the infrared B transmitter emits the infrared B signal; the infrared receiver receives the infrared A signal once and the infrared B signal once within a predetermined time, and the infrared signal processor outputs the second control signal to the mobile controller;

[0089] The first controller outputs the third control signal to the motion controller, specifically including:

[0090] The first controller controls the infrared A switch to be turned off and the infrared B switch to be turned off. If the infrared receiver does not receive either the infrared A signal or the infrared B signal within a predetermined time, the infrared signal processor outputs the third control signal to the mobile controller.

[0091] The first controller outputs the fourth control signal to the motion controller, specifically including:

[0092] The first controller controls the infrared A switch to switch on and off repeatedly multiple times and / or the infrared B switch to switch on and off repeatedly within a predetermined time. After the infrared receiver receives the infrared A signal and / or the infrared B signal multiple times within the predetermined time, the infrared signal processor outputs the fourth control signal to the mobile controller.

[0093] Compared with the prior art, the present invention has the following beneficial effects:

[0094] The auxiliary docking system provided by this utility model divides the first docking component on the first docking device into two parts: a first docking component A and a first docking component B. When the mobile robot and the charging pile are in a position as shown in the figure... Figure 1 When the non-parallelism leads to insufficient docking, only one of the first docking parts A and B will come into contact with the second docking part and cause a change in the relevant circuit state. Thus, the docking status between the first docking device and the second docking device can be reflected by the circuit state, so as to detect abnormal situations such as the mobile robot not being fully docked with the charging pile. Attached Figure Description

[0095] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0096] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0097] Figure 1 This diagram illustrates an abnormal state that may occur when a mobile robot and a charging station are docked using existing technology.

[0098] Figure 2 A schematic diagram of the docking system provided in this embodiment of the utility model;

[0099] Figure 3 A schematic diagram of the circuit structure of the second docking device provided in an embodiment of this utility model;

[0100] Figure 4 A schematic diagram of the circuit structure of the first docking device provided in an embodiment of this utility model;

[0101] Figure 5 Another circuit structure diagram of the first docking device provided in this embodiment of the utility model;

[0102] Figure 6 Another circuit structure diagram of the first docking device provided in this embodiment of the utility model;

[0103] Figure 7 A front view of the first docking device provided in an embodiment of this utility model;

[0104] Figure 8 A front view of the second docking device provided in an embodiment of this utility model;

[0105] Figure 9 This is a partial structural schematic diagram of the charging device provided in an embodiment of the present utility model;

[0106] Figure 10 This is a schematic diagram of the overall structure of the charging device provided in an embodiment of the present utility model;

[0107] Figure 11 This is a schematic diagram of the structure of the infrared emitting circuit board provided in an embodiment of the present utility model;

[0108] Figure 12 This is another structural schematic diagram of the charging device provided in an embodiment of the present utility model;

[0109] Figure 13This is a schematic diagram of the structure of the charging mounting base provided in an embodiment of the present utility model;

[0110] Figure 14 This is a schematic diagram of the structure of the conductive spring sheet provided in an embodiment of the present utility model;

[0111] Figure 15 This is a partial structural schematic diagram of the charging device provided in an embodiment of the present utility model;

[0112] Figure 16 This is a schematic diagram of the overall structure of the charging device provided in an embodiment of the present utility model.

[0113] Illustrations: 11. First A connector; 111. First A positive connector; 112. First A negative connector; 12. First B connector; 121. First B positive connector; 122. First B negative connector; 13. First A circuit; 131. First A current detection chip; 14. First B circuit; 141. First B current detection chip; 15. First power supply unit; 16. First controller; 20. Second connector; 21. Second positive connector; 22. Second negative connector; 23. Second power supply unit; 31. First housing; 311. First front panel; 312. First left side panel; 312. First right side panel; 32. Second housing; 321. Second front panel; 322. Second left side panel; 323. Second right side panel; 41. Motion controller; 42. Infrared A transmitter; 43. Infrared B transmitter; 4 4. Infrared receiver; 45. Infrared signal processor; 5. Charging device; 51. Infrared emitting circuit board; 52. Infrared emitting isolation plate; 53. Infrared control circuit board; 54. First USB interface; 55. First charging interface; 56. Infrared emitting through plate; 570. Charging mounting base; 571. Charging mounting base ear piece; 572. Charging mounting base spring; 573. Charging mounting base limiting member; 574. Conductive short piece connecting through hole; 575. Spare conductive through hole; 58. Conductive spring piece; 581. Conductive long piece; 582. Conductive short piece; 583. Conductive ear piece; 6. Device to be charged; 61. Device to be charged mounting ear piece; 62. Device to be charged bracket; 63. Infrared receiving circuit board; 64. Infrared signal circuit board; 65. Infrared receiving isolation plate; 66. Second charging interface; 67. Second USB interface; 68. Infrared receiving through plate. 69. Mounting base to be charged; P1, First A short-circuit protection device; P2, First B short-circuit protection device; P3, Second positive short-circuit protection device; P4, Second negative short-circuit protection device; R1, Voltage divider resistor; S1, Infrared A switch; S2, Infrared B switch. Detailed Implementation

[0114] To make the utility model's objectives, features, and advantages more apparent and understandable, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0115] In the description of this utility model, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. It should be noted that when a component is considered to be "connected / set" to another component, it can be connected / set to another component, or it may simultaneously have a component centrally positioned.

[0116] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0117] This embodiment provides an auxiliary docking system and method that can detect abnormal situations such as mobile robots not fully docking with charging piles, a situation that is difficult to detect using existing infrared-based automatic recharging solutions.

[0118] Please refer to Figure 2 The auxiliary docking system includes a first docking device and a second docking device. The first docking device includes a first A docking member 11 and a first B docking member 12, and the second docking device includes a second docking member 20. If the first A docking member 11 and the first B docking member 12 do not simultaneously contact the second docking member 20, then the first docking device and the second docking device will exhibit the following characteristics: Figure 1 The non-parallel state shown indicates that the first docking device and the second docking device are at a certain angle. If the first A docking part 11 and the first B docking part 12 simultaneously contact the second docking part 20, then the first docking device and the second docking device will be in a parallel state. At this time, the first docking device fully docks with the second docking device, which is both aesthetically pleasing and conducive to charging.

[0119] The first A docking part 11 is electrically connected to the first A circuit 13, and the first B docking part 12 is electrically connected to the first B circuit 14.

[0120] When the second docking member 20 contacts the first A docking member 11, the first A circuit 13 is in the first state; when the second docking member 20 does not contact the first A docking member 11, the first A circuit 13 is in the second state.

[0121] When the second docking member 20 contacts the first B docking member 12, the first B circuit 14 is in the third state; when the second docking member 20 does not contact the first B docking member 12, the first B circuit 14 is in the fourth state.

[0122] The auxiliary docking system provided in this embodiment divides the first docking component on the first docking device (which can be a mobile robot or a charging pile) into two parts. When the mobile robot and the charging pile are in a position such as Figure 1 When the non-parallelism leads to insufficient docking, only one of the first A docking component 11 and the first B docking component 12 will come into contact with the second docking component and cause a change in the relevant circuit state. In summary, this embodiment reflects the docking status of the first docking device and the second docking device (i.e., the mobile robot and the charging pile) through the circuit state, thereby detecting abnormal situations such as the mobile robot not being fully docked with the charging pile.

[0123] Please refer to Figure 3 and Figure 4 The second docking member 20 includes a second positive docking member 21 and a second negative docking member 22. The second docking device also includes a second power supply member 23. The second positive docking member 21 is electrically connected to the positive terminal of the second power supply member 23, and the second negative docking member 22 is electrically connected to the negative terminal of the second power supply member 23.

[0124] The first A-connector 11 includes a first A-positive connector 111 and a first A-negative connector 112, and the first B-connector 12 includes a first B-positive connector 121 and a first B-negative connector 122. The first A-positive connector 111 is electrically connected to the first A-negative connector 112 through the first A circuit 13, and the first B-positive connector 121 is electrically connected to the first B-negative connector 122 through the first B circuit 14.

[0125] When the second positive electrode connector 21 contacts the first A positive electrode connector 111 and the second negative electrode connector 22 contacts the first A negative electrode connector 112, the first A circuit 13 is in the first state; otherwise, the first A circuit 13 is in the second state. When the second positive electrode connector 21 contacts the first B positive electrode connector 121 and the second negative electrode connector 22 contacts the first B negative electrode connector 122, the first B circuit 14 is in the third state; otherwise, the first B circuit 14 is in the fourth state.

[0126] Among them, the first and third states are the on state, and the second and fourth states are the off state.

[0127] In this embodiment, the first docking device further includes a first power supply component 15. A first A positive terminal docking component 111 is electrically connected to the positive terminal of the first power supply component 15, and a first A negative terminal docking component 112 is electrically connected to the negative terminal of the first power supply component 15. A first A circuit 13 is electrically connected between the first A positive terminal docking component 111 and the positive terminal of the first power supply component 15. One of the first power supply component 15 and the second power supply component 23 is a battery, and the other is a power adapter, which can be connected to a 220V AC input or other input current. Thus, a charging function can be realized.

[0128] A first A short-circuit protection device P1 is electrically connected between the first A positive terminal connector 111 and the positive terminal of the first power supply device 15 (i.e., between the first A circuit 13 and the positive terminal of the first power supply device 15, or between the first A circuit 13 and the first A positive terminal connector 111), or between the first A negative terminal connector 112 and the negative terminal of the first power supply device 15.

[0129] A second positive short-circuit protection device P3 is electrically connected between the positive terminal of the second power supply device 23 and the second positive terminal connector 21, and a second negative short-circuit protection device P4 is electrically connected between the negative terminal of the second power supply device 23 and the second negative terminal connector 22.

[0130] Since the connecting parts (first A positive terminal connecting part 111, first A negative terminal connecting part 112, first B positive terminal connecting part 121, first B negative terminal connecting part 122, second positive terminal connecting part 21, and second negative terminal connecting part 22) are all exposed, a short circuit would cause the corresponding power supply components (first power supply component 15, second power supply component 23) to short-circuit. Short-circuit protection components can prevent short circuits in the power supply components. Specifically, the first A short-circuit protection component P1, the second positive short-circuit protection component P3, and the second negative short-circuit protection component P4 can be resettable fuses, air switches, or circuit breakers, etc.

[0131] The first docking device further includes a first controller 16, which is electrically connected to the first A circuit 13 and the first B circuit 14. The first A circuit 13 is a first A current detection circuit, and the first controller 16 is used to determine the on / off state of the first A current detection circuit based on its output. The first B circuit 14 is a first B voltage detection circuit or a first B current detection circuit, and the first controller 16 is used to determine the on / off state of the first B voltage detection circuit or the first B current detection circuit based on its output.

[0132] Please refer to Figure 5The first A current detection circuit includes a first A current detection chip 131, which is electrically connected between the first A positive terminal connector 111 and the positive terminal of the first power supply unit 15. The first A current detection chip 131 is also electrically connected to the first controller 16, and the first A short-circuit protection unit P1 is electrically connected between the first A current detection chip 131 and the first A positive terminal connector 111.

[0133] The first B voltage detection circuit includes two voltage divider resistors R1 connected in series between the first B positive terminal connector 121 and the first B negative terminal connector 122. The connection point between the first controller 16 and the first B voltage detection circuit is located between the two voltage divider resistors R1.

[0134] Please refer to Figure 6 When the first B circuit 14 is a first B current measuring circuit, the first A negative terminal 112 and the first B negative terminal 122 are connected in series. The first B current detection circuit includes a first B current detection chip 141, which is electrically connected between the first B positive terminal 121 and the positive terminal of the first power supply unit 15. The first B current detection chip 141 is also electrically connected to the first controller 16. A first B short-circuit protection component P2 is also electrically connected between the first B current detection chip 141 and the first B positive terminal 121. The first B short-circuit protection component P2 can be a self-resetting fuse, an air switch, or a fuse, etc.

[0135] It should be noted that all controllers and processors involved in this embodiment (such as the first controller 16, the motion controller 41 and the infrared signal processor 45 described below) can be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), digital signal processors (DSPs) or combinations thereof. The aforementioned programmable logic devices can be complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs), generic array logic (GALs) or any combination thereof. This embodiment does not specifically limit them in this regard.

[0136] In this embodiment, the actual current of the first current detection circuit (A) is obtained through a current detection chip, which converts the input current into voltage. The first controller 16 includes an analog-to-digital converter (ADC), which can acquire voltage; that is, the first controller 16 acquires the voltage converted by the current detection chip through the ADC. The first controller 16 can be a microcontroller unit (MCU), such as an STM32 chip with ADC functionality, or other devices that can perform similar functions.

[0137] In some possible implementations, the first controller 16 includes a memory that pre-stores a first A current threshold, which is the minimum current that would occur when the first A current detection circuit is in a conducting state. The first controller 16 includes a current comparison circuit that compares the actual current of the first A current detection circuit with the first A current threshold to determine whether the first A current detection circuit is conducting. If the actual current of the first A current detection circuit is greater than or equal to the first A current threshold, it can be determined that the first A current detection circuit is conducting, i.e., the second mating member 20 is in contact with the first A mating member 11 at this time; otherwise, it is determined that the first A current detection circuit is disconnected, i.e., the second mating member 20 is not in contact with the first A mating member 11 at this time. The current comparison circuit includes a current comparator.

[0138] In some possible implementations, the first controller 16 includes a voltage-to-current conversion circuit that converts the voltage acquired by the ADC back into a corresponding current, and the converted current is compared by the aforementioned current comparison circuit.

[0139] Similarly, the first controller 16 pre-stores a first B current threshold in its memory. This first B current threshold should be the minimum current that will occur when the first B current detection circuit is in the on state. The other specific steps are basically the same as the relevant content of the first A current detection circuit described above, and will not be repeated here.

[0140] Similarly, the ADC of the first controller 16 can also acquire the actual voltage at the connection point between the first controller 16 and the first B voltage detection circuit, after being divided by two voltage divider resistors R1. The memory can pre-store a first B voltage threshold, which should be the minimum voltage that will appear at the connection point when the first B voltage detection circuit is turned on. By comparing the actual voltage with the first B voltage threshold through a voltage comparison circuit, it can be determined that the first B voltage detection circuit is turned on when the actual voltage is greater than or equal to the first B voltage threshold.

[0141] The first A current detection chip 131 and the first B current detection chip 141 mentioned above are both electrically connected to the ADC in the first controller 16. The ADC is electrically connected to the voltage-to-current conversion circuit, the voltage-to-current conversion circuit is electrically connected to the current comparison circuit, and the current comparison circuit is electrically connected to the memory. The connection point between the first B voltage detection circuit and the first controller 16 is electrically connected to the ADC, the ADC is electrically connected to the voltage comparison circuit, and the voltage comparison circuit is electrically connected to the memory.

[0142] Please refer to Figure 7 The first docking device includes a first housing 31, which includes a first left side plate 312 and a first right side plate 313 arranged in parallel, as well as a first front side plate 311 and a first rear side plate arranged in parallel. The first left side plate 312 and the first right side plate 313 are fixedly connected to both sides of the first front side plate 311, and the first left side plate 312 and the first right side plate 313 are fixedly connected to both sides of the first rear side plate. The connection points between the first front side plate 311 and the first left side plate 312, and the connection points between the first front side plate 311 and the first right side plate 313, are all provided with rounded corners.

[0143] The first A positive electrode connector 111, the first A negative electrode connector 112, the first B positive electrode connector 121, and the first B negative electrode connector 122 are all fixedly installed on the first front side plate 311. The distance between the first A positive electrode connector 111 and the first left side plate 312 is less than the distance between the first B positive electrode connector 121 and the first left side plate 312.

[0144] The distance between the first positive electrode connector 111 and the first left side plate 312 ( Figure 7 S1) is equal to the distance between the first negative electrode connector 112 and the first left side plate 312. Figure 7 (S2), the distance between the first A positive electrode connector 111 and the first right side plate 313 ( Figure 7 S3) equals the distance from the first A negative electrode connector 112 to the first right side plate 313. Figure 7 The spacing of S4). Similarly, the spacing between the first B positive electrode connector 121 and the first left side plate 312 is equal to the spacing between the first B negative electrode connector 122 and the first left side plate 312, and the spacing between the first B positive electrode connector 121 and the first right side plate 313 is equal to the spacing between the first B negative electrode connector 122 and the first right side plate 313.

[0145] Please refer to Figure 8The second docking device includes a second housing 32, which includes a second left side plate 322 and a second right side plate 323 arranged in parallel, as well as a second front side plate 321 and a second rear side plate arranged in parallel. The second left side plate 322 and the second right side plate 323 are respectively connected to the two sides of the second front side plate 321, and the first left side plate 312 and the first right side plate 313 are respectively fixedly connected to the two sides of the second rear side plate. The connection between the first front side plate 311 and the first left side plate 312, and the connection between the first front side plate 311 and the first right side plate 313, are all provided with rounded corners.

[0146] The second positive electrode connector 21 and the second negative electrode connector 22 are both fixedly installed on the second front side plate 321. The distance between the second positive electrode connector 21 and the second left side plate 322 is equal to the distance between the second negative electrode connector 22 and the second left side plate 322. The distance between the second positive electrode connector 21 and the second right side plate 323 is equal to the distance between the second negative electrode connector 22 and the second right side plate 323.

[0147] The above settings ensure that the leftmost point of the positive electrode and the leftmost point of the corresponding negative electrode, as well as the rightmost point of the positive electrode and the rightmost point of the corresponding negative electrode, are all aligned on a straight line. This guarantees that when the second positive electrode connector 21 contacts the first A positive electrode connector 111, the second negative electrode connector 22 will also contact the first A negative electrode connector 112; and when the second positive electrode connector 21 contacts the first B positive electrode connector 121, the second negative electrode connector 22 will also contact the first B negative electrode connector 122.

[0148] Furthermore, the length of the first A positive electrode connector 111 ( Figure 7 L1) is equal to the length of the first B positive electrode docking piece 121. Figure 7 If the lengths of the first A negative electrode connector 112 and the first B negative electrode connector 122 are equal, then the length of the first A negative electrode connector 112 will also be equal to the length of the first B negative electrode connector 122. If the length difference between the first A connector 11 and the first B connector 12 is too large, then a slight offset between the center lines of the first docking device and the second docking device may affect the normal operation of the auxiliary docking system and the docking result. Setting the A and B parts equally can effectively increase the probability of good contact between the first A connector 11 and / or the first B connector 12 and the second connector 20.

[0149] The length of the second positive electrode connector 21 is greater than or equal to (preferably greater than) the sum of the length of the first A positive electrode connector 111, the distance between the first A positive electrode connector 111 and the first B positive electrode connector 121, and the length of the first B positive electrode connector 121 (i.e., the distance between the leftmost point of the first A positive electrode connector 111 and the rightmost point of the first B positive electrode connector 121). This setting can also reduce the impact of minor deviations during docking and increase the probability of good contact.

[0150] In this embodiment, the mating surface of the mating component is rectangular. It is understood that this shape may also be circular, rhomboid, square, or other irregular shapes. Therefore, as... Figure 7 As shown in L1 and L2, the length of the mating part refers to the distance between its leftmost point and its rightmost point.

[0151] It is understood that the second positive electrode connector 21 in this embodiment can also be divided into a second A positive electrode connector and a second B positive electrode connector connected in series, with the second A positive electrode connector corresponding to the first A positive electrode connector 111 and the second B positive electrode connector corresponding to the first B positive electrode connector 121. The case of the second positive electrode connector 21 being divided and the case of the second positive electrode connector 21 being a whole are essentially the same and should be regarded as the same technical solution, within the protection scope of this utility model.

[0152] Since the second positive electrode connector 21 is detachable, the first A positive electrode connector 111 and the second B positive electrode connector do not necessarily have to be as described above. Figure 7 The components shown are on the same horizontal line and can be staggered at different heights, as long as the first A positive electrode connector 111 contacts the second A positive electrode connector and the first B positive electrode connector 121 contacts the second B positive electrode connector. Such a configuration should also be within the protection scope of this utility model. Figure 7 The middle option is the preferred option as it is more aesthetically pleasing and easier to implement.

[0153] In this embodiment, the first docking device can be the device to be charged 6 (fixedly installed on the mobile robot) or the charging device 5 (charging pile).

[0154] When the first docking device is the device to be charged 6, the first power supply component 15 is a battery; when the second docking device is the charging device 5, the second power supply component 23 is a power adapter. That is, at this time, the first housing 31 is the housing of the device to be charged 6, and the first front side plate 311, the first rear side plate, the first left side plate 312, and the first right side plate 313 are the front side plate, rear side plate, left side plate, and right side plate of the device to be charged 6, respectively; the second housing 32 is the housing of the charging device 5, and the second front side plate 321, the second rear side plate, the second left side plate 322, and the second right side plate 323 are the front side plate, rear side plate, left side plate, and right side plate of the charging device 5, respectively.

[0155] Similarly, when the first docking device is the charging device 5, the first power supply component 15 is a power adapter; when the second docking device is the device to be charged 6, the second power supply component 23 is a battery. At this time, the first housing 31 is the housing of the charging device 5, and the first front side plate 311, the first rear side plate, the first left side plate 312, and the first right side plate 313 are the front side plate, rear side plate, left side plate, and right side plate of the charging device 5, respectively; the second housing 32 is the housing of the device to be charged 6, and the second front side plate 321, the second rear side plate, the second left side plate 322, and the second right side plate 323 are the front side plate, rear side plate, left side plate, and right side plate of the device to be charged 6, respectively.

[0156] Please refer to Figure 6 The auxiliary docking system also includes a mobile controller 41 for controlling the movement of the mobile robot, which is fixedly mounted on the mobile robot. The mobile controller 41 is fixedly connected to the charging device 6, communicatively connected to the first controller 16, and electrically connected to the drive unit of the mobile robot.

[0157] When the first docking device is the device to be charged 6, the first controller 16 is wired to the mobile controller 41. When the first docking device is the charging device 5, the first controller 16 is wirelessly connected to the mobile controller 41. The wireless communication method between the first controller 16 and the mobile controller 41 can be Bluetooth, WiFi, ZigBee, or cellular mobile, that is, in some possible embodiments, the first controller 16 is electrically connected to a Bluetooth / WiFi / ZigBee / cellular transmitter, and the mobile controller 41 is electrically connected to a Bluetooth / WiFi / ZigBee / cellular receiver.

[0158] The first controller 16 is used to output corresponding control signals to the motion controller 41 based on the on / off state of the first A circuit 13 and the first B circuit 14; it is also used to determine the battery power based on the output of the first A current detection circuit, and output corresponding control signals to the motion controller 41 based on the battery power.

[0159] The control signals include a first A control signal, a first B control signal, a second control signal, a third control signal, and a fourth control signal.

[0160] The first controller 16 is configured to: output a first A control signal to the motion controller 41 after determining that the first A circuit 13 is on and the first B circuit 14 is off; output a first B control signal to the motion controller 41 after determining that the first A circuit 13 is off and the first B circuit 14 is on; output a second control signal to the motion controller 41 after determining that the first A circuit 13 is on and the first B circuit 14 is on; output a third control signal to the motion controller 41 after determining that the first A circuit 13 is off and the first B circuit 14 is off; and output a fourth control signal to the motion controller 41 after determining that the battery power exceeds a preset power threshold.

[0161] The mobile controller 41 is used to: upon receiving a first control signal A, control the mobile robot to rotate in a first clockwise direction and translate towards the charging device 5; upon receiving a first control signal B, control the mobile robot to rotate in the opposite direction of the first clockwise direction and translate towards the charging device 5; upon receiving a second control signal, control the mobile robot to stop moving; upon receiving a third control signal, control the mobile robot to move towards the charging device 5; and upon receiving a fourth control signal, control the mobile robot to travel along a preset path. Wherein, if the first clockwise direction is clockwise, then the opposite direction is counterclockwise, which can be set according to actual needs.

[0162] In some possible implementations, the first controller 16 pre-stores a first A control signal, a first B control signal, a second control signal, a third control signal, and a fourth control signal in a memory.

[0163] In some possible implementations, the first controller 16 pre-stores in its memory the corresponding current value that the first current detection circuit will produce when the battery charge is a specific value (e.g., 100%). A current comparison circuit compares the pre-stored current value with the actual current; if they are equal, the battery current is determined to be the specific value. The first controller 16 can also pre-store a preset battery charge threshold in its memory and compare the battery charge with the preset threshold using the battery charge comparison circuit.

[0164] In some possible implementations, the motion controller 41 pre-stores signals that adjust the rotational speed of the mobile robot's drive components, such as pulse width modulation (PWM) signals. The motion controller 41 outputs corresponding PWM signals to the mobile robot's drive components, enabling the mobile robot to perform movements such as rotation, forward movement, and backward movement. The mobile robot's drive components may include motors and servo motors, etc.

[0165] It is understood that the various comparison circuits (current, voltage, and quantity) described in this embodiment can also be implemented through program calculation.

[0166] Please refer to Figure 6 The first controller 16 is connected to the mobile controller 41 via infrared communication. Figure 6Solid lines in the diagram represent electrical connections, while dashed lines indicate communication connections. In this embodiment, the automatic recharging process of the device to be charged 6 (i.e., the process of the device to be charged 6 finding the location of the charging device 5 and moving the mobile robot toward the charging device 5 before assisted docking) is based on infrared signals. If the first controller 16 communicates with the mobile controller 41 via infrared, the infrared-related devices used in the automatic recharging process can be reused, eliminating the need to add other communication modules and achieving cost savings.

[0167] The charging device 5 includes an infrared A transmitter 42 for emitting a first infrared signal and an infrared B transmitter 43 for emitting a second infrared signal. The infrared A transmitter 42 is electrically connected to an infrared A switch S1, and the infrared B transmitter 43 is electrically connected to an infrared B switch S2. When the infrared A switch S1 is on, the infrared A transmitter 42 can emit the first infrared signal; when it is off, the infrared A transmitter 42 does not emit a signal. When the infrared B switch S2 is on, the infrared B transmitter 43 can emit the second infrared signal; when it is off, the infrared B transmitter 43 does not emit a signal.

[0168] The first controller 16 is electrically connected to the infrared A switch S1 and the infrared B switch S2. The first controller 16 is used to control the infrared A switch S1 and the infrared B switch S2 based on the on / off state of the first A circuit 13 and the first B circuit 14 and the battery power.

[0169] The charging device 6 includes at least one infrared receiver 44 for receiving a first infrared signal and a second infrared signal, and the infrared receiver 44 is electrically connected to an infrared signal processor 45. The infrared signal processor 45 is electrically connected to a motion controller 41, and the infrared signal processor 45 is used to output corresponding control signals to the motion controller 41 based on the infrared signals received by the infrared receiver 44.

[0170] Among them, infrared A switch S1 / infrared B switch S2 includes mechanical switches and electronic switches; the electronic switch includes at least one controllable electronic driving device, such as thyristor, transistor, field-effect transistor, silicon controlled rectifier, relay, etc.

[0171] In some possible implementations, the infrared signal processor 45 pre-stores a first A control signal, a first B control signal, a second control signal, a third control signal, and a fourth control signal.

[0172] The first controller 16 is specifically configured to: after determining that the first A circuit 13 is on and the first B circuit 14 is off, control the infrared A switch S1 to be on and the infrared B switch S2 to be off; after determining that the first A circuit 13 is off and the first B circuit 14 is on, control the infrared A switch S1 to be off and the infrared B switch S2 to be on; after determining that the first A circuit 13 is on and the first B circuit 14 is on, control the infrared A switch to be on and the infrared B switch S2 to be on; after determining that the first A circuit 13 is off and the first B circuit 14 is off, control the infrared A switch to be off and the infrared B switch S2 to be off; and after determining that the battery power exceeds a preset power threshold, control the infrared A switch S1 to switch on and off repeatedly and / or the infrared B switch S2 to switch on and off repeatedly.

[0173] The infrared signal processor 45 is specifically configured to: output a first A control signal to the motion controller 41 when the infrared receiver 44 receives only one infrared A signal within a predetermined time; output a first B control signal to the motion controller 41 when the infrared receiver 44 receives only one infrared B signal within a predetermined time; output a second control signal to the motion controller 41 when the infrared receiver 44 receives one infrared A signal and one infrared B signal within a predetermined time; output a third control signal to the motion controller 41 when the infrared receiver 44 does not receive either the infrared A signal or the infrared B signal within a predetermined time; and output a fourth control signal to the motion controller 41 when the infrared receiver 44 receives multiple infrared A signals and / or infrared B signals within a predetermined time. The predetermined time can be set according to requirements.

[0174] Please refer to Figure 9-11 An infrared emitting circuit board 51 is fixedly connected inside the housing of the charging device 5. Infrared A emitter 42 and infrared B emitter 43 are both fixedly electrically connected to the infrared emitting circuit board 51. An infrared emitting isolation plate 52 for blocking infrared rays is fixedly connected inside the housing of the charging device 5. The infrared emitting isolation plate 52 is located between the infrared A emitter 42 and the infrared B emitter 43.

[0175] An infrared control circuit board 53 is fixedly connected inside the housing of the charging device 5, and the infrared control circuit board 53 is electrically connected to the infrared emitting circuit board 51. When the charging device 5 is a first docking device, the first A circuit 13, the first B circuit 14, at least one resettable fuse, and the first controller 16 included in the first docking device are all fixedly electrically connected to the infrared control circuit board 53. When the charging device 5 is a second docking device, the two resettable fuses included in the second docking device are fixedly electrically connected to the infrared control circuit board 53.

[0176] A first USB interface 54 for program burning is fixedly connected to the housing of the charging device 5, and the infrared control circuit board 53 is electrically connected to the first USB interface 54. A first charging interface 55 is fixedly connected to the housing of the charging device 5, and the power adapter is electrically connected to the first charging interface 55. The first charging interface 55 is electrically connected to the infrared control circuit board 53.

[0177] The charging device 5 has a through-hole infrared emitting slot on its housing, and an infrared emitting plate 56 is fixedly embedded in the infrared emitting slot. The two infrared emitters are oriented towards the infrared emitting plate 56, and the emitted infrared light passes through the infrared emitting plate 56. The infrared emitting plate 56 is U-shaped and includes a long infrared emitting plate and two short infrared emitting plates fixedly connected to both ends of the long infrared emitting plate. The long infrared emitting plate is embedded in the front side plate of the charging device 5 housing, and the two short infrared emitting plates are embedded in the left side plate and right side plate of the charging device 5 housing, respectively.

[0178] The infrared emitting plate 56 is made of black acrylic. While the casing material blocks infrared light, the black acrylic allows infrared light in the 850-950 nm wavelength range to pass through. The black color prevents the internal structure from being seen and also complements the white casing, enhancing its aesthetic appeal. Acrylic sheets offer advantages such as good plasticity, high transparency, excellent weather resistance, and long lifespan; therefore, black acrylic sheets were chosen.

[0179] Please refer to Figure 12-13 The charging device 5 includes a charging mounting base 570, with a charging mounting base ear piece 571 fixedly attached to each end of the charging mounting base 570. The charging device 5 includes a charging mounting base 570 support column corresponding to each charging mounting base ear piece 571, with each charging mounting base ear piece 571 slidably sleeved on its corresponding charging mounting base 570 support column. The charging mounting base 570 support column is located inside the housing of the charging device 5, with one end fixedly connected to the housing of the charging device 5, and the other end detachably connected to a charging mounting base limiting member 573.

[0180] A charging mounting base spring 572 is fitted onto the support column of the charging mounting base 570. The charging mounting base spring 572 is confined between the charging mounting base lug 571 and the charging mounting base limiting member 573. The spring provides a buffering effect during docking, preventing impact damage to the device.

[0181] A conductive spring 58 is fixedly connected to the charging mounting base 570. A through charging mounting groove is provided on the front side plate of the charging device 5. The side of the charging mounting base 570 connected to the conductive spring 58 extends from the charging mounting groove to the outside of the housing of the charging device 5.

[0182] Please refer to Figure 13-14The conductive spring 58 is U-shaped and includes a long conductive piece 581 and two short conductive pieces 582 fixedly connected to both ends of the long conductive piece 581. At least one of the two short conductive pieces 582 is fixedly connected to a conductive ear 583, and the conductive ear 583 has a conductive ear wire hole for connecting wires.

[0183] The charging mounting base 570 has conductive short piece connection through holes 574 corresponding to each conductive short piece 582. Each conductive short piece 582 passes through the corresponding conductive short piece connection through hole 574 and is interference-fitted with it. The charging mounting base 570 also has spare conductive through holes 575 for wires to pass through to the conductive spring piece 58.

[0184] The charging device 5 in this embodiment includes two parallel charging mounting bases 570, and at least one conductive spring piece 58 is fixedly connected to each charging mounting base 570.

[0185] The first A positive electrode connector 111, the first A negative electrode connector 112, the first B positive electrode connector 121, the first B negative electrode connector 122, the second positive electrode connector 21, and the second negative electrode connector 22 are all conductive spring contacts 58.

[0186] Please refer to Figure 15-16 The housing of the device to be charged 6 is fixedly provided with multiple charging mounting ears 61 that are fixedly connected to the mobile robot. The housing of the device to be charged 6 is fixedly connected with a charging bracket 62, and the charging bracket 62 is fixedly connected with an infrared receiving circuit board 63 and an infrared signal circuit board 64.

[0187] Two infrared receivers 44 are fixedly connected to the infrared receiving circuit board 63, and an infrared receiving isolation plate 65 for isolating infrared signals is fixedly installed between the two infrared receivers 44. The two infrared receivers 44 correspond to infrared A transmitter 42 and infrared B transmitter 43 respectively, that is, they are used to receive infrared A signals and infrared B signals respectively during the auxiliary docking process. The infrared signal processor 45 is fixedly connected to the infrared signal circuit board 64, and the infrared receiving circuit board 63 is electrically connected to the infrared signal circuit board 64.

[0188] When the charging device 6 is the first docking device, the first A circuit 13, the first B circuit 14, at least one resettable fuse, and the first controller 16 included in the first docking device are all fixedly electrically connected to the infrared signal circuit board 64. When the charging device 5 is the second docking device, the two resettable fuses included in the second docking device are fixedly electrically connected to the infrared signal circuit board 64.

[0189] The housing of the device to be charged 6 is fixedly connected to a second charging interface 66 and a second USB interface 67 for program burning. The infrared signal circuit board 64 is electrically connected to the second charging interface 66 and the second USB interface 67. In addition to being charged by the charging device 5, the device to be charged 6 can also be charged by connecting to other power sources such as 220V AC power through the second charging interface 66.

[0190] An infrared receiving slot is provided on the front panel of the device to be charged 6, and an infrared receiving plate 68 is fixedly embedded in the infrared receiving slot. The receiving direction of the two infrared receivers 44 is set towards the infrared receiving plate 68, and the received infrared light passes through the infrared receiving plate 68.

[0191] The charging device 6 includes two parallel charging mounting bases 69. Each charging mounting base 69 is detachably connected to a charging bracket 62 at both ends via screws. At least one conductive spring contact 58 is fixedly connected to each charging mounting base 69. The structure of the charging mounting base 69 is identical to that of the charging mounting base 570. A through charging mounting groove is provided on the front panel of the charging device 6. The side of the charging mounting base 69 connected to the conductive spring contact 58 extends from the charging mounting groove to the outside of the housing of the charging device 6.

[0192] The auxiliary docking system provided in this embodiment has the following advantages:

[0193] 1. The docking status of the first docking device and the second docking device is determined by the on / off state of the first A circuit 13 and the first B circuit 14, thereby detecting abnormal situations that cannot be detected by infrared-based recharge technology.

[0194] 2. The overall structure is simple, requiring no major modifications to the existing docking structure, resulting in low application costs;

[0195] 3. A reusable infrared communication structure can be used to realize communication between the first controller 16 and the mobile controller 41, saving costs;

[0196] 4. The charging device 6 is externally mounted on the mobile robot, which eliminates the need for extensive modifications to the mobile robot and facilitates its application to various robots that require auxiliary docking functions.

[0197] 5. The charging mounting spring 572 can provide cushioning during docking, effectively preventing impact damage.

[0198] This embodiment also provides an auxiliary docking method, applicable to the aforementioned auxiliary docking system.

[0199] The auxiliary docking method includes the following steps:

[0200] S1. The first controller 16 acquires the on / off status of the first A circuit 13 and the first B circuit 14;

[0201] S2. Based on the acquired on / off states of the first A circuit 13 and the first B circuit 14, the first controller 16 outputs corresponding control signals to the motion controller 41.

[0202] S3, the mobile controller 41 controls the mobile robot to move based on the received control signals.

[0203] The control signals include a first A control signal, a first B control signal, a second control signal, and a third control signal.

[0204] Step S2 specifically includes:

[0205] Step S21: After the first controller 16 determines that the first A circuit 13 is turned on and the first B circuit 14 is turned off, it outputs the first A control signal to the motion controller 41.

[0206] Step S22: After the first controller 16 determines that the first A circuit 13 is disconnected and the first B circuit 14 is turned on, it outputs the first B control signal to the motion controller 41.

[0207] Step S23: After the first controller 16 determines that the first A circuit 13 is turned on and the first B circuit 14 is turned on, it outputs a second control signal to the motion controller 41.

[0208] Step S24: When the first controller 16 determines that the first A circuit 13 is disconnected and the first B circuit 14 is disconnected, it outputs a third control signal to the motion controller 41.

[0209] It is understood that steps S21-24 are parallel steps and do not have a specific order. Solutions that simply adjust the order should still be within the scope of protection of this embodiment.

[0210] Step S3 specifically includes:

[0211] S31. After receiving the first A control signal, the mobile controller 41 controls the mobile robot to rotate in the first clockwise direction and translate in the direction of the charging device 5.

[0212] S32. After receiving the first B control signal, the mobile controller 41 controls the mobile robot to rotate in the opposite direction of the first clockwise direction and translate in the direction of the charging device 5.

[0213] S33. After receiving the second control signal, the mobile controller 41 controls the mobile robot to stop moving.

[0214] S34. After receiving the third control signal, the mobile controller 41 controls the mobile robot to move towards the charging device 5.

[0215] It is understood that steps S31-34 are parallel steps and do not have a specific order. Solutions that simply adjust the order should still be within the scope of protection of this embodiment.

[0216] In some possible implementations, the first A circuit 13 is a first A current detection circuit, and the first B circuit 14 is a first B voltage detection circuit or a first B current detection circuit.

[0217] Step S1 specifically includes:

[0218] S11. The first controller 16 collects the output of the first A current detection circuit and determines the on / off state of the first A current detection circuit based on the output of the first A current detection circuit.

[0219] S12. The first controller 16 acquires the output of the first B voltage detection circuit or the first B current detection circuit, and the first controller 16 determines the on / off state of the first B voltage detection circuit or the first B current detection circuit based on the output of the first B voltage detection circuit or the first B current detection circuit.

[0220] The determination of the on / off state of the first A current detection circuit based on its output specifically includes:

[0221] The first controller 16 compares the output of the first A current detection circuit with the pre-stored first A current threshold. If the output of the first A current detection circuit is greater than or equal to the first A current threshold, it determines that the first A current detection circuit is turned on; otherwise, it determines that the first A current detection circuit is turned off.

[0222] The determination of the on / off state of the first B voltage detection circuit or the first B current detection circuit based on the output of the first B voltage detection circuit or the first B current detection circuit specifically includes:

[0223] The first controller 16 compares the output of the first B current detection circuit with the pre-stored first B current threshold. If the output of the first B current detection circuit is greater than or equal to the first B current threshold, it determines that the first B current detection circuit is turned on; otherwise, it determines that the first B current detection circuit is turned off.

[0224] Alternatively, the first controller 16 compares the output of the first B voltage detection circuit with a pre-stored first B voltage threshold. If the output of the first B voltage detection circuit is greater than or equal to the first B voltage threshold, it determines that the first B voltage detection circuit is turned on; otherwise, it determines that the first B voltage detection circuit is turned off.

[0225] In this embodiment, the auxiliary docking method further includes:

[0226] The first controller 16 determines the battery level based on the output of the first current detection circuit A, and outputs a corresponding control signal to the motion controller 41 based on the battery level.

[0227] The specific method for determining the battery charge based on the output of the first A current detection circuit has been described in the relevant section of the aforementioned auxiliary docking system, and will not be repeated here.

[0228] The control signal described in this embodiment also includes a fourth control signal. The first controller 16 outputs a corresponding control signal to the mobile controller 41 based on the battery level, specifically including: after the first controller 16 determines that the battery level exceeds a preset threshold, it outputs a fourth control signal to the mobile controller 41.

[0229] Step S3 also includes: after receiving the fourth control signal, the mobile controller 41 controls the mobile robot to travel along a preset path.

[0230] The mobile controller 41 and the first controller 16 are connected via infrared communication. The first controller 16 controls the infrared A switch S1 and the infrared B switch S2 based on the control signal to be output, so that the infrared A transmitter 42 and the infrared B transmitter 43 output corresponding infrared signals. The infrared signal processor 45 outputs corresponding control signals to the mobile controller 41 based on the infrared signal received by the infrared receiver 44.

[0231] The first controller 16 outputs a first A control signal to the motion controller 41, specifically including:

[0232] The first controller 16 controls the infrared A switch S1 to be turned on and the infrared B switch S2 to be turned off, so that the infrared A transmitter 42 emits an A signal; when the infrared receiver 44 receives an infrared A signal only once within a predetermined time, the infrared signal processor 45 outputs a first A control signal to the mobile controller 41.

[0233] The first controller 16 outputs a first B control signal to the motion controller 41, specifically including:

[0234] The first controller 16 controls the infrared A switch S1 to open and the infrared B switch S2 to open, so that the infrared B transmitter 43 emits the B signal; when the infrared receiver 44 receives the infrared B signal only once within a predetermined time, the infrared signal processor 45 outputs the first B control signal to the motion controller 41.

[0235] The first controller 16 outputs a second control signal to the motion controller 41, specifically including:

[0236] The first controller 16 controls the infrared A switch S1 to be turned on and the infrared B switch S2 to be turned on, so that the infrared A transmitter 42 emits an infrared A signal and the infrared B transmitter 43 emits an infrared B signal; when the infrared receiver 44 receives an infrared A signal and an infrared B signal within a predetermined time, the infrared signal processor 45 outputs a second control signal to the motion controller 41.

[0237] The first controller 16 outputs a third control signal to the motion controller 41, specifically including:

[0238] The first controller 16 controls the infrared A switch S1 to open and the infrared B switch S2 to open. When the infrared receiver 44 does not receive either the infrared A signal or the infrared B signal within a predetermined time, the infrared signal processor 45 outputs a third control signal to the motion controller 41.

[0239] The first controller 16 outputs a fourth control signal to the motion controller 41, specifically including:

[0240] The first controller 16 controls the infrared A switch S1 to switch repeatedly multiple times and / or the infrared B switch S2 to switch repeatedly multiple times within a predetermined time. When the infrared receiver 44 receives infrared A signals and / or infrared B signals multiple times within a predetermined time, the infrared signal processor 45 outputs a fourth control signal to the motion controller 41.

[0241] The auxiliary docking method provided in this embodiment is applicable to the aforementioned auxiliary docking system, and therefore its beneficial effects are the same as those of the auxiliary docking system, which will not be repeated here.

[0242] The above description and embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An auxiliary docking system, characterized in that, It includes a first docking device and a second docking device; the first docking device includes a first A docking member and a first B docking member, and the second docking device includes a second docking member; when the first A docking member and the first B docking member simultaneously contact the second docking member, the first docking device and the second docking device are parallel. The first A docking piece is electrically connected to the first A circuit, and the first B docking piece is electrically connected to the first B circuit; When the second docking member contacts the first A docking member, the first A circuit is in the first state; When the second docking member is not in contact with the first A docking member, the first A circuit is in the second state; When the second docking member contacts the first B docking member, the first B circuit is in the third state; when the second docking member does not contact the first B docking member, the first B circuit is in the fourth state. The second connector includes a second positive connector and a second negative connector. The first A connector includes a first A positive connector and a first A negative connector. The first B connector includes a first B positive connector and a first B negative connector. The first A positive connector is electrically connected to the first A negative connector through the first A circuit. The first B positive connector is electrically connected to the first B negative connector through the first B circuit. When the second positive electrode contact is in contact with the first A positive electrode contact and the second negative electrode contact is in contact with the first A negative electrode contact, the first A circuit is in the first state; otherwise, the first A circuit is in the second state. When the second positive electrode contact is in contact with the first B positive electrode contact and the second negative electrode contact is in contact with the first B negative electrode contact, the first B circuit is in the third state; otherwise, the first B circuit is in the fourth state.

2. The auxiliary docking system according to claim 1, characterized in that, The second docking device further includes a second power supply component; the second positive docking component is electrically connected to the positive terminal of the second power supply component, and the second negative docking component is electrically connected to the negative terminal of the second power supply component; The first state and the third state are in a conducting state, and the second state and the fourth state are in a disconnected state.

3. The auxiliary docking system according to claim 2, characterized in that, The first docking device further includes a first power supply component; the first A positive terminal docking component is electrically connected to the positive terminal of the first power supply component, and the first A negative terminal docking component is electrically connected to the negative terminal of the first power supply component; the first A circuit is electrically connected between the first A positive terminal docking component and the positive terminal of the first power supply component. A first A short-circuit protection device is electrically connected between the first A positive terminal connector and the positive terminal of the first power supply device, or between the first A negative terminal connector and the negative terminal of the first power supply device. A second positive short-circuit protection device is also electrically connected between the positive terminal of the second power supply component and the second positive terminal connector, and a second negative short-circuit protection device is also electrically connected between the negative terminal of the second power supply component and the second negative terminal connector. The first A short-circuit protection device, the second positive short-circuit protection device, and the second negative short-circuit protection device are all self-resetting fuses.

4. The auxiliary docking system according to claim 3, characterized in that, The first docking device further includes a first controller, which is electrically connected to the first A circuit and the first B circuit; The first A circuit is a first A current detection circuit; the first controller is used to determine the on / off state of the first A current detection circuit based on the output of the first A current detection circuit; The first B circuit is a first B voltage detection circuit or a first B current detection circuit; the first controller is used to determine the on / off state of the first B voltage detection circuit or the first B current detection circuit based on the output of the first B voltage detection circuit or the first B current detection circuit. The first A current detection circuit includes a first A current detection chip, which is electrically connected between the first A positive terminal and the positive terminal of the first power supply component; the first A current detection chip is also electrically connected to the first controller; the first A short-circuit protection component is electrically connected between the first A current detection chip and the first A positive terminal. The first B voltage detection circuit includes two voltage divider resistors connected in series between the first B positive terminal and the first B negative terminal, and the connection point between the first controller and the first B voltage detection circuit is located between the two voltage divider resistors. When the first B circuit is the first B current detection circuit, the first A negative terminal and the first B negative terminal are connected in series; the first B current detection circuit includes a first B current detection chip, which is electrically connected between the first B positive terminal and the positive terminal of the first power supply component; the first B current detection chip is also electrically connected to the first controller; a first B short-circuit protection device is also electrically connected between the first B current detection chip and the first B positive terminal; the first B short-circuit protection device is a self-resetting fuse.

5. The auxiliary docking system according to claim 4, characterized in that, The first docking device includes a first housing, which includes a first left side plate and a first right side plate arranged in parallel, as well as a first front side plate and a first rear side plate arranged in parallel; the first left side plate and the first right side plate are respectively fixedly connected to both sides of the first front side plate, and the connection is provided with rounded corners; The first A positive electrode connector, the first A negative electrode connector, the first B positive electrode connector, and the first B negative electrode connector are all fixedly installed on the first front side plate; the distance from the first A positive electrode connector to the first left side plate is less than the distance from the first B positive electrode connector to the first left side plate; The distance between the first A positive electrode connector and the first left side plate is equal to the distance between the first A negative electrode connector and the first left side plate, and the distance between the first A positive electrode connector and the first right side plate is equal to the distance between the first A negative electrode connector and the first right side plate. The distance between the first B positive electrode connector and the first left side plate is equal to the distance between the first B negative electrode connector and the first left side plate, and the distance between the first B positive electrode connector and the first right side plate is equal to the distance between the first B negative electrode connector and the first right side plate. The second docking device includes a second housing, which includes a second left side plate and a second right side plate arranged in parallel, as well as a second front side plate and a second rear side plate arranged in parallel; the two sides of the second front side plate are respectively connected to the second left side plate and the second right side plate, and the connection is provided with rounded corners; The second positive electrode connector and the second negative electrode connector are both fixedly installed on the second front side plate; the distance between the second positive electrode connector and the second left side plate is equal to the distance between the second negative electrode connector and the second left side plate, and the distance between the second positive electrode connector and the second right side plate is equal to the distance between the second negative electrode connector and the second right side plate. The length of the first A positive electrode connector is equal to the length of the first B positive electrode connector; the length of the second positive electrode connector is greater than or equal to the sum of the length of the first A positive electrode connector, the distance between the first A positive electrode connector and the first B positive electrode connector, and the length of the first B positive electrode connector.

6. The auxiliary docking system according to claim 5, characterized in that, The first docking device is a device to be charged, the first housing is the housing of the device to be charged, the first power supply is a battery, the second docking device is a charging device, the second housing is the housing of the charging device, and the second power supply is a power adapter; or, the first docking device is a charging device, the first housing is the housing of the charging device, the first power supply is a power adapter, the second docking device is a device to be charged, the second housing is the housing of the device to be charged, and the second power supply is a battery. The auxiliary docking system also includes a mobile controller for controlling the movement of the mobile robot; the mobile controller is fixedly connected to the charging device, communicatively connected to the first controller, and electrically connected to the drive unit of the mobile robot; When the first docking device is a device to be charged, the first controller is wired to the mobile controller; when the first docking device is a charging device, the first controller is wirelessly connected to the mobile controller. The first controller is used to output a corresponding control signal to the mobile controller based on the on / off state of the first A circuit and the first B circuit; it is also used to determine the battery charge based on the output of the first A current detection circuit, and output a corresponding control signal to the mobile controller based on the battery charge. The control signals include a first A control signal, a first B control signal, a second control signal, a third control signal, and a fourth control signal. The first controller is configured to: after determining that the first A circuit is on and the first B circuit is off, output the first A control signal to the mobile controller; after determining that the first A circuit is off and the first B circuit is on, output the first B control signal to the mobile controller; after determining that the first A circuit is on and the first B circuit is on, output the second control signal to the mobile controller; after determining that the first A circuit is off and the first B circuit is off, output the third control signal to the mobile controller; and after determining that the battery power exceeds a preset power threshold, output the fourth control signal to the mobile controller. The mobile controller is configured to: upon receiving the first control signal A, control the mobile robot to rotate in a first clockwise direction and translate towards the charging device; upon receiving the first control signal B, control the mobile robot to rotate in the opposite direction of the first clockwise direction and translate towards the charging device; upon receiving the second control signal, control the mobile robot to stop moving; upon receiving the third control signal, control the mobile robot to translate towards the charging device; and upon receiving the fourth control signal, control the mobile robot to travel along a preset path.

7. The auxiliary docking system according to claim 6, characterized in that, The first controller is connected to the mobile controller via infrared communication; The charging device includes an infrared A transmitter for emitting a first infrared signal and an infrared B transmitter for emitting a second infrared signal. The infrared A transmitter is electrically connected to an infrared A switch, and the infrared B transmitter is electrically connected to an infrared B switch. The first controller is electrically connected to the infrared A switch and the infrared B switch; the first controller is used to control the infrared A switch and the infrared B switch based on the on / off state of the first A circuit and the first B circuit and the battery power. The device to be charged includes at least one infrared receiver for receiving the first infrared signal and the second infrared signal, the infrared receiver being electrically connected to an infrared signal processor; the infrared signal processor is electrically connected to the mobile controller, and the infrared signal processor is used to output corresponding control signals to the mobile controller based on the infrared signals received by the infrared receiver.

8. The auxiliary docking system according to claim 7, characterized in that, An infrared emitting circuit board is fixedly connected inside the housing of the charging device, and both infrared A transmitter and infrared B transmitter are fixedly electrically connected to the infrared emitting circuit board. An infrared emission isolation plate for blocking infrared rays is fixedly connected inside the housing of the charging device, and the infrared emission isolation plate is disposed between the infrared A emitter and the infrared B emitter. An infrared control circuit board is fixedly connected inside the housing of the charging device, and the infrared control circuit board is electrically connected to the infrared emitting circuit board. When the charging device is the first docking device, the first docking device includes the first A circuit, the first B circuit, at least one self-resetting fuse and the first controller, all of which are fixedly electrically connected to the infrared control circuit board. When the charging device is the second docking device, the two self-resetting fuses included in the second docking device are fixedly electrically connected to the infrared control circuit board; The housing of the charging device is fixedly connected to a first USB interface for program burning, and the infrared control circuit board is electrically connected to the first USB interface. A first charging interface is fixedly connected to the housing of the charging device, the power adapter is electrically connected to the first charging interface, and the first charging interface is electrically connected to the infrared control circuit board. The charging device has a through infrared emitting slot on its housing, and an infrared emitting plate is fixedly embedded in the infrared emitting slot; the two infrared emitters are oriented toward the infrared emitting plate and the emitted infrared light passes through the infrared emitting plate. The infrared emitting plate is U-shaped and includes an infrared emitting long plate and two infrared emitting short plates fixedly connected to both ends of the infrared emitting long plate. The infrared emitting long plate is embedded in the front side plate of the charging device housing, and the two infrared emitting short plates are embedded in the left side plate and right side plate of the charging device housing, respectively.

9. The auxiliary docking system according to claim 8, characterized in that, The charging device includes a charging mounting base, and a charging mounting base ear is fixed at each of the two ends of the charging mounting base; The charging device includes a charging mounting base support column corresponding to each of the charging mounting base lugs, and each of the charging mounting base lugs is slidably sleeved on the charging mounting base support column corresponding to it. The charging mounting base support column is located inside the housing of the charging device, with one end fixedly connected to the housing of the charging device and the other end detachably connected to the charging mounting base limiting member; A charging mounting seat spring is sleeved on the charging mounting seat support column, and the charging mounting seat spring is limited between the charging mounting seat lug and the charging mounting seat limiting member; A conductive spring is fixedly connected to the charging mounting base; a through charging mounting groove is provided on the front side plate of the charging device, and the side of the charging mounting base connected to the conductive spring extends from the charging mounting groove to the outside of the housing of the charging device. The conductive spring is U-shaped and includes a long conductive piece and two short conductive pieces fixedly connected to both ends of the long conductive piece; at least one of the two short conductive pieces is fixedly connected to a conductive lug, and the conductive lug has a conductive lug hole for connecting an electric wire. The charging mounting base has conductive short piece connection through holes corresponding to each of the conductive short pieces. Each of the conductive short pieces passes through the corresponding conductive short piece connection through hole and is interference-fitted with it. The charging mounting base also has spare conductive through holes for wires to pass through to the conductive spring. The first A positive electrode connector, the first A negative electrode connector, the first B positive electrode connector, the first B negative electrode connector, the second positive electrode connector, and the second negative electrode connector are all conductive springs; the charging device includes two parallel charging mounting bases, and at least one conductive spring is fixedly connected to each of the charging mounting bases.

10. The auxiliary docking system according to claim 9, characterized in that, The housing of the device to be charged is fixedly provided with multiple mounting ears for charging and fixedly connected to the mobile robot. A charging bracket is fixedly connected inside the housing of the device to be charged. An infrared receiving circuit board and an infrared signal circuit board are fixedly connected to the charging bracket. Two infrared receivers are fixedly electrically connected to the infrared receiving circuit board. An infrared receiving isolation plate for isolating infrared signals is fixedly provided between the two infrared receivers. The infrared signal processor is fixedly electrically connected to the infrared signal circuit board. The infrared receiving circuit board is electrically connected to the infrared signal circuit board. When the device to be charged is the first docking device, the first docking device includes the first A circuit, the first B circuit, at least one self-resetting fuse, and the first controller, all of which are fixedly electrically connected to the infrared signal circuit board; when the charging device is the second docking device, the second docking device includes two self-resetting fuses, which are fixedly electrically connected to the infrared signal circuit board. The housing of the device to be charged is fixedly connected to a second charging interface and a second USB interface for program burning, and the infrared signal circuit board is electrically connected to the second charging interface and the second USB interface. The front panel of the device to be charged has a through infrared receiving slot, and an infrared receiving plate is fixedly embedded in the infrared receiving slot; the receiving direction of the two infrared receivers is set towards the infrared receiving plate and the received infrared light passes through the infrared receiving plate; both the infrared receiving plate and the infrared emitting plate are black acrylic plates. The device to be charged includes two parallel charging mounting bases, and the two ends of each charging mounting base are detachably connected to the charging bracket by screws; at least one conductive spring is fixedly connected to each charging mounting base; a through charging mounting groove is opened on the front side plate of the device to be charged, and the side of the charging mounting base connected to the conductive spring extends from the charging mounting groove to the outside of the housing of the device to be charged.

11. An auxiliary docking method, characterized in that, Applicable to the auxiliary docking system according to any one of claims 1-10; The auxiliary docking method includes: The first controller acquires the on / off status of the first A circuit and the first B circuit; Based on the acquired on / off states of the first A circuit and the first B circuit, the first controller outputs corresponding control signals to the motion controller. The mobile controller controls the mobile robot to move based on the received control signals.

12. The auxiliary docking method according to claim 11, characterized in that, The control signals include a first A control signal, a first B control signal, a second control signal, and a third control signal; The first controller outputs corresponding control signals to the motion controller based on the acquired on / off states of the first A circuit and the first B circuit, specifically including: After the first controller determines that the first A circuit is turned on and the first B circuit is turned off, it outputs the first A control signal to the motion controller. After the first controller determines that the first A circuit is disconnected and the first B circuit is turned on, it outputs the first B control signal to the motion controller. After the first controller determines that the first A circuit is turned on and the first B circuit is turned on, it outputs the second control signal to the motion controller. When the first controller determines that the first A circuit is disconnected and the first B circuit is disconnected, it outputs the third control signal to the motion controller. The mobile controller controls the mobile robot to move based on the received control signals, specifically including: After receiving the first A control signal, the mobile controller controls the mobile robot to rotate in the first clockwise direction and translate in the direction of the charging device; After receiving the first B control signal, the mobile controller controls the mobile robot to rotate in the opposite direction of the first clockwise direction and translate in the direction of the charging device. After receiving the second control signal, the mobile controller controls the mobile robot to stop moving; After receiving the third control signal, the mobile controller controls the mobile robot to move toward the charging device; The first controller acquires the on / off states of the first A circuit and the first B circuit, specifically including: The first A circuit is a first A current detection circuit; The first controller acquires the output of the first A current detection circuit and determines the on / off state of the first A current detection circuit based on the output of the first A current detection circuit. The first B circuit is either a first B voltage detection circuit or a first B current detection circuit; The first controller acquires the output of the first B voltage detection circuit or the first B current detection circuit, and determines the on / off state of the first B voltage detection circuit or the first B current detection circuit based on the output of the first B voltage detection circuit or the first B current detection circuit. The auxiliary docking method also includes: The first controller determines the battery level based on the output of the first A current detection circuit, and outputs a corresponding control signal to the mobile controller based on the battery level.

13. The auxiliary docking method according to claim 12, characterized in that, The control signal also includes a fourth control signal; The first controller outputs corresponding control signals to the mobile controller based on the battery's power level, specifically including: After the first controller determines that the battery power exceeds a preset power threshold, it outputs the fourth control signal to the mobile controller. The mobile controller controls the mobile robot to move based on the received control signals, and further includes: After receiving the fourth control signal, the mobile controller controls the mobile robot to travel along a preset path; The first controller controls the infrared A switch and the infrared B switch based on the control signal to be output, so that the infrared A transmitter and the infrared B transmitter output corresponding infrared signals; the infrared signal processor outputs the corresponding control signal to the mobile controller based on the infrared signal received by the infrared receiver; The first controller outputs the first A control signal to the mobile controller, specifically including: The first controller controls the infrared A switch to be turned on and the infrared B switch to be turned off, so that the infrared A transmitter emits an A signal; the infrared receiver receives the infrared A signal only once within a predetermined time, and the infrared signal processor outputs the first A control signal to the mobile controller. The first controller outputs the first B control signal to the mobile controller, specifically including: The first controller controls the infrared A switch to be turned off and the infrared B switch to be turned on, so that the infrared B transmitter emits a B signal; the infrared receiver receives only one infrared B signal within a predetermined time, and the infrared signal processor outputs a first B control signal to the mobile controller. The first controller outputs the second control signal to the mobile controller, specifically including: The first controller controls the infrared A switch to be turned on and the infrared B switch to be turned on, so that the infrared A transmitter emits the infrared A signal and the infrared B transmitter emits the infrared B signal; the infrared receiver receives the infrared A signal once and the infrared B signal once within a predetermined time, and the infrared signal processor outputs the second control signal to the mobile controller; The first controller outputs the third control signal to the motion controller, specifically including: The first controller controls the infrared A switch to be turned off and the infrared B switch to be turned off. If the infrared receiver does not receive either the infrared A signal or the infrared B signal within a predetermined time, the infrared signal processor outputs the third control signal to the mobile controller. The first controller outputs the fourth control signal to the motion controller, specifically including: The first controller controls the infrared A switch to switch on and off repeatedly multiple times and / or the infrared B switch to switch on and off repeatedly within a predetermined time. After the infrared receiver receives the infrared A signal and / or the infrared B signal multiple times within the predetermined time, the infrared signal processor outputs the fourth control signal to the mobile controller.

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