Robot base stations and robot systems

Abstract

This application discloses a robot base station and a robot system. The robot base station includes a charging station and a first coil connected to the charging station. The charging station and the first coil form a right-angled triangle structure. The first coil includes a first connecting segment, a second connecting segment, and a third connecting segment arranged sequentially. The first and second connecting segments are the legs of the right-angled triangle structure, and the third connecting segment is the hypotenuse of the right-angled triangle structure. The length of the first connecting segment is greater than that of the second connecting segment. The charging station is located on the first connecting segment, and the first connecting segment is at least partially the path for the robot to return to the charging station. Thus, the first coil and the charging station form a right-angled triangle structure. When the robot returns to the charging station along the first connecting segment, the magnetic field generated by the first coil guides the robot back to the charging station for autonomous recharging. During this process, the difference in magnetic field strength detected on the left and right sides of the robot can remain constant, allowing the robot to dock with the charging port of the charging station with maximum efficiency and precision.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a robot base station and a robot system. Background Technology

[0002] With the development of technology, robots are increasingly entering people's daily lives, and research on robots is also gradually increasing. Robots can usually travel automatically to various task points to perform work tasks.

[0003] To ensure battery life, most existing robots can autonomously return to a base station for charging (hereinafter referred to as autonomous recharging). In order to improve the accuracy and efficiency of autonomous recharging, for robots with no boundaries in their activity area, when navigation and vision fail, they need to rely on electromagnetic signals for autonomous recharging.

[0004] In existing robots, two coils are often placed at the bottom of the base station, and two controllers drive them to generate magnetic fields. Electromagnetic signals are then used for autonomous recharging guidance. However, the guidance and recognition distance in this scheme is too short, and the guidance failure rate is extremely high when the base station is too far from the robot.

[0005] If the coil is placed outside the base station, an unreasonable coil arrangement will result in a large difference in the magnetic field strength detected by the inductors on the left and right sides of the robot, and the magnetic field will be unstable, resulting in low autonomous recharging efficiency of the robot. Summary of the Invention

[0006] This application provides a robot base station designed to solve the technical problem of low efficiency in the autonomous recharging of existing robots.

[0007] This application is implemented as follows: a robot base station is provided, comprising:

[0008] The device includes a charging station and a first coil connected to the charging station. The charging station and the first coil form a right-angled triangle structure. The first coil includes a first connecting segment, a second connecting segment and a third connecting segment arranged sequentially.

[0009] The first connecting segment and the second connecting segment are the right-angled sides of a right triangle structure, and the third connecting segment is the hypotenuse of a right triangle structure. The length of the first connecting segment is greater than that of the second connecting segment. The charging station is located on the first connecting segment, and the first connecting segment is at least partially the path for the robot to return to the charging station.

[0010] Furthermore, the center line of the charging port of the charging station coincides with the first connecting segment.

[0011] Furthermore, the first connecting segment includes a first portion connecting the third connecting segment and a second portion connecting the second connecting segment, and the charging station connects the first portion and the second portion.

[0012] Furthermore, the length of the first part is greater than or equal to 1.2 meters, the length of the second part is greater than or equal to 0.27 meters, and the length of the second connecting segment is greater than or equal to 1 meter.

[0013] Furthermore, the robot base station also includes a second coil, which is disposed at the bottom of the charging station and close to the second connecting section, and the area enclosed by the second coil is smaller than the area enclosed by the first coil.

[0014] Furthermore, the width of the second coil is the same as the width of the charging station.

[0015] Furthermore, the center line of the charging port of the charging station coincides with the first connecting segment, and the second connecting segment is partially overlapped with the charging station.

[0016] Furthermore, the length of the first connecting segment is greater than or equal to 1.2 meters, and the length of the second connecting segment is greater than or equal to 1 meter.

[0017] Furthermore, the phase of the magnetic field generated by the second coil is different from the phase of the magnetic field generated by the first coil.

[0018] This application also provides a robot system, including a robot and a robot base station as described above.

[0019] The beneficial effect of this application is that, in the robot base station of the robot system, the charging station and the first coil connecting to the charging station form a right-angled triangle structure. The first and second connecting segments of the first coil are the legs of the right-angled triangle structure, and the third connecting segment is the hypotenuse of the right-angled triangle structure. During the process of guiding the robot back to the charging station for autonomous recharging through the magnetic field generated by the first coil, the difference in magnetic field strength detected on the left and right sides of the robot can remain constant, thereby enabling the robot to dock with the charging port of the charging station with the highest efficiency and precision. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the robot base station provided in an embodiment of this application;

[0021] Figure 2 This is another schematic diagram of the robot base station provided in the embodiments of this application.

[0022] Commonly used components and symbols:

[0023] Charging station 100, first coil 200, first connecting section 210, first part 211, second part 212, second connecting section 220, third connecting section 230, second coil 300. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. Furthermore, it should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application.

[0025] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "left", "right", "horizontal", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and 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, and therefore should not be construed as a limitation of this application.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize other examples of process application and / or material use.

[0030] The robot base station of this application includes a charging station and a first coil connected to the charging station. The charging station is used for charging the returning robot. The charging station and the first coil form a right-angled triangle structure. The magnetic field generated by the first coil can guide the robot back to the charging station. The first coil includes a first connecting segment, a second connecting segment and a third connecting segment arranged in sequence. The first connecting segment and the second connecting segment are the right-angled sides of the right-angled triangle structure, and the third connecting segment is the hypotenuse of the right-angled triangle structure. The second connecting segment can cancel the influence of the third connecting segment on the first connecting segment, so that the difference in magnetic field strength on the left and right sides of the first connecting segment remains constant.

[0031] In the robot base station of this application, during the process of the robot autonomously recharging based on the magnetic field generated by the first coil, the magnetic field strength on both sides of the first connecting section of the first coil can increase or decrease synchronously along its return path to the charging station, so that the difference in magnetic field strength detected by the inductors on the left and right sides of the robot can remain constant, thereby enabling the robot to dock with the charging port of the charging station with the highest efficiency and accuracy.

[0032] Example 1

[0033] refer to Figures 1 to 2This embodiment provides a robot base station, which includes a charging station 100 and a first coil 200 connected to the charging station 100. The charging station 100 and the first coil 200 form a right-angled triangle structure. The first coil 200 includes a first connecting segment 210, a second connecting segment 220 and a third connecting segment 230 arranged sequentially.

[0034] The first connecting segment 210 and the second connecting segment 220 are the right-angled sides of a right triangle structure, and the third connecting segment 230 is the hypotenuse of a right triangle structure. The length of the first connecting segment 210 is greater than that of the second connecting segment 220. The charging station 100 is located in the first connecting segment 210, and the first connecting segment 210 is at least part of the path for the robot to return to the charging station 100.

[0035] The robot base station provided in this application guides the robot back to the charging station 100 of the base station for charging via the magnetic field generated by the first coil 200. Accordingly, an inductor, such as a Faraday inductor, can be installed on the robot to receive electromagnetic signals, and then the robot is guided to return to charging autonomously via the electromagnetic signals.

[0036] For example, the electromagnetic signal can be magnetic field strength, magnetic field direction, phase, and frequency. Inductors can be respectively set on both sides of the robot's travel direction. During autonomous recharging, the inductor on one side is used to detect the magnetic field inside the first coil 200, and the inductor on the other side is used to detect the magnetic field outside the first coil 200. That is to say, the robot can perform autonomous recharging by sensing the strength, direction, phase, and frequency of the magnetic field signal from the inductors on both sides.

[0037] At this time, due to the characteristic that the magnetic field lines inside the coil are dense and the magnetic field lines outside the coil are divergent, a clear boundary line can be formed between the magnetic field inside the coil and the magnetic field outside the coil. The magnetic field strength detected by the inductors on both sides of the robot is significantly different, so the robot can identify the boundary line and use the boundary line as the path to return to the charging station 100 for autonomous recharging.

[0038] In one embodiment, the first connecting segment 210, the second connecting segment 220, and the third connecting segment 230 are connected end-to-end to form a right-angled triangle structure. The first connecting segment 210 and the second connecting segment 220 respectively form the two legs of the right triangle, and the third connecting segment 230 forms the hypotenuse. The length of the first connecting segment 210 is greater than that of the second connecting segment 220. Based on this right-angled triangle structure, the magnetic field boundary between the inner and outer turns of the first coil 200 turns approximately coincides with the first connecting segment 210.

[0039] The charging station 100 of the robot base station can be set on the first connecting section 210. When the robot returns to the base station, it can adjust its direction and path in real time according to the received electromagnetic signals. It can be understood that when the robot is near the first connecting section 210, the difference between the magnetic field strength detected by the inductors on its left and right sides tends to be constant. At this time, the electromagnetic signal received by the robot is the strongest and most stable, guiding the robot to approach the first connecting section 210 and return to the charging station 100 using the first connecting section 210 as its path. That is, at least a portion of the first connecting section 210 is the path for the robot to return to the charging station 100. In this way, the robot can return with maximum efficiency and accuracy and dock with the charging port of the charging station 100.

[0040] It should be noted that at least a portion of the first connecting segment 210 is the path for the robot to return to the charging station 100, for example, in Figure 1 In one embodiment, the first connecting segment 210 in front of the charging station 100 forms the path for the robot to return to the charging station 100, while... Figure 2 In this embodiment, the first connection segment 210 is the path for the robot to return to the charging station 100.

[0041] In another embodiment, the path of the robot returning to the charging station 100 can completely overlap with the first connecting segment 210. In this way, the electromagnetic signal is more stable during the return process, the return distance is shorter, and the efficiency is higher.

[0042] It should be noted that during the process of the robot returning to the station along the first connecting segment 210, the inductor installed on the robot will be affected by the electromagnetic influence of the second connecting segment 220 and the third connecting segment 230. The electromagnetic influence is mainly related to the distance from the specific point of the robot on the first connecting segment 210 to the second connecting segment 220 and the third connecting segment 230.

[0043] This is because, according to the magnetic field strength formula, B = μ0 * I / (2πr), where B is the magnetic field strength, μ0 is the free permeability, I is the magnetic field density, and r is the distance from the object to the source object. In this application, the magnetic field strength is the magnetic field strength of the current coil, i.e., the first coil 200, and the magnetic field density is a function of the total current and radius of the coil. Therefore, in this application, the magnetic field strength affecting the periphery of the first coil 200 is mainly influenced by the current I and the distance r from the first coil 200.

[0044] On the first coil 200, the current I at each connection point is the same. The current I has no direct effect on the magnetic field strength around the first coil 200. When the robot is on the return path, the magnetic field strength sensed by the inductor installed on the robot is mainly affected by the distance r between the robot and the first coil 200.

[0045] In this application, the first coil 200 includes three connecting segments forming a right-angled triangle structure. During the process of the robot returning to the station along the first connecting segment 210, the induced electromotive force sensed by the inductor is the superposition of the induced electromotive forces of each connecting segment at the robot's current position.

[0046] Based on the formula for calculating induced electromotive force (EMF), E=nΔΦ / Δt, and the formula for calculating magnetic flux through a long straight conductor, φ=μI, it can be determined that the magnetic flux through a long straight conductor is mainly affected by the length I of the conductor. Furthermore, if a specific frequency Δt is used to start the ADC to collect the voltage across the inductor, it can be concluded that the change in current I is also constant within a specific time period. In summary, the induced EMF induced by the inductor is mainly related to the lengths of the connecting segments in the first coil 200.

[0047] Furthermore, the induced electromotive force of different connection segments of the first coil 200 sensed by the inductor can be positive or negative. For example, in this application, according to Ampere's right-hand rule, the magnetic field direction downward is positive and the magnetic field direction upward is negative. It can be understood that when the inductor installed on the robot is on the return path, there will be positive and negative voltages canceling each other out at each specific point.

[0048] In summary, during the process of the robot returning to its station guided by the magnetic field generated by the first coil 200, the magnitude of the induced electromotive force (EMF) generated by the inductor installed on the robot is mainly related to the length of each connecting segment of the first coil 200 and the distance to each connecting segment. The magnetic field strength and induced EMF generated by the first connecting segment 210, the second connecting segment 220, and the third connecting segment 230 at each return station location are both positive and negative. Therefore, the magnetic field strength and induced EMF at each point on the robot's return path by different connecting segments will have a mutually canceling effect.

[0049] In this application, by reasonably setting the length of each connecting segment, the area of ​​the first coil 200 can be minimized, while the mutual cancellation effect of the second connecting segment 220, the third connecting segment 230 and the first connecting segment 210 can be achieved, thereby improving the return efficiency and accuracy of the robot when it is located on the straight line of entry.

[0050] For example, in the middle section of the first connecting segment 210, the magnetic field strength and induced electromotive force are relatively strongest, and the direction of the magnetic field is negative at this time. The magnetic field direction and the induced electromotive force direction of the second connecting segment 220 and the third connecting segment 230 are opposite, so the magnetic field strength can be canceled in the opposite direction.

[0051] As described above, in the right-angled triangular structure of the first coil 200, the third connecting segment 230 is relatively long, resulting in a correspondingly stronger magnetic field. This field can affect the first connecting segment 210, causing the robot to be unable to receive a stable electromagnetic signal during its return to the charging station 100 along the arrangement direction of the first connecting segment 210. In this embodiment, by setting the second connecting segment 220, the influence of the third connecting segment 230 on the first connecting segment 210 can be offset, ensuring that the magnetic field difference on both sides of the first connecting segment 210 remains constant. This guides the robot to return to the charging station 100 along the arrangement direction of the first connecting segment 210. Thus, the robot's return path is minimized, and the electromagnetic signal along the path is stable, eliminating the need for the robot to stop and adjust, thereby improving efficiency.

[0052] It should be noted that this application also provides a robot system, which may include a robot base station and multiple robots. In this way, multiple robots can take turns returning to the charging station 100 for charging, reducing the idle time of the base station and further improving efficiency. The robot base station can be located on the first connecting segment 210 near the second connecting segment 220. The charging station 100 of the base station may include an entrance and a charging nozzle disposed within the entrance. The entrance faces away from the second connecting segment 220, and the charging nozzle faces the same direction as the entrance. Thus, guided by a stable electromagnetic signal, the robot returns along the first connecting segment 210 and enters the entrance; without adjusting its direction or posture, it can continue moving forward to dock with the charging nozzle.

[0053] Through the robot base station of this application, during the process of the robot returning to the charging station 100 for autonomous recharging, the difference in magnetic field strength detected on its left and right sides can remain constant, so that the robot can dock with the charging port of the charging station 100 with the highest efficiency and precision.

[0054] Example 2

[0055] refer to Figure 1 In some optional embodiments, the centerline of the charging port of the robot base station 100 coincides with the first connecting segment 210.

[0056] It can be understood that the center line of the charging nozzle of the robot base station 100 refers to the axis of symmetry of the charging nozzle of the charging station 100 when viewed from above. That is, from the perspective of looking down, the center line can divide the charging nozzle of the charging station 100 into two parts with equal projected areas.

[0057] It is understood that in this embodiment, the center line of the charging nozzle of the charging station 100 coincides with the first connecting segment 210, which allows the robot's return path to better connect with the charging nozzle of the charging station 100, thereby returning more efficiently and accurately.

[0058] In one embodiment, the charging station 100 of the robot base station is a physical entity occupying a certain volume, with internal space for the robot to park. The external shape of the charging station 100 can be a rectangular box, the length of which is consistent with the first connecting segment 210. The entrance of the charging station 100 can be located on a side of the box opposite to the second connecting segment 220, and the size of the entrance can be maximized, for example, to substantially completely occupy the corresponding side of the box. This can prevent the robot from being scratched and damaged when entering the charging station 100, or from being blocked from entering.

[0059] In another embodiment, a charging nozzle can also be installed in the internal space of the charging station 100. The charging nozzle can be located on the center line of the charging station 100. In this way, when the robot returns to the base station, after adjusting the path to coincide with the first connecting segment 210, it only needs to move in a straight line to accurately enter the charging station 100 and connect with the charging nozzle. There is no need to change posture, which further improves efficiency.

[0060] Example 3

[0061] refer to Figure 1 In some embodiments, the first connection segment 210 of the robot base station includes a first portion 211 that connects to the third connection segment 230 and a second portion 212 that connects to the second connection segment 220, and the charging station 100 connects the first portion 211 and the second portion 212.

[0062] In this way, the precise positioning of the charging station 100 can optimize the magnetic field generated by the first coil 200, making the electromagnetic signals detected by the robot during autonomous recharging more stable.

[0063] In one embodiment, the charging station 100 can be viewed as dividing the first connecting segment 210 into two sections, wherein the section connected to the third connecting segment 230 is the first part 211, and the section connected to the second connecting segment 220 is the second part 212. The lengths of the first part 211 and the second part 212 can be the same or different, depending on the actual implementation requirements.

[0064] It is understandable that because the first coil 200 has a right-angled triangular structure, the area within the coil it encloses is uneven, resulting in an uneven magnetic field. Therefore, during the robot's return to the charging station 100 along the first connecting segment 210, the detected magnetic field strength is not equal at different locations, leading to unstable electromagnetic signals. By dividing the first connecting segment 210 into two sections through the charging station 100, and adapting the lengths of the first part 211 and the second part 212 of the first connecting segment 210 to the lengths of the second connecting segment 220 and the third connecting segment 230, as well as the layout of the charging station 100, the magnetic field strength on both sides of the first connecting segment 210 can synchronously and stably increase and decrease even when the area enclosed by the first coil 200 is relatively small. The difference in magnetic field detected by the robot on both sides can be close to 0 or remain constant, thereby receiving stable electromagnetic signals and being guided to return to the charging station 100 efficiently and accurately.

[0065] Specifically, when the inductor on the robot is very close to the second connecting section 220, the magnetic field strength generated by the second connecting section 220 is greater than that generated by the first connecting section 210, causing the direction of the superimposed induced electromotive force to suddenly reverse. This results in the robot making an abnormal judgment on whether it is inside or outside the first coil 200, leading to the failure to return to the station.

[0066] Therefore, the first connecting segment 210 is divided into two parts. The second part 212 of the first connecting segment 210 increases the distance between the second connecting segment 220 and the charging station 100, thereby reducing the influence of the magnetic field direction generated by the second connecting segment 220 on the first connecting segment 210. This prevents the direction of the induced electromotive force superimposed on the robot from changing abruptly, thus avoiding affecting the robot's normal return-to-station action.

[0067] Example 4

[0068] refer to Figure 1 In some optional embodiments, the length of the first portion 211 of the first connecting segment 210 is greater than or equal to 1.2 meters, the length of the second portion 212 is greater than or equal to 0.27 meters, and the length of the second connecting segment 220 is greater than or equal to 1 meter.

[0069] Specifically, when it is clarified that during the process of the robot being guided back to the station by the magnetic field generated by the first coil 200, the magnitude of the induced electromotive force generated by the inductor installed on the robot is mainly related to the length of each connecting segment of the first coil 200 and the distance between each connecting segment.

[0070] Furthermore, since the magnetic field strength and induced electromotive force generated by the first connecting segment 210, the second connecting segment 220 and the third connecting segment 230 at each return station location are positive and negative, the magnetic field strength and induced electromotive force at each point on the robot's return path by different connecting segments will have a mutual cancellation effect.

[0071] Based on the above principles, the inventors of this application, through multiple simulation experiments during research and development, calculated the influence of each connecting segment on the superimposed induced electromotive force at each point when the robot is on the return path of the first connecting segment 210. Ultimately, they determined an acceptable size ratio: when the length of the first part 211 of the first connecting segment 210 is approximately 1.2 meters, the length of the second part 212 is approximately 0.27 meters, and the length of the second connecting segment 220 is approximately 1 meter, the magnetic field generated by the first coil 200 can synchronously and stably increase and decrease the magnetic field strength on both sides of the first connecting segment 210. The difference in magnetic field detected on both sides of the robot can approach 0 or remain constant, and the detection distance is relatively long, reaching 2 meters or even further. Thus, in this embodiment, the area of ​​the first coil 200 can be considered the minimum effective area. That is, if the lengths of the first part 211 and the second part 212 of the first connecting segment 210, and the second connecting segment 220, are smaller than the aforementioned values, the basic function of guiding the robot to autonomously return to its charging station cannot be achieved.

[0072] Thus, the robot base station in this embodiment enables the first coil 200 to maintain a small area while efficiently and accurately guiding the robot to perform autonomous recharging.

[0073] Example 5

[0074] refer to Figure 2 In some optional embodiments, the robot base station also includes a second coil 300, which is disposed at the bottom of the charging station 100 and close to the second connecting section 220, and the area enclosed by the second coil 300 is smaller than the area enclosed by the first coil 200.

[0075] In some embodiments, when the robot reaches the vicinity of the base station and approaches the charging electrode of the base station, it will be affected by the second connecting segment 220, causing the direction of the magnetic field to suddenly reverse. This prevents the robot from returning along the first connecting segment 210 by detecting the direction and strength of the inductive magnetic field on the left and right sides, resulting in abnormal robot control and ultimately affecting the robot's return-to-station success rate.

[0076] In this embodiment, a second coil 300 is also provided at the bottom of the charging station 100 near the second connecting section 220. When the robot approaches the charging station 100, it can be identified that it has approached the second coil 300 by recognizing the magnetic field generated by the second coil 300. Since the second coil 300 is positioned close to the charging nozzle, it is considered that the robot is very close to the charging nozzle and can directly dock with the charging nozzle without making large left and right swings.

[0077] Understandably, to achieve the above solution, the output electromagnetic signals of the first coil 200 and the second coil 300 need to have different frequencies. For example, the first coil outputs a signal once at time T, and the second coil outputs a signal once at time T / 2. In this way, the robot can distinguish between the first coil 200 and the second coil 300 through different electromagnetic signals and identify the area near the charging port. This reduces the adjustment range of the controller in that area, thereby enabling the robot to accurately connect to the charging port.

[0078] In one embodiment, the area enclosed by the second coil 300 is smaller than the area enclosed by the first coil 200. This avoids the magnetic field generated by the second coil 300 from interfering with the first coil 200, thus ensuring the accuracy of the guidance.

[0079] Example 6

[0080] refer to Figure 2 In some alternative embodiments, the width of the second coil 300 of the robot base station is the same as the width of the charging station 100.

[0081] This allows the magnetic field generated by the second coil 300 to be distributed more evenly on both sides of the charging station 100, further optimizing the electromagnetic signal, avoiding abnormalities in robot control, and ultimately affecting the robot's success rate in returning to the station.

[0082] It is understandable that the width of the second coil 300 refers to the distance between the two points furthest apart when viewed from above, in a direction perpendicular to the center line of the charging station 100, where the orthographic projection of the second coil 300 is directed.

[0083] In some embodiments, the second coil 300 can be constructed into different shapes according to actual implementation needs, such as rectangle, rhombus, trapezoid, etc. In this embodiment, the second coil 300 is rectangular, and its width is the length of the long side of the rectangle.

[0084] Example 7

[0085] refer to Figure 2 In some optional embodiments, the center line of the charging port of the robot base station 100 coincides with the first connecting segment 210, and the second connecting segment 220 is partially overlapped with the charging station 100.

[0086] Specifically, similar to Embodiment 2, from a top-down perspective, the centerline of the charging nozzle of the charging station 100 can be divided into two parts with equal projected areas. Thus, the centerline of the charging nozzle of the charging station 100 coinciding with the first connecting segment 210 allows the robot's return path to better align with the charging nozzle of the charging station 100, resulting in a more efficient and accurate return.

[0087] The second connecting section 220 is partially overlapped with the charging station 100. This can be seen as setting the charging station 100 on the right-angle vertex of the right-angled triangle structure of the first coil 200. This makes it easier to locate the charging station 100 during installation, resulting in higher installation efficiency.

[0088] In addition, in some embodiments, the portions of the charging station 100 and the second connecting section 220 that overlap with the charging station 100 can be installed against a support such as a wall, thereby reducing installation costs.

[0089] Example 8

[0090] refer to Figure 2 In some optional embodiments, the length of the first connecting segment 210 of the first coil 200 is greater than or equal to 1.2 meters, and the length of the second connecting segment 220 is greater than or equal to 1 meter.

[0091] Specifically, when it is clarified that during the process of the robot being guided back to the station by the magnetic field generated by the first coil 200, the magnitude of the induced electromotive force generated by the inductor installed on the robot is mainly related to the length of each connecting segment of the first coil 200 and the distance between each connecting segment.

[0092] Furthermore, since the magnetic field strength and induced electromotive force generated by the first connecting segment 210, the second connecting segment 220 and the third connecting segment 230 at each return station location are positive and negative, the magnetic field strength and induced electromotive force at each point on the robot's return path by different connecting segments will have a mutual cancellation effect.

[0093] Based on the above principles, the inventors of this application, through multiple simulation experiments during research and development, calculated the influence of each connecting segment on the superimposed induced electromotive force at each point when the robot is on the return path of the first connecting segment 210. Ultimately, they determined an acceptable size ratio: when the length of the first connecting segment 210 of the first coil 200 is approximately 1.2 meters and the length of the second connecting segment 220 is approximately 1 meter, the magnetic field generated by the first coil 200 can synchronously and stably increase and decrease the magnetic field strength on both sides of the first connecting segment 210, and the difference in magnetic field detected on both sides of the robot can approach 0 or remain constant. Thus, in this embodiment, the area of ​​the first coil 200 can be considered the minimum effective area; that is, if the lengths of the first connecting segment 210 and the second connecting segment 220 are less than the aforementioned values, the basic function of guiding the robot to autonomously return to its charging position cannot be achieved.

[0094] In some embodiments, the length of the first connecting segment 210 is greater than 1.2 meters and the length of the second connecting segment 220 is greater than 1 meter, thereby increasing the area enclosed by the first coil 200. This makes the boundary between the magnetic field inside the coil and the magnetic field outside the coil more obvious, and the magnetic field strength detected by the inductors on both sides of the robot also has a more obvious difference, thus making the robot's autonomous recharging path clearer and more accurate.

[0095] Example 9

[0096] In some embodiments, the phase of the magnetic field generated by the second coil 300 is different from the phase of the magnetic field generated by the first coil 200.

[0097] This avoids the robot being affected by the second connecting section 220 when it approaches the charging port, which could cause a sudden reversal of the magnetic field direction, preventing the robot from properly connecting to the charging port by detecting the direction and strength of the inductive magnetic fields on the left and right sides.

[0098] In this embodiment, a second coil 300 is also provided at the bottom of the charging station 100 near the second connecting section 220. Since the phase of the magnetic field generated by the second coil 300 is different from the phase of the magnetic field generated by the first coil 200, when the robot approaches the charging port of the charging station 100, it is considered to be close to the position of the second coil 300 when the phase of the magnetic field is detected. Since the second coil 300 is positioned close to the charging port, it is considered that the robot is very close to the charging port and can directly dock with the charging port without making large left and right swings.

[0099] Understandably, to achieve the above solution, the output electromagnetic signals of the first coil 200 and the second coil 300 need to have different frequencies. For example, the first coil outputs a signal once at time T, and the second coil outputs a signal once at time T / 2. In this way, the robot can distinguish between the first coil 200 and the second coil 300 through electromagnetic signals with different phases, and identify the area close to the charging port. This reduces the adjustment range of the controller in that area, thereby enabling the robot to accurately connect to the charging port.

[0100] Example 10

[0101] This embodiment ten provides a robot system, including a robot and a robot base station as described in embodiments one through nine.

[0102] In some embodiments, the robot system may include a robot base station and multiple robots, so that the multiple robots can take turns returning to the base station for charging, reducing the idle time of the base station and further improving efficiency.

[0103] In other embodiments, the robot system may include multiple robot base stations and multiple robots. Any robot can be adapted to any base station, allowing the robot to recharge nearby, reducing travel distance, avoiding queuing, and improving recharging efficiency. The density and location of the base stations can be set based on actual robot operating data.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot base station, characterized by, The charging station and the first coil form a right triangle structure, the first coil comprises a first connecting segment, a second connecting segment and a third connecting segment arranged in sequence; The first connecting segment and the second connecting segment are the right angle sides of the right triangle structure, the third connecting segment is the hypotenuse of the right triangle structure, the length of the first connecting segment is greater than the second connecting segment, the charging station is arranged on the first connecting segment, and the first connecting segment is at least partially a path of the robot returning to the charging station; Wherein: the first connecting segment comprises a first part connected to the third connecting segment and a second part connected to the second connecting segment, the charging station is connected to the first part and the second part, the length of the first part and the second part is adapted according to the length of the second connecting segment and the third connecting segment, the length of the first part is greater than or equal to 1.2 meters, the length of the second part is greater than or equal to 0.27 meters, and the length of the second connecting segment is greater than or equal to 1 meter; Or, wherein: the robot base station further comprises a second coil, the second coil is arranged at the bottom of the charging station and close to the second connecting segment, the area surrounded by the second coil is smaller than the area surrounded by the first coil, the length of the first connecting segment is greater than or equal to 1.2 meters, the length of the second connecting segment is greater than or equal to 1 meter, the phase of the magnetic field generated by the second coil is different from the phase of the magnetic field generated by the first coil, and the frequency of the electromagnetic signals output by the first coil and the second coil is different.

2. The robotic base station of claim 1, wherein, When the first connecting segment comprises a first part connected to the third connecting segment and a second part connected to the second connecting segment, the center line of the charging nozzle of the charging station coincides with the first connecting segment.

3. The robotic base station of claim 1, wherein, The width of the second coil is consistent with the width of the charging station.

4. The robotic base station of claim 1, wherein, When the robot base station further comprises a second coil, the center line of the charging nozzle of the charging station coincides with the first connecting segment, and the second connecting segment is partially coincident with the charging station.

5. A robot system, characterized by The robot and the robot base station as claimed in any one of claims 1 to 4.

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