A charging method, a robot and a robot charging system thereof

Abstract

The present application discloses a charging method, a robot, and a robot charging system. The charging method includes: after entering the charging state, the robot moves to a preset charging positioning point; starting from the charging positioning point, the robot moves to a charging area according to a preset trajectory; the charging area is formed by an electric energy supply device; in the process of moving along the preset trajectory, it is detected whether the preset target charging position is reached; when the target charging position is reached, the robot is controlled to stop moving, and the electric energy provided by the electric energy supply device is received through the electric energy receiving device. The method can greatly shorten the positioning time of the robot by pre-setting a similar charging positioning point outside the target charging position.

Description

Technical Field

[0001] The present invention relates to the technical field of robot charging, and in particular to a charging method, a robot and a robot charging system. Background Art

[0002] With the continuous development of electronic information technology, more and more intelligent robots are beginning to be widely used in many different daily life scenarios, such as helping to clean the home yard, remove snow, collect fallen objects, etc.

[0003] These intelligent robots usually use batteries and motors as their main power sources and automatically perform work tasks in specific work areas. In order to ensure the smooth completion of work tasks, intelligent robots usually have an automatic charging function (also referred to as a recharging function), which can recharge itself when its own power is low to restore power.

[0004] Typically, the intelligent robot will return to the position of the charging base through positioning methods based on camera recognition, laser radar marking or infrared radar marking, etc. An electrical connection is established with the charging base through charging contacts, etc., so as to achieve automatic charging. For example, as described in Chinese patent CN110221617A, a laser radar marking method is used to guide the robot to move to the robot charging base. The robot moved to the robot charging base can establish an electrical connection through the power output conductor for charging.

[0005] However, this automatic charging solution has many defects. For example, positioning is easily affected and disturbed by bad weather (for example, strong light, rain and snow), resulting in incorrect positioning and failure to correctly return to the position of the robot charging station. Moreover, the overall solution of the positioning method is cumbersome and complex, and the implementation cost is high. Summary of the invention

[0006] The embodiments of the present invention aim to provide a charging method, a robot and a robot charging system, which can solve the technical problems of existing automatic charging methods, such as being easily disturbed by bad weather, having high implementation costs and poor safety in outdoor deployment.

[0007] The embodiment of the present invention solves the technical problem by adopting the following technical solution:

[0008] The present application discloses a charging method. The method comprises: after entering the charging state, the robot moves to a preset charging positioning point; starting from the charging positioning point, the robot moves to a charging area according to a preset trajectory; the charging area is formed by a power supply device; in the process of moving along the preset trajectory, it is detected whether a preset target charging position is reached; when the robot reaches the target charging position, the robot is controlled to stop moving, and the power receiving device in the robot receives the power provided by the power supply device.

[0009] The above charging method pre-sets a similar charging positioning point outside the target charging position, which can greatly shorten the positioning time of the robot and facilitate the robot to quickly move to the location of the charging base.

[0010] In a possible implementation, the method further includes: determining to enter the charging state when the remaining power is reduced to a preset charging power threshold; or determining to enter the charging state when a charging instruction is received.

[0011] By setting an appropriate charging power threshold, you can ensure that the robot has enough power to return to the charging base to complete automatic charging, effectively avoiding the situation where the robot is completely exhausted and requires the user to manually charge it, providing convenience for the daily use of the robot.

[0012] In a possible implementation, before the step of taking the charging positioning point as the starting point and moving toward the charging area according to a preset trajectory, the method further includes taking the charging positioning point as the starting point and controlling the robot to move to the charging area to perform a cleaning task; after determining that the cleaning task is completed, returning to the charging positioning point; and controlling the robot to rotate a preset angle so that the end where the power receiving device is provided faces the charging area.

[0013] By cleaning the charging area formed by the charging base before charging, smooth charging can be ensured, and charging failure will not occur due to snow and other debris covering the charging base. It can be well applied to deployment in outdoor environments.

[0014] In a possible embodiment, starting from the charging positioning point and moving toward the charging area according to a preset trajectory specifically includes: acquiring changes in the magnetic induction intensity of multiple different positioning beacons through sensors in the robot; multiple positioning beacons are located at different positions of the power supply device; determining whether the movement direction of the robot deviates from the preset trajectory based on changes in the magnetic induction intensity of different positioning beacons; when the movement direction of the robot does not deviate from the preset trajectory, controlling the robot to move along the current movement direction; when the movement direction of the robot deviates from the preset trajectory, adjusting the movement direction of the robot to be consistent with the preset trajectory.

[0015] By cooperating with sensors that sense changes in magnetic induction intensity and positioning beacons, the robot's current moving direction can be determined so that it can maintain the correct moving trajectory. This positioning method is different from traditional optical positioning, has strong anti-interference ability, is not easily affected by bad weather or environment, and has low overall implementation cost.

[0016] In a possible embodiment, the multiple positioning beacons include: a first positioning beacon for generating a first magnetic field, a second positioning beacon for generating a second magnetic field, and a third positioning beacon for generating a third magnetic field; determining whether the moving direction of the robot deviates from the preset trajectory based on the changes in the magnetic induction intensity of different positioning beacons specifically includes: when the sensor in the robot only acquires the second magnetic field, determining that the moving direction of the robot does not deviate from the preset trajectory; when the sensor in the robot acquires the first magnetic field or the third magnetic field, determining that the moving direction of the robot deviates from the preset trajectory.

[0017] In a possible implementation manner, the second positioning beacon is arranged on the preset track; the first positioning beacon and the third positioning beacon are arranged on the left and right sides of the preset track respectively;

[0018] When the moving direction of the robot deviates from the preset trajectory, the moving direction of the robot is adjusted to be consistent with the preset trajectory, specifically including: when the sensor in the robot obtains the first magnetic field of the first positioning beacon, the robot is controlled to retreat a preset first distance; after retreating the first distance, the robot is controlled to move to the right a preset second distance; after moving to the right the second distance, the robot is controlled to move back to the charging area; or when the sensor in the robot obtains the third magnetic field of the third positioning beacon, the robot is controlled to retreat a preset first distance; after retreating the first distance, the robot is controlled to move to the left a preset second distance; after moving to the left the second distance, the robot is controlled to move back to the charging area.

[0019] This method can easily and simply adjust the position and direction of the robot during movement, ensuring that the robot can move smoothly and correctly to the charging area and perform the corresponding charging operation. This positioning method is different from traditional optical positioning, has strong anti-interference ability, is not easily affected by bad weather or environment, and has low overall implementation cost.

[0020] In a possible implementation, the robot moves to a preset charging positioning point, specifically including: determining the charging positioning point with a preset distance threshold from the position of the power supply device according to the position of the power supply device; based on the position information provided by the RTK positioning system, controlling the robot to move to a preset signal strength point, and moving to the charging positioning point based on the signal strength point.

[0021] Compared with other typical buried wire or UWB positioning methods, RTK positioning has better flexibility, is easier to use outdoors and provides positioning results of appropriate accuracy.

[0022] The present application also discloses a robot. The robot comprises: a working device; the working device is used to perform a corresponding working task; a robot body; the robot body is fixedly connected to the working device and is used to drag the working device to move; an electric energy receiving device; the electric energy receiving device is arranged on the robot body; and a sensor; the sensor is arranged on the robot body; wherein the robot body is configured to: perform the charging method as described above.

[0023] In a possible implementation, the working device is arranged at the head of the robot body; the power receiving device and the sensor are both arranged at the tail of the robot body;

[0024] The working equipment is selected from one or more of the following equipment: snow removal equipment for clearing snow; golf ball recovery equipment for recovering golf balls; lawn mowing equipment for trimming lawns; leaf cleaning equipment for cleaning fallen leaves.

[0025] The present application also discloses a robot charging system. The robot charging system comprises: the robot as described above; a charging base; a power supply device and a plurality of positioning coils are arranged in the charging base; an RTK base station and a corresponding RTK antenna; the RTK antenna is arranged on the robot; wherein the power supply device forms a charging area; and the plurality of positioning coils are arranged at different positions to provide direction and position information guidance for the robot.

[0026] In a possible implementation, the electric energy providing device includes: a transmitting coil; wherein the transmitting coil is located at the center of the charging base, is accommodated inside the charging base, and forms the charging area on the upper surface of the charging base.

[0027] In a possible implementation, the positioning coil includes: a first positioning beacon for generating a first magnetic field, a second positioning beacon for generating a second magnetic field, a third positioning beacon for generating a third magnetic field, and an in-place detection coil for generating a fourth magnetic field; the robot is provided with two sensors arranged at intervals; wherein the first magnetic field, the second magnetic field and the third magnetic field have different magnetic field frequencies; the first positioning beacon, the second positioning beacon and the third positioning beacon are arranged at intervals in sequence along a first straight line direction and are located on one side of the transmitting coil; the in-place detection coil is arranged on the other side of the transmitting coil; the in-place detection coil, the transmitting coil and the second positioning beacon are arranged in sequence along a second straight line direction; wherein the first straight line direction is perpendicular to the second straight line direction; the width of the second positioning beacon is greater than the interval between the two sensors; the width of the in-place detection coil is greater than the interval between the two sensors; the width of the first positioning beacon and the second positioning beacon is less than the interval between the two sensors.

[0028] The charging method provided in the embodiment of the present application can greatly shorten the positioning time of the robot by pre-setting a similar charging positioning point outside the target charging position, which is conducive to the robot moving quickly to the location of the charging base. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0030] Figure 1 A schematic diagram of a contactless power transmission system according to an embodiment of the present application;

[0031] Figure 2 This is a schematic diagram of a robot charging system according to an embodiment of the present application, showing a situation when the working equipment is a snow removal equipment;

[0032] Figure 3 A schematic diagram of a robot according to an embodiment of the present application;

[0033] Figure 4 A schematic diagram of a charging base according to an embodiment of the present application;

[0034] Figure 5A This is a schematic diagram of the automatic charging process of an embodiment of the present application, showing a situation where the robot moves to a charging positioning point;

[0035] Figure 5B This is a schematic diagram of the automatic charging process of an embodiment of the present application, showing a situation where the robot takes the charging positioning point as the starting point and moves toward the charging base;

[0036] Figure 5C It is a schematic diagram of the automatic charging process of an embodiment of the present application, showing the relative position change between the sensor and the positioning coil;

[0037] Figure 6 A method flow chart of a charging method in an embodiment of the present application;

[0038] Figure 7 is a flow chart of a charging method in another embodiment of the present application;

[0039] Fig. 8A is a schematic diagram of a robot charging system according to an embodiment of the present application, showing a situation when the working device is a golf ball recovery device;

[0040] Figure 8B is a schematic diagram of a robot charging system according to an embodiment of the present application, showing a situation when the working device is a lawn mowing device;

[0041] Figure 8C is a schematic diagram of a robot charging system according to an embodiment of the present application, showing a situation when the working device is a leaf cleaning device;

[0042] Fig. 9 This is a functional block diagram of a charging device according to an embodiment of the present application;

[0043] Fig.10 A schematic diagram of an electronic device according to an embodiment of the present application.

[0044] Figure numbers and corresponding meanings:

[0045] Power supply device 10, power supply 11, power management module 12, transmitting coil 13;

[0046] Power receiving device 20, charging circuit 21, conversion circuit 22, receiving coil 23;

[0047] Robot 30, robot body 31, working equipment 32, golf ball recovery equipment 32A, grass cutting equipment 32B, leaf cleaning equipment 32C, sensor 33;

[0048] Charging base 40, first positioning beacon 41a, second positioning beacon 41b, third positioning beacon 41c, in-position detection coil 43;

[0049] Charging location point 50,

[0050] RTK positioning system 60, RTK base station 61, RTK antenna 62;

[0051] Charging device 100, pre-positioning module 110, secondary positioning module 120, receiving and enabling module 130, power detection module 140, cleaning module 150;

[0052] Electronic device 200 , processor 210 , memory 220 , communication bus 230 , communication module 240 , and peripheral device 250 . DETAILED DESCRIPTION

[0053] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "vertical", "horizontal", etc. used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0054] In addition, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance. "Include" or "comprises" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Unless otherwise defined, the features such as "parallel", "vertical", and "same" used in the embodiments of the present invention include "parallel", "vertical", "same" and other situations in a strict sense, as well as "approximately parallel", "approximately vertical", "approximately the same" and other situations containing certain errors. For example, the above-mentioned "approximately" can mean that the difference of the compared objects is within 10% or 5% of the average value of the compared objects. When the number of a component or element is not specifically indicated in the following embodiments of the present invention, it means that the component or element can be one or more, or can be understood as at least one. "At least one" refers to one or more, and "multiple" refers to at least two.

[0055] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0056] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] Figure 1 A schematic diagram of a contactless power transmission system provided in an embodiment of the present application. The contactless power transmission system mainly utilizes the principle of electromagnetic induction to achieve energy transfer between a transmitting coil and a receiving coil by energy coupling.

[0058] like Figure 1 As shown, the contactless power transmission system can be composed of a power providing device 10 and a power receiving device 20.

[0059] The power supply device 10 may include a power supply 11 , a power management module 12 and a transmitting coil 13 , while the power receiving device 20 may include a charging circuit 21 , a conversion circuit 22 and a receiving coil 23 .

[0060] In the actual power transmission process, the power source 11 may be direct current or alternating current, which is connected to the power management module 12 , and is converted into high-frequency alternating current by the power management module 12 through inversion and then provided to the transmitting coil 13 .

[0061] When the transmitting coil 13 and the receiving coil 23 are close to each other, the two can be coupled to each other, and the receiving coil 23 can receive energy from the transmitting coil 13. The current output by the receiving coil 23 can be converted into direct current by the conversion circuit 22 and provided to the charging circuit 21. Finally, the charging circuit 21 provides a suitable target current and voltage for a load such as a battery.

[0062] It should be noted that the embodiments of the present application are named as different modules according to the different functions to be performed. However, it can be understood by those skilled in the art that the implementation method of each functional module can be selected or determined according to the actual needs, and no specific limitation is made here.

[0063] In some embodiments, the aforementioned power supply device 10 can be arranged on a charging base, and the power receiving device 20 is arranged on a robot. Thus, when the robot moves to a suitable position of the charging base so that the transmitting coil 13 and the receiving coil 23 are close to each other, the battery carried by the robot can be charged via the above-mentioned non-contact power transmission method. In this application, for the sake of convenience, the area in which the transmitting coil 13 can couple with the receiving coil 23 is referred to as the charging area. In other words, after the receiving coil 23 enters the charging area, the transmitting coil 13 can transfer power to the receiving coil 23 in a non-contact manner through electromagnetic coupling.

[0064] The charging base provided in the embodiment of the present application and the robot use a non-contact power transmission method for charging, which can enclose all charging-related equipment inside the shell, effectively avoiding the problems and defects of poor contact and easy environmental interference when the contact electrodes are placed outdoors. Moreover, the power transmission method based on the electromagnetic induction effect allows a certain error between the transmitting coil and the receiving coil in all directions, and does not require the close contact required by the contact electrodes, which can effectively reduce the requirements for the positioning accuracy of the robot.

[0065] Alternatively, other suitable power transmission methods may be used to enable the charging base to charge the robot, and are not limited to the above-mentioned contactless wireless charging method.

[0066] In addition, in order to realize the automatic charging function, Figure 1In addition to the contactless power transmission system shown, an additional positioning system or related positioning coils are required to help the robot move smoothly to the location of the charging base.

[0067] In some embodiments, the robot can use two or more positioning methods (also known as fusion positioning methods) to determine the relative position between itself and the charging base, so as to achieve the purpose of bringing the power providing device and the power receiving device close to each other and realize the purpose of power transmission between them.

[0068] Specifically, the fusion positioning method can be formed by combining the RTK positioning method and the magnetic induction intensity positioning method.

[0069] Among them, RTK positioning is a positioning method based on carrier phase differential technology (Real Time Kinematic, RTK). It is mainly composed of an RTK base station and an RTK antenna. The RTK base station collects satellite data and transmits its observation values ​​and site coordinate information to a mobile station equipped with an RTK antenna through a data link. The mobile station obtains its three-dimensional positioning result in the specified coordinate system after performing real-time carrier phase differential processing on the collected satellite data and the received data link.

[0070] "Magnetic induction intensity positioning" is a positioning method based on sensors and multiple coils (in other embodiments, they can also be collectively referred to as "positioning coils"). The coil can form a magnetic field of a specific intensity when an electric current is applied, and is arranged on the charging base. The sensor is arranged on the robot. When the relative position between the sensor and the coil changes as the robot moves, the magnetic induction intensity sensed by it will also change accordingly. Therefore, when the position of the coil is fixed, the relative position relationship between the sensor and the coil can be calculated and determined by the value of the magnetic induction intensity, and then the relative position relationship between the current robot and the charging base (for example, direction information or position information) can be determined.

[0071] In the actual automatic charging process, the robot can first be guided to move to a specific position closer to the charging base by RTK positioning (in other embodiments, the specific position can be called a charging positioning point). Then, starting from the specific position, the robot moves to the target charging position more accurately by magnetic induction intensity positioning, so that the receiving coil 23 enters the charging area formed by the transmitting coil 13. Finally, the contactless power transmission system is enabled to charge the battery carried by the robot.

[0072] The fusion positioning method provided in the embodiment of the present application, combining RTK positioning and magnetic induction intensity positioning, can effectively improve the positioning accuracy and overcome a series of defects existing in a single positioning method, such as insufficient RTK positioning accuracy and possible problems with poor GPS signals or RTK signals.

[0073] Moreover, compared with the traditional optical positioning method, the positioning method based on the change of magnetic induction intensity has a stronger anti-interference ability in outdoor environment and is not easily affected and interfered by bad weather. It can be simply implemented based on coils and sensors, and the overall cost is relatively low.

[0074] According to the inventive ideas provided in the embodiments of the present application, they can be generally applied to intelligent robots. However, for the convenience of description and understanding, a robot equipped with snow removal equipment is used as an example to describe the present application.

[0075] Figure 2 This is a schematic diagram of a robot charging system provided in an embodiment of the present application. Figure 2 As shown, the robot charging system may include: a movable robot 30 , a charging base 40 , a charging positioning point 50 and an RTK positioning system 60 .

[0076] The robot 30 is an intelligent device with a driving mechanism that can move on the ground in a controlled or autonomous manner. Figure 3 As shown, the robot 30 may include: a robot body 31 , a working device 32 and a sensor 33 .

[0077] The robot body 31 is the main part of the entire robot 30, which can be set to any suitable shape, size or structure according to the actual needs, and is not specifically limited here. The robot body 31 serves as a carrying platform and can be loaded with one or more functional components to achieve different functions.

[0078] The working device 32 is a component used to perform a specific work task. It can be fixedly connected to the robot body 31, and is loaded and moved by the robot body 31 to perform a corresponding work task, such as a snow-clearing task within a specific area.

[0079] The sensor 33 is a sensor device for sensing changes in magnetic induction intensity. It can be set and fixed on the robot body 31, and can play a corresponding positioning role when the robot body 31 approaches the charging base 40. In some embodiments, the sensor 33 can be set in pairs, and a pair of magnetic induction intensity sensors are separated by a certain distance.

[0080] For details, please continue to refer to Figure 3The working device 32 can be set at the head of the robot body 31, and the power receiving device and the sensor 33 can be set at the tail of the robot body 31, respectively located at two ends of the robot body far away from each other.

[0081] The charging base 40 is a device that is set at a specific location and can be connected to a power supply. It can be set in any suitable shape according to the actual needs. For example, Figure 4 As shown, it can be a roughly square flat structure, and the power supply device and the positioning coil are both accommodated inside the charging base. Preferably, as Figure 2 As shown, the edge of the charging base 40 can also be set to an inclined slope to facilitate the robot to climb onto the upper surface of the charging base.

[0082] For details, please continue to refer to Figure 4 , the positioning coil may include: a first positioning beacon 41a, a second positioning beacon 41b, a third positioning beacon 41c and an in-place detection coil 43. The transmitting coil 13 of the power supply device may be arranged at the center of the charging base 40, forming a charging area on the upper surface of the charging base. Among them, the first positioning beacon 41a, the second positioning beacon 41b, and the third positioning beacon 41c may be arranged at intervals along the first straight line direction L1, and are located on one side of the transmitting coil 13. The in-place detection coil 43 is located on the opposite side of the transmitting coil 13. The in-place detection coil 43, the transmitting coil 13 and the second positioning beacon 41b are arranged in sequence along the second straight line direction L2.

[0083] The first straight line direction L1 and the second straight line direction L2 are perpendicular to each other. The width of the second positioning beacon 41b can be set to be larger than the interval between the two sensors 33; the width of the first positioning beacon 41a and the second positioning beacon 41c is smaller than the interval between the two sensors 33. The width of the in-position detection coil 43 is also larger than the interval between the two sensors 33.

[0084] The charging positioning point 50 is a pre-set specific position close to the charging base 40. Any suitable position can be designated as the charging positioning point 50 according to the actual needs. For example, a position 1m away from the charging base 40 can be selected as the charging positioning point 50. Preferably, a position without obstruction or with a strong RTK signal can be selected as the charging positioning point 50, so that the robot can easily determine its own position through RTK positioning technology and move to the charging positioning point.

[0085] RTK positioning system 60 is a positioning system based on carrier phase differential technology (Real Time Kinematic, RTK). Figure 1The RTK positioning system 60 may include two parts: an RTK base station 61 and an RTK antenna 62 .

[0086] The RTK antenna 62 is fixedly disposed on the robot body 31 , and can provide position information of the robot 30 through the RTK positioning system, and guide the robot 30 to move to the charging positioning point 50 .

[0087] In order to fully describe the working principle and implementation process of this application, the following is a detailed description of the following with reference to the accompanying drawings. Figure 2 The specific operation process of the robot charging system is shown.

[0088] 1) If Figure 5A As shown, under the guidance of the RTK positioning system, the robot 30 is controlled to move to the charging positioning point 50. At this time, the robot's working device 32 is facing the charging base 40. Subsequently, the robot 30 moves toward the charging base 40 and clears the snow on the charging base through the working device. Finally, after the snow is cleared, the robot retreats and returns to the charging positioning point.

[0089] 2) If Figure 5B As shown, the robot returning to the charging positioning point 50 can rotate 180° so that the tail portion provided with the receiving coil and the sensor 33 faces the charging base 40. Then, the robot moves in the direction where the charging base 40 is located by retreating.

[0090] 3) If Figure 5CAs shown, during the movement of the robot, a pair of sensors 33 will continuously approach the first positioning beacon 41a, the second positioning beacon 41b and the third positioning beacon 41c. The first positioning beacon 41a, the second positioning beacon 41b and the third positioning beacon 41c are coils formed by winding multiple turns of single-strand wire. After the coil is energized, a magnetic field perpendicular to the paper surface will be formed according to the right-hand rule. In this embodiment, the first positioning beacon 41a, the second positioning beacon 41b and the third positioning beacon 41c respectively form a first magnetic field, a second magnetic field and a third magnetic field of different frequencies to facilitate sensor recognition and confirmation. When the robot climbs onto the charging base in the correct position and direction (i.e., the predetermined trajectory), a pair of sensors 33 will be located inside the second positioning beacon 41b and have a specific magnetic induction intensity. If one of the sensors 33 is not inside the second positioning beacon 41b, but is located in the first positioning beacon 41a, it can be determined that the movement direction of the robot is offset to the left, and the movement direction of the robot is adjusted to the right accordingly (specifically, the robot will first exit the charging base, readjust and then return to the charging base). If one of the sensors 33 is not inside the second positioning beacon 41b, but is located in the third positioning beacon 41c, it can be determined that the movement direction of the robot is offset to the right, and the movement direction of the robot is adjusted to the left accordingly (specifically, the robot will first exit the charging base, readjust and then return to the charging base).

[0091] As a result, the robot can confirm direction or position errors through changes in magnetic induction intensity, and adjust the robot's moving posture accordingly to ensure that the robot moves to the charging area with the correct posture.

[0092] The in-place detection coil 43 is also a coil formed by winding multiple turns of single-strand wire. It is arranged on the other side of the transmitting coil. When the robot moves to the target charging position (i.e., the position where the transmitting coil and the receiving coil are opposite), a pair of sensors 33 will be located inside the in-place detection coil 43. The robot can determine that the sensor 33 has moved from outside the in-place detection coil 43 to inside the detection coil 43 by the magnetic induction intensity reaching a specific intensity threshold, thereby determining that the robot has moved to the position.

[0093] In some embodiments, before performing automatic charging, the user may also perform a series of initialization operation steps to determine and set the charging positioning point and the target charging position during the automatic charging process.

[0094] The initial setup steps include: First, under the guidance of the RTK positioning system, move the robot to a specific location with strong GPS and network signals as point A. Then, place and fix the charging base behind the robot, and set the location 1m away from the front of the charging base as the charging positioning point (make sure there are no obstacles that the robot cannot cross between the charging positioning point and the charging base). Finally, control the robot to move to the charging area of ​​the charging base, and set the location directly opposite the transmitting coil and the receiving coil as the target charging point.

[0095] It should be noted that if the position of the charging base does not change, the above initial setting steps do not need to be repeated. However, if the position of the charging base changes, such as being moved from one side of the garden to another side, the initial setting steps need to be repeated.

[0096] Figure 6 A method flow chart of a charging method provided in an embodiment of the present application. The charging method can be executed by the robot in the aforementioned embodiment to help realize the automatic charging function of the robot. Figure 6 As shown, the method comprises the following steps:

[0097] S2. After entering the charging state, the robot moves to the preset charging location.

[0098] The "charging state" refers to the state when the robot needs to move to the charging base for charging. In this embodiment, the term "charging state" is used to distinguish it from the normal working state. In other words, after entering the charging state, the robot needs to perform a series of steps of the charging method and move to the charging area of ​​the charging base for charging.

[0099] In some embodiments, step S1 specifically includes: determining a charging positioning point with a preset distance threshold from the location of the power supply device according to the location of the power supply device; and based on the location information provided by the RTK positioning system, controlling the robot to move to a preset signal strength point, and moving to the charging positioning point based on the signal strength point.

[0100] The charging positioning point is a pre-set, relatively close positioning point at a certain distance from the charging base. The predetermined distance can be designed to be 1m, or other suitable distances. It is only necessary to ensure that there are no obstacles between the charging positioning point and the charging base.

[0101] S4. Starting from the charging positioning point, move toward the charging area according to the preset trajectory.

[0102] The "charging area" refers to a specific area where the power supply device can couple with the power receiving device of the robot to achieve power transfer, which can be determined by the arrangement position of the transmitting coil of the power supply device.

[0103] The "preset track" is the moving direction and position determined by the position of the charging location and the charging base. It indicates the correct position and direction for the robot to move from the charging location to the charging area. In other words, when the robot moves according to the preset track, it can climb onto the charging base and reach the charging area.

[0104] In some embodiments, please refer to Figure 7 , step S4 specifically includes the following steps:

[0105] S41. Obtain the change of magnetic induction intensity of multiple different positioning beacons through sensors.

[0106] Among them, the positioning beacon is a component that can form a magnetic field of a specific strength. For example, a coil formed by winding a single strand of wire. Different positioning beacons can form magnetic fields with different frequencies to facilitate sensor confirmation and identification. Correspondingly, the sensor is an electromagnetic sensor that can sense the magnetic induction intensity.

[0107] Multiple positioning beacons are set at different positions of the charging base, so that the sensor can detect corresponding changes in magnetic induction intensity as the robot moves.

[0108] S42, determining whether the moving direction of the robot deviates from the preset trajectory according to the change of the magnetic induction intensity of the different positioning beacons. If not, executing step S43; if yes, executing step S44.

[0109] Since multiple different positioning beacons are located in different positions, the magnetic induction intensity will change accordingly with the change in the relative position between the sensor and these positioning beacons. Therefore, the sensor can accurately confirm whether the movement direction of the robot conforms to the preset trajectory (i.e., whether it can move to the charging base in the correct direction) based on the change in the magnetic induction intensity of these positioning beacons.

[0110] S43, controlling the robot to move along the current moving direction.

[0111] When there is no deviation in the moving direction, it indicates that the moving direction is correct and the robot can be controlled to continue moving.

[0112] S44, adjusting the movement direction of the robot to be consistent with the preset trajectory.

[0113] When the moving direction deviates, the moving direction of the robot needs to be adjusted to return it to the correct moving direction.

[0114] Specifically, based on Figure 4 In the case of the charging base shown in FIG. 1 , the aforementioned steps S42 to S44 may be specifically implemented by the following method:

[0115] On the one hand, when the sensor in the robot only obtains the second magnetic field formed by the second positioning beacon, it is determined that the moving direction of the robot does not deviate from the preset trajectory;

[0116] On the other hand, when the sensor in the robot obtains the first magnetic field formed by the first positioning beacon or the third magnetic field formed by the third positioning beacon, it is determined that the movement direction of the robot deviates from the preset trajectory. It can be understood that when the sensor in the robot obtains the first magnetic field, it indicates that the movement direction of the robot is offset to the left at this time and needs to be adjusted to the right. When the sensor in the robot obtains the third magnetic field, it indicates that the movement direction of the robot is offset to the right at this time and needs to be adjusted to the left.

[0117] Preferably, the above-mentioned moving direction adjustment method is specifically as follows:

[0118] First, when the sensor in the robot acquires the first magnetic field, the robot is controlled to retreat a preset first distance. The first distance can be an empirical value, which is set by the technician according to the needs of the actual situation, and can enable the robot to exit from the charging base. Then, after retreating the first distance, the robot is controlled to move to the right by a preset second distance. Similarly, the second distance is also a value set by the technician according to the actual situation, which is mainly determined by the distance between the first positioning beacon and the second positioning beacon, the width of the robot, etc. Finally, after moving the second distance to the right, the body is rotated at a certain angle (so that the charging position of the robot corresponds to the charging area), and the robot is controlled to move back to the charging area. Among them, after moving the second distance to the right, it can be basically confirmed that the robot has completed the correction of the position and movement direction, and can move back to the charging base and reach the target charging position.

[0119] In addition, when the sensor in the robot acquires the third magnetic field, the robot is first controlled to retreat a first distance, then the robot is controlled to move to the left a second distance, and finally, after moving to the left the second distance, the robot is controlled to move backward toward the charging area again.

[0120] S6. During the movement along the preset trajectory, detecting whether the preset target charging position has been reached.

[0121] The "target charging position" refers to the position of the robot when the transmitting coil and the receiving coil are roughly aligned. This roughly aligned position is a range concept. For example, an error of about 3 cm can be allowed between the two coils.

[0122] In some embodiments, step S3 may specifically include:

[0123] First, after passing the second positioning beacon, the robot is controlled to continue to move. Then, while the robot continues to move, the sensor detects the magnetic induction intensity. Subsequently, based on the magnetic induction intensity, it is determined whether the sensor has moved to the inside of the in-place detection coil. Finally, when it is determined that the sensor has moved to the inside of the in-place detection coil, it is determined that the robot has reached the preset target charging position.

[0124] Specifically, according to the magnetic induction intensity, determining whether the sensor has moved to the inside of the in-place detection coil can be implemented by the following steps:

[0125] First, the sensor is used to detect whether the magnetic induction intensity exceeds a preset intensity threshold.

[0126] The preset strength threshold is a value set according to actual conditions, which is used to measure the proximity between the sensor and the in-place detection coil. Then, when the magnetic induction intensity is greater than the preset strength threshold, it is determined whether the sensor has moved to the inside of the in-place detection coil; when the magnetic induction intensity is not greater than the preset strength threshold, it is determined that the sensor has not moved to the inside of the in-place detection coil.

[0127] Among them, since the position of the in-place detection coil is fixed, when it exceeds a certain intensity threshold, it can be basically confirmed that the sensor has moved into place at this time. For example, when the sensor has followed the robot to move into the in-place detection coil, the magnetic induction intensity will increase significantly and exceed the preset intensity threshold. At this time, it can be determined that the robot has moved into place and arrived at the target charging position.

[0128] S8. When reaching the target charging position, the robot is controlled to stop moving and receive electric energy provided by the electric energy providing device through the electric energy receiving device.

[0129] Among them, when the robot reaches the target charging position, it indicates that the power receiving device is already located in the charging area and can be coupled with the power providing device to achieve power transmission.

[0130] In some embodiments, power transmission can be achieved in a "non-contact" manner. "Non-contact" refers to the establishment of electrical connection with contact electrodes, and the power transmission in space is achieved by electromagnetic field induction. The charging base can enable the power supply device, and the battery of the robot can be charged through the power supply device and the power receiving device on the robot.

[0131] One of the advantages of the automatic charging method provided in the embodiment of the present application is that the non-contact charging method can make the relevant components of the power supply device, such as the transmitting coil, etc., be contained and protected in the base shell. Such a structural design can ensure that the components are not exposed to the outside, effectively avoid problems such as electrode oxidation and poor contact, and can better meet the use needs of outdoor deployment.

[0132] Another advantage of the automatic charging method provided in the embodiment of the present application is that the fusion positioning method combining the RTK positioning system and the magnetic induction positioning system can well meet the positioning needs of the robot moving to the charging base, which can not only avoid the insufficient positioning accuracy of a single RTK positioning system, and compensate for the problem of weak or lost RTK signals caused by obstructions such as eaves and shades, but also have strong anti-interference capabilities and can still be used normally in severe weather such as rain and snow.

[0133] Figure 7 This is a flow chart of a charging method provided by another embodiment of the present application. Figure 7 As shown, before executing step S2, the method may further include:

[0134] S1. When the remaining power drops to a preset charging power threshold, enter a charging state.

[0135] The charging power threshold can be set according to actual conditions. Preferably, the charging power threshold can be set to 20% to ensure that the robot has sufficient power to complete a series of steps of the charging method and move to the charging area to complete automatic charging before the power is exhausted.

[0136] The step S1 may be a periodically executed detection step, i.e., the remaining power detection is periodically executed to determine whether the remaining power drops to the charging power threshold. Alternatively, the step S1 may also be a passive response step, i.e., the robot is automatically triggered and responds when the remaining power drops to the preset charging power threshold, so that it starts to enter the charging state.

[0137] In other embodiments, it is also possible to determine that the robot enters the charging state when a charging instruction is received; wherein the charging instruction can be issued by the user through the device.

[0138] In some embodiments, after executing step S2, the method may further include the following steps:

[0139] First, starting from the charging positioning point, move to the charging area to perform the cleaning task.

[0140] The cleaning task refers to a task performed by a working device carried by the robot to remove or clean unnecessary debris in a specific area. For example, the cleaning task may be a task performed by a snow removal device to remove accumulated snow.

[0141] Then, after the cleaning task is completed, return to the charging location.

[0142] Among them, by executing the cleaning task, the debris or obstacles in the charging area can be effectively removed to facilitate the smooth progress of subsequent automatic charging. Specifically, whether the cleaning task is completed can be determined in a variety of ways. For example, if the robot body is equipped with a camera, it can be determined by taking an image of the charging area to determine whether the snow in the charging area has been cleared.

[0143] Finally, the preset angle is rotated so that the end where the power receiving device is set faces the charging area.

[0144] The working device and the power receiving device are usually not arranged at the same position of the robot body. Figure 1 As shown, the working device and the power receiving device are arranged at the head and tail of the robot body respectively.

[0145] Therefore, after completing the cleaning task, the robot needs to be controlled to rotate to a suitable angle (for example, 180°) so that the end provided with the power receiving device faces the charging area before the subsequent automatic charging operation can be continued.

[0146] Based on the charging method and robot charging system provided in the above embodiments, the present application also provides a robot equipped with other working equipment, which will be introduced below in conjunction with the accompanying drawings of the specification.

[0147] 1) In a golf course, hit golf balls are often scattered all over the golf course. If the balls are picked up manually, the overall efficiency is low and there is a risk of accidental injury by the golf balls. Fig. 8A As shown, the embodiment of the present application provides a robot equipped with a golf ball recovery device. The robot body 31 is equipped with a golf ball recovery device 32A, which can move on its own in a golf course and recover scattered golf balls through the golf ball recovery device 32A.

[0148] Please continue reading Fig. 8A When the power of the robot body 31 is reduced to a preset power threshold, the robot can move to the upper surface of the charging base by itself through the aforementioned fusion positioning method, and the robot is charged by the charging base via the above-mentioned non-contact power transmission system to ensure that the robot can operate for a long time.

[0149] 2) In spring and summer, when there is abundant rainfall, the grass on the lawn grows vigorously and needs to be frequently trimmed and mowed to keep the lawn smooth. Traditional handheld lawn mowers (including blade type and grass rope type) or push lawn mowers need to rely on manpower and have low overall efficiency.

[0150] In order to improve the efficiency of use, there are also some lawn mower robots that can automatically mow the lawn in a designated area. However, due to the limited battery capacity of the robot, an automatic charging function needs to be set to maintain the long-term operation of the lawn mower robot. However, the existing optical positioning solutions will be greatly disturbed in bad weather, resulting in the robot being unable to return to the charging position correctly. There are also some positioning solutions based on wire tracking, but such solutions are prone to the phenomenon that the lawn mower robot cuts off the wire.

[0151] Therefore, if Figure 8B As shown, the embodiment of the present application provides a robot equipped with a mowing device 32B. The robot body 31 is equipped with the mowing device 32B, and can move on the lawn of a designated area by itself, and mow the lawn through the mowing device 32B.

[0152] Please continue reading Figure 8B When the power of the robot body 31 drops to a preset power threshold, the robot can move to the upper surface of the charging base 40 by itself through the aforementioned fusion positioning method, and the robot is charged by the charging base 40 through the aforementioned non-contact power transmission system to ensure that the robot can operate for a long time. The fusion positioning method has strong anti-interference ability, is not easily affected by bad weather, and will not cause wire cuts, etc., and has strong reliability.

[0153] 3) In autumn, leaves will continue to fall and accumulate on the ground in the lawn or yard. The traditional way to clean up the fallen leaves is to first use a leaf rake, a handheld leaf blower, etc. to pile the fallen leaves together and then clean them up. The entire cleaning process relies on manual labor, which is inefficient and takes up daily time.

[0154] Therefore, if Figure 8C As shown, the embodiment of the present application provides a robot equipped with a leaf cleaning device 32C. The robot body 31 is equipped with a leaf cleaning device 32C, which can automatically blow the fallen leaves scattered on the ground to a designated location through the leaf cleaning device 32C according to the planned path, so as to facilitate subsequent cleaning and maintain the cleanliness of the yard.

[0155] Please continue reading Figure 8CWhen the power of the robot body 31 drops to a preset power threshold, the robot can move to the upper surface of the charging base 40 by itself through the aforementioned fusion positioning method, and the robot is charged by the charging base 40 through the aforementioned non-contact power transmission system to ensure that the robot can operate for a long time. The fusion positioning method has strong anti-interference ability, is not easily affected by bad weather, and will not cause wire cuts, etc., and has strong reliability.

[0156] Fig. 9 The charging device provided in the embodiment of the present application can be implemented by the aforementioned robot through software / hardware or software and hardware in cooperation with each other. Fig. 9 As shown, the charging device 100 includes: a pre-positioning module 110 , a secondary positioning module 120 and a receiving and enabling module 130 .

[0157] Among them, the pre-positioning module 110 is used to move to a preset charging positioning point after entering the charging state. The secondary positioning module 120 is used to take the charging positioning point as the starting point, move to the charging area according to a preset trajectory, and in the process of moving along the preset trajectory, detect whether it has reached the preset target charging position; when reaching the target charging position, control the robot to stop moving. The receiving activation module 130 is used to receive the power provided by the power providing device through the power receiving device.

[0158] In some embodiments, please refer to Fig. 9 The charging device also includes: a power detection module 140 and a cleaning module 150.

[0159] The power detection module 140 is used to determine that the charging state has been entered and the automatic charging function needs to be executed when the remaining power is reduced to a preset charging power threshold. The cleaning module 150 is used to move to the charging area to perform a cleaning task with the charging positioning point as the starting point before performing a secondary positioning; after the cleaning task is completed, return to the charging positioning point; and rotate at a preset angle so that the end where the power receiving device is set faces the charging area.

[0160] It should be noted that the functional modules named by functions are used as examples in the embodiments of the present application to describe the method steps to be implemented by the charging device. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described device and module can refer to the corresponding process in one or more of the above-mentioned method embodiments, and will not be repeated here.

[0161] Those skilled in the art can appreciate that, although the functional modules of the charging device are divided according to the method steps to be executed in the embodiment of the present application, one or more functional modules of the charging device in the embodiment of the present application can be split into more functional modules or integrated into fewer functional modules according to the actual needs to execute the corresponding method steps.

[0162] Fig.10 The electronic device provided in the embodiment of the present application can be implemented by the aforementioned robot to perform one or more steps of the charging method in the above embodiment. Fig.10 As shown, the electronic device 200 may include: a processor 210, a memory 220, a communication bus 230, a communication module 240 and a peripheral device 250. Of course, it may omit one or more of the above devices, and may also add some other types of devices, but is not limited to the above devices.

[0163] The processor 210 may be any suitable processor or processor group. Specifically, the processor 210 is a multi-core processor capable of multi-threaded processing. The memory 220 may be any suitable storage device, such as ROM, RAM, flash memory or a large-capacity mechanical storage device, such as a CD-ROM, a hard disk, etc. The memory 220 is used to store a computer program executed by the processor 210 and preset for various data processing.

[0164] The communication module 240 may include some network interaction devices for establishing a communication connection through a connected network to establish a data transmission channel between the electronic device and the outside. The peripheral device 250 includes, but is not limited to: various types of sensors and input / output devices (e.g., keyboard, mouse and display). The display may include any type of computer playback device or electronic playback device (such as a CRT or LCD-based device) for displaying information to the user.

[0165] In actual application, the processor 210 and the memory 220 communicate with each other through the communication bus 230. The processor 210 can call the computer running program in the memory 220 and perform some logical operations. For example, the processor 210 can implement some or all steps of the charging method described or disclosed in the embodiment of the present application for the received RTK signal or sensor signal, and guide the robot body to move to the target charging position.

[0166] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium may be a non-volatile storage medium. Among them, the computer-readable storage medium stores a computer program. When the computer program is executed by the processor, one or more method steps in the above-mentioned charging method can be implemented. The complete computer program product is embodied on one or more computer-readable storage media containing the computer program disclosed in the embodiment of the present application (including but not limited to disk storage, CD-ROM, optical storage, etc.).

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A charging method, characterized in that: include: After entering the charging state, the robot moves to the preset charging positioning point; Taking the charging positioning point as the starting point, move toward the charging area according to a preset trajectory; The charging area is formed by an electric energy providing device; During the movement along the preset trajectory, detecting whether a preset target charging position has been reached; When the robot reaches the target charging position, the robot is controlled to stop moving, and Receiving electric energy provided by the electric energy providing device through the electric energy receiving device in the robot; The step of taking the charging positioning point as a starting point and moving toward the charging area according to a preset trajectory specifically includes: Acquiring the change of magnetic induction intensity of multiple different positioning beacons through the sensor in the robot; the multiple positioning beacons are located at different positions of the power supply device; Determining whether the moving direction of the robot deviates from the preset trajectory according to the change of the magnetic induction intensity of different positioning beacons; When the moving direction of the robot does not deviate from the preset trajectory, controlling the robot to move along the current moving direction; When the moving direction of the robot deviates from the preset trajectory, adjusting the moving direction of the robot to be consistent with the preset trajectory; The plurality of positioning beacons include: a first positioning beacon for generating a first magnetic field, a second positioning beacon for generating a second magnetic field, and a third positioning beacon for generating a third magnetic field; The determining whether the moving direction of the robot deviates from the preset trajectory according to the change of the magnetic induction intensity of different positioning beacons specifically includes: When the sensor in the robot acquires only the second magnetic field, determining that the moving direction of the robot does not deviate from the preset trajectory; When the sensor in the robot acquires the first magnetic field or the third magnetic field, it is determined that the moving direction of the robot deviates from the preset trajectory.

2. The charging method according to claim 1, characterized in that: The method further comprises: When the remaining power is reduced to a preset charging power threshold, determining to enter the charging state; Alternatively, when a charging instruction is received, it is determined to enter the charging state.

3. The charging method according to claim 1, characterized in that: Before the step of taking the charging positioning point as a starting point and moving toward the charging area according to a preset trajectory, the method further includes: Taking the charging positioning point as the starting point, the robot is controlled to move to the charging area to perform a cleaning task; After determining that the cleaning task is completed, returning to the charging location; The robot is controlled to rotate at a preset angle so that the end provided with the power receiving device faces the charging area.

4. The charging method according to claim 1, characterized in that: The second positioning beacon is arranged on the preset track; the first positioning beacon and the third positioning beacon are arranged on the left and right sides of the preset track respectively; When the moving direction of the robot deviates from the preset trajectory, adjusting the moving direction of the robot to be consistent with the preset trajectory specifically includes: When a sensor in the robot acquires a first magnetic field of the first positioning beacon, controlling the robot to retreat a preset first distance; After retreating the first distance, controlling the robot to move rightward by a preset second distance; After moving rightward by the second distance, controlling the robot to move back to the charging area; or When the sensor in the robot acquires the third magnetic field of the third positioning beacon, controlling the robot to retreat a preset first distance; After retreating the first distance, controlling the robot to move leftward by a preset second distance; After moving the second distance to the left, the robot is controlled to move toward the charging area again.

5. The charging method according to claim 1, characterized in that: The robot moves to a preset charging location, specifically including: According to the location of the electric energy providing device, determining the charging positioning point with a preset distance threshold from the location of the electric energy providing device; Based on the position information provided by the RTK positioning system, the robot is controlled to move to a preset signal strength point, and then moves to the charging positioning point based on the signal strength point.

6. A robot, characterized in that: include: Working equipment; the working equipment is used to perform corresponding working tasks; Robot body; The robot body is fixedly connected to the working equipment and is used to drag the working equipment to move; A power receiving device; the power receiving device is arranged on the robot body; and A sensor; the sensor is arranged on the robot body; Wherein, the robot body is configured to: execute the charging method as described in any one of claims 1-5.

7. The robot according to claim 6, characterized in that: The working device is arranged at the head of the robot body; the power receiving device and the sensor are both arranged at the tail of the robot body; The working equipment is selected from at least one of the following equipment: Snow removal equipment, used to clear snow; Golf ball recovery equipment; used for recovering golf balls; mowing equipment, used to trim lawns; Leaf cleaning equipment to blow away fallen leaves.

8. A robot charging system, characterized in that: include: A robot as claimed in claim 6 or 7; A charging base; the charging base is provided with a power supply device and a plurality of positioning coils; An RTK base station and a corresponding RTK antenna; the RTK antenna is arranged on the robot; wherein the power supply device forms a charging area; The plurality of positioning coils are arranged at different positions respectively to provide direction and position information guidance for the robot.

9. The robot charging system according to claim 8, characterized in that: The electric energy supply device comprises: a transmitting coil; The transmitting coil is located at the center of the charging base, is accommodated inside the charging base, and forms the charging area on the upper surface of the charging base.

10. The robot charging system according to claim 9, characterized in that: The positioning coil comprises: a first positioning beacon for generating a first magnetic field, a second positioning beacon for generating a second magnetic field, a third positioning beacon for generating a third magnetic field, and an in-position detection coil for generating a fourth magnetic field; the robot is provided with two sensors arranged at intervals; The first magnetic field, the second magnetic field and the third magnetic field have different magnetic field frequencies; the first positioning beacon, the second positioning beacon and the third positioning beacon are sequentially arranged at intervals along the first straight line direction and are located on one side of the transmitting coil; The in-position detection coil is arranged on the other side of the transmitting coil; the in-position detection coil, the transmitting coil and the second positioning beacon are arranged in sequence along the second straight line direction; Among them, the direction of the first straight line is perpendicular to the direction of the second straight line; the width of the second positioning beacon is greater than the interval between the two sensors; the width of the in-position detection coil is greater than the interval between the two sensors; the width of the first positioning beacon and the second positioning beacon is less than the interval between the two sensors.

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