Robot charging pile-aligning force unloading method

Abstract

The invention discloses a method for unloading force to a pile during charging of a robot. The method comprises the following steps that the robot obtains a pile returning command and torque needed for pile alignment; the robot drives to the charging pile according to positioning navigation and is just in contact with a charging piece of the charging pile; and the robot adjusts the torque of the motor to the torque required by the pile, and slowly drives to reach a preset charging contact distance. Therefore, the mechanical stress during pile alignment can be reduced, the structural integrity of the charging piece and the charging pile is protected, and the service life of the charging system is prolonged.

Description

Technical Field

[0001] The invention relates to the field of robot charging, and in particular to a method for unloading force from a charging pile of a robot. Background Art

[0002] In the robotics industry, the automatic charging system is one of the key components to achieve unmanned operation. At present, most robots use physical buffer mechanisms (such as springs, rubber pads, etc.) on the robot or charging pile to absorb impact energy and reduce the direct collision between the charging piece and the related structural parts of the charging pile when the robot hits the pile. Although these physical buffer mechanisms can reduce the impact to a certain extent, due to the lack of precision in force control when the robot hits the pile, there is still a large impact force, which will not only accelerate the wear of the buffer mechanism, but may also cause damage to the structural parts of the charging piece or charging pile, thereby affecting the reliability and life of the entire charging system. Summary of the invention

[0003] Therefore, it is necessary to provide a method for unloading the force of the charging pile by the robot to solve the problem that the force control accuracy of the robot is insufficient when it is charging the pile, and the large impact force on the charging piece and the related structural parts of the charging pile.

[0004] To achieve the above purpose, this embodiment provides a method for unloading force from a charging pile by a robot, comprising the following steps:

[0005] The robot obtains the command to return to the pile and the torque required for the pile;

[0006] The robot drives to the charging pile according to the positioning navigation and just touches the charging plate of the charging pile;

[0007] The robot adjusts the torque of the motor to the torque required for the pile and slowly drives to the preset charging contact distance.

[0008] Furthermore, the required moment for the pile is obtained by the following steps:

[0009] Obtaining the elastic coefficient k of the buffer mechanism connected to the charging sheet;

[0010] The sensor detects the compression amount x of the buffer mechanism connected to the charging sheet when the robot travels to the preset charging contact distance;

[0011] The stress F of the buffer mechanism when facing the pile is obtained by the following formula: F = kx;

[0012] The torque T required for the pile is obtained by the following formula: T = Fr, where r is the tire radius.

[0013] Furthermore, when the vehicle slowly drives to a preset charging contact distance, the following steps are also included:

[0014] The sensor detects the actual stress of the buffer mechanism on the charging pile connected to the charging sheet;

[0015] Determine whether the actual stress detected by the sensor is within the ±10% tolerance range of the stress F of the buffer mechanism when the pile is pressed;

[0016] If not, the robot adjusts the torque of the motor until the actual stress is within the ±10% tolerance range of the stress F of the buffer mechanism during pile alignment.

[0017] Furthermore, the method further comprises the following steps:

[0018] The sensor determines whether the buffer mechanism connected to the charging plate on the charging pile is within a reasonable compression range;

[0019] If yes, the charging pile charges the robot through the charging piece. If no, the robot exits the charging pile and charges again.

[0020] Furthermore, the sensor is a pressure sensor or a position sensor.

[0021] Furthermore, when the charging pile charges the robot through the charging sheet, the following steps are also included:

[0022] The robot's power system determines whether the charging parameters are abnormal;

[0023] If yes, the robot exits the charging pile and re-engages with the pile.

[0024] Furthermore, the method further comprises the following steps:

[0025] The robot's main controller switches the travel motor to the speed mode through the electric drive system, maintains the speed at zero, and parks the robot.

[0026] Furthermore, the method further comprises the following steps:

[0027] Robot mechanical brake parking.

[0028] Furthermore, when the robot drives towards the charging pile according to the positioning navigation, the following steps are also included:

[0029] The robot first drives to the charging point in front of the charging pile according to the positioning navigation;

[0030] The robot's main controller switches the motor to position mode through the electric drive system, and then drives towards the charging plate of the charging pile and just touches it.

[0031] Furthermore, the robot is a cleaning robot.

[0032] Different from the prior art, the above technical solution has the following beneficial effects:

[0033] After receiving the command to return to the charging pile, the robot starts the automatic navigation system and can drive to the target charging pile through laser navigation, visual navigation or other high-precision positioning methods, and obtain the ideal torque value required for the pile from the preset database. When the robot contacts the charging piece, the control system adjusts the output torque of the motor in real time to keep it within the range required for the pile to avoid impact caused by excessive torque. While adjusting the torque, the robot advances at a slow and steady speed until the charging piece and the charging pile reach the preset charging contact distance. At this time, the elastic force of the buffer mechanism is greater than the driving force of the robot and it cannot move forward. This can reduce the mechanical stress when facing the pile, protect the structural integrity of the charging piece and the charging pile, and thus extend the service life of the charging system.

[0034] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present invention and other related contents, and shall not be considered as limiting the present application.

[0036] Figure 1 This is one of the flow charts of the method for unloading force from a charging pile by a robot in this embodiment;

[0037] Figure 2 This is the second flow chart of the method for unloading force from a charging pile by a robot in this embodiment;

[0038] Figure 3 This is the third flow chart of the method for unloading force from a charging pile by a robot in this embodiment;

[0039] Figure 4 This is the fourth flow chart of the method for unloading force from a charging pile by a robot in this embodiment;

[0040] Figure 5 This is the fifth flow chart of the method for unloading force from a charging pile by a robot in this embodiment. DETAILED DESCRIPTION

[0041] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0042] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0043] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0044] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0045] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0046] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0047] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0048] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0049] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] See also Figures 1 to 5 The present embodiment provides a method for unloading force from a charging pile by a robot, comprising the following steps:

[0051] Step S101, the robot obtains a return-to-pile command and the torque required for the pile;

[0052] Step S102: the robot drives towards the charging pile according to the positioning navigation and just touches the charging plate of the charging pile;

[0053] Step S103: the robot adjusts the torque of the motor to the torque required for the pile, and slowly drives to reach the preset charging contact distance.

[0054] After receiving the command to return to the charging pile, the robot starts the automatic navigation system and can drive to the target charging pile through laser navigation, visual navigation or other high-precision positioning methods, and obtain the ideal torque value required for the pile from the preset database. When the robot contacts the charging piece, the control system adjusts the output torque of the motor in real time to keep it within the range required for the pile to avoid impact caused by excessive torque. While adjusting the torque, the robot advances at a slow and steady speed until the charging piece and the charging pile reach the preset charging contact distance. At this time, the elastic force of the buffer mechanism is greater than the driving force of the robot and it cannot move forward. This can reduce the mechanical stress when facing the pile, protect the structural integrity of the charging piece and the charging pile, and thus extend the service life of the charging system.

[0055] In step S103, the main controller calculates and sends the corresponding target current to the electric drive system based on the current slope (the charging pile is generally equipped with a slope in front of the charging plate) and the running force, so that the drive motor runs at a most suitable and smaller torque, and slowly increases to a certain value (the maximum stress value of the buffer system under the most ideal contact condition between the robot and the charging pile itself - the maximum target torque) with this current as the starting point.

[0056] Furthermore, due to material, batch or installation process issues, each robot and pile may have different buffer mechanism force characteristics. The given maximum target torque is the most difficult variable to correspond to in this control. The robot can be repeatedly trained using a deep neural network based on a deep learning algorithm. In the early stage, the torque can be slowly increased until the pressure sensor or in-place sensor is triggered. Through a large number of pile-to-pile times, the neural network can learn the optimal pile-to-pile force under different environments.

[0057] See also Figure 2 In this embodiment, the moment required for the pile is obtained by the following steps:

[0058] Step S201, obtaining the elastic coefficient k of the buffer mechanism connected to the charging sheet;

[0059] Step S202, the sensor detects the compression amount x of the buffer mechanism connected to the charging sheet when the robot travels to a preset charging contact distance;

[0060] Step S203, obtaining the stress F of the buffer mechanism when the pile is pressed by the following formula: F=kx;

[0061] The torque T required for the pile is obtained by the following formula: T = Fr, where r is the tire radius.

[0062] Specifically, since the buffer mechanism is equipped before leaving the factory, the torque required for the pile can be obtained in advance. The buffer mechanism is usually designed with a spring, and its working principle is based on Hooke's law, that is, the spring force formula: F = kx, where: F is the elastic force generated by the spring (unit: Newton, N), k is the spring constant or elastic coefficient (unit: Newton per meter, N / m), which represents the force required for the spring to deform per unit length, and x is the compression of the spring (unit: meter, m).

[0063] In this embodiment, when the vehicle slowly drives to reach the preset charging contact distance, the following steps are also included:

[0064] The sensor detects the actual stress of the buffer mechanism on the charging pile connected to the charging sheet;

[0065] Determine whether the actual stress detected by the sensor is within the ±10% tolerance range of the stress F of the buffer mechanism when the pile is pressed;

[0066] If not, the robot adjusts the torque of the motor until the actual stress is within the ±10% tolerance range of the stress F of the buffer mechanism when the pile is pressed, indicating that the contact pressure is too large or insufficient. The robot main controller will immediately adjust the torque of the motor to return it to the ±10% tolerance range of the torque required for the pile, avoiding problems caused by excessive or insufficient stress to ensure the best contact state;

[0067] If yes, the robot maintains the torque of the motor.

[0068] For example, after leaving the factory, it is known that the stress F of the buffer mechanism during pile alignment is 10N, the tire radius r is 0.2m, and the torque T is 2N·m, which can be stored in the main controller. In the actual pile alignment process, the torque of the motor outputs 10N stably. If the detector detects that the actual stress is within the range of 9 to 11N, it can continue to maintain. If the detector detects that the actual stress is less than 9N or greater than 11N, the torque of the motor is fine-tuned until it reaches the normal range (9 to 11N).

[0069] See also Figure 3 In this embodiment, the method further includes the following steps:

[0070] Step S104, the sensor determines whether the buffer mechanism connected to the charging sheet on the charging pile is within a reasonable contraction range;

[0071] Step S105: If yes, the charging pile charges the robot through the charging piece.

[0072] If not, the robot exits the charging pile and re-aligns with the pile, and returns to step S102.

[0073] During the charging process, the robot gradually compresses the buffer mechanism, which is generally an elastic object such as a spring or rubber pad, and will shrink (compress) when subjected to force. If the buffer mechanism is within a reasonable contraction range, it means that the robot has reached the preset charging contact distance. The robot's main controller determines whether the buffer mechanism is within a reasonable contraction range. This step ensures that the buffer mechanism has been correctly compressed into place and will not be damaged due to excessive compression, nor will it cause poor contact due to insufficient compression. In addition, the charging pile will only start charging when the buffer mechanism is within a reasonable contraction range, avoiding safety hazards caused by abnormalities in the buffer mechanism.

[0074] In this embodiment, the sensor is a pressure sensor or an in-place sensor, which can be installed on a robot or a charging pile. For example, the buffer mechanism is a spring and the sensor is a pressure sensor: the pressure sensor is installed at the end of the spring of the charging pile. When the robot gradually approaches the charging pile and applies pressure, the pressure sensor can monitor the contact pressure between the two in real time; the buffer mechanism is a spring and the sensor is an in-place sensor. For example, the in-place sensor can use the displacement or deformation generated during the compression of the spring to trigger the sensor signal, such as using a linear encoder or Hall effect sensor, or sensing through a rocker-type travel switch. By introducing sensors, a closed-loop control system is formed, which can not only monitor the actual stress and position status in real time, but also dynamically adjust the behavior of the robot as needed to ensure the safety and effectiveness of the entire docking process.

[0075] See also Figure 5 In this embodiment, when the charging pile charges the robot through the charging sheet, the following steps are also included:

[0076] Step S106, the power system of the robot determines whether the charging parameters are abnormal;

[0077] If yes, the robot exits the charging pile and re-connects to the pile, and returns to step S102;

[0078] If not, keep charging.

[0079] Charging parameters include charging current, charging voltage, and charging temperature. Abnormal conditions include charging voltage exceeding the maximum allowable value of the battery, charging current exceeding the maximum tolerance of the battery or charging system, and charging dimension being too high. When any abnormal condition is detected, the robot automatically exits charging and retries the pile to avoid safety hazards or equipment damage caused by abnormal conditions.

[0080] See also Figure 5 In this embodiment, after normal charging, the following steps are also included:

[0081] In step S107, the main controller of the robot switches the driving motor to the speed mode through the electric drive system, maintains the speed at zero, and parks the robot. The electric drive system can monitor the actual speed of the motor in real time according to the feedback mechanism, and adjust the current or voltage through the control algorithm to strictly maintain the speed of the motor at zero, even under the action of the buffer mechanism. When the motor enters the speed mode, the electric drive system will adaptively take the reverse torque to support it and will not be ejected by the buffer mechanism.

[0082] In this embodiment, after the speed mode is switched, the following steps are also included:

[0083] Step S108: the robot uses mechanical braking to park.

[0084] After the robot has completed the charging and started charging, in addition to switching the travel motor to the speed mode to maintain stillness through the electric drive system, the robot's main controller further triggers the mechanical brake device (such as brake or caliper brake) to achieve physical parking lock. If the robot's travel system has a brake or caliper brake, the mechanical brake can be pulled up to park the vehicle. Once the mechanical brake device is activated and successfully locks the vehicle, the main controller will disable the motor, that is, cut off the power supply to the motor, making the motor inactive. In this state, the motor no longer consumes electricity and does not generate heat.

[0085] In this embodiment, when the robot drives towards the charging pile according to the positioning navigation, the following steps are also included:

[0086] The robot first drives to the charging point in front of the charging pile according to the positioning navigation;

[0087] The robot's main controller switches the motor to position mode through the electric drive system, and then drives towards the charging plate of the charging pile and just touches it.

[0088] After receiving the command to return to the charging pile, the robot first drives to the preset charging point in front of the charging pile according to the positioning and navigation system. The robot can complete the initial positioning before approaching the charging pile to ensure that there is enough time and space for subsequent precise positioning operations to be adjusted. During this period, sensors such as lidar, photoelectric, and ultrasonic waves can obtain the robot's surrounding data, such as the robot's posture and distance, and upload them to the main controller. The motor in position mode provides higher precision, and the control enables the robot to move finely, ensuring the initial docking between the charging pieces and improving the docking efficiency. After the robot just touches the charging piece, the motor is switched from position mode to current (torque) mode.

[0089] In this embodiment, the robot is a cleaning robot. Cleaning robots usually operate autonomously in indoor or outdoor environments. After completing tasks such as sweeping, vacuuming, and mopping, they need to automatically return to the charging pile for charging to ensure that they can continue to work. The cleaning robot is equipped with advanced positioning and navigation systems (such as laser radar, visual sensors, photoelectric sensors, ultrasonic sensors, etc.), which can accurately find charging piles in complex environments, and achieve high-precision driving and charging through multi-sensor fusion technology.

[0090] The technical solution of this application has the following advantages:

[0091] 1. Suitable for indoor and outdoor two-wheeled or multi-wheeled robots with automatic charging piles. Through the refined control of the pile process, the robot can generate less collision force when docking with the charging pile, rather than the traditional method of first hitting and then releasing the stress. This method significantly reduces the impact on the pile, effectively protects the mechanical structure of the robot and the charging pile and the charging piece, thereby greatly extending the service life of the overall equipment and preventing the robot from power consumption and motor damage due to maintaining a large torque for a long time.

[0092] 2. Reasonable use of the electric drive system can reduce the antagonistic torque between the motor and the buffer mechanism after the pile is completed. By precisely controlling the motor output, the required torque is minimized, thereby reducing current loss, improving energy efficiency, and reducing unnecessary power consumption.

[0093] 3. After the pile unloading function is activated, the system will detect in real time whether the unloading effect is effective, forming a complete closed-loop control system. This design not only ensures that the pile can reach the ideal contact state every time, but also can adjust any deviation in time, ensuring the safety and reliability of operation.

[0094] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A method for unloading force from a charging pile by a robot, characterized in that: The steps include: The robot obtains the command to return to the pile and the torque required for the pile; The robot drives to the charging pile according to the positioning navigation and just touches the charging plate of the charging pile; The robot adjusts the torque of the motor to the torque required for the pile and slowly drives to the preset charging contact distance.

2. The method according to claim 1, characterized in that The required moment on the pile is obtained by the following steps: Obtaining the elastic coefficient k of the buffer mechanism connected to the charging sheet; The sensor detects the compression amount x of the buffer mechanism connected to the charging sheet when the robot travels to the preset charging contact distance; The stress F of the buffer mechanism when facing the pile is obtained by the following formula: F = kx; The torque T required for the pile is obtained by the following formula: T = Fr, where r is the tire radius.

3. The method according to claim 2, characterized in that When the vehicle slowly drives to the preset charging contact distance, the following steps are also included: The sensor detects the actual stress of the buffer mechanism on the charging pile connected to the charging sheet; Determine whether the actual stress detected by the sensor is within the ±10% tolerance range of the stress F of the buffer mechanism when the pile is pressed; If not, the robot adjusts the torque of the motor until the actual stress is within the ±10% tolerance range of the stress F of the buffer mechanism during pile alignment.

4. The method according to claim 1, characterized in that: The following steps are also included: The sensor determines whether the buffer mechanism connected to the charging plate on the charging pile is within a reasonable compression range; If yes, the charging pile charges the robot through the charging piece. If no, the robot exits the charging pile and charges again.

5. The method according to claim 2 or 3, characterized in that: The sensor is a pressure sensor or a position sensor.

6. The method according to claim 4, characterized in that When the charging pile charges the robot through the charging sheet, the following steps are also included: The robot's power system determines whether the charging parameters are abnormal; If yes, the robot exits the charging pile and re-engages with the pile.

7. The method according to claim 4 or 5, characterized in that: The following steps are also included: The robot's main controller switches the travel motor to the speed mode through the electric drive system, maintains the speed at zero, and parks the robot.

8. The method according to claim 7, characterized in that The following steps are also included: Robot mechanical brake parking.

9. The method according to claim 1, characterized in that: When the robot drives to the charging pile according to the positioning navigation, the following steps are also included: The robot first drives to the charging point in front of the charging pile according to the positioning navigation; The robot's main controller switches the motor to position mode through the electric drive system, and then drives towards the charging plate of the charging pile and just touches it.

10. The method according to any one of claims 1 to 9, characterized in that: The robot is a cleaning robot.

Images