Mobile robot near-field recharging system and control method

Abstract

The invention relates to the technical field of robots, in particular to a mobile robot near-field recharging system and a control method. The mobile robot near-field recharging system comprises a charging pile and a robot. The charging pile comprises a charging base and a signal transmitting device, the charging base is in a circular truncated cone shape, an annular positive electrode and an annular negative electrode are arranged on the top face of the charging base, and the signal transmitting device is arranged on the charging base. The robot comprises a main body part, a driving device and a signal receiving device, limiting plates are arranged on the two sides of the main body part, a guide groove extending in the advancing direction is formed between the two limiting plates, a positive electrode contact and a negative electrode contact are arranged at the bottom of the main body part at intervals, and the signal receiving device is arranged on the main body part; in the charging state, the side wall of the charging base is matched with the guide groove, the positive electrode contact is in contact with the annular positive electrode, and the negative electrode contact is in contact with the annular negative electrode. The defects that when an existing mobile robot is automatically recharged in a near field, the orientation requirement for the robot is high, and the robot is difficult to put in storage are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a near-field recharge system and control method for a mobile robot. Background Art

[0002] The near-field automatic recharge technology is mainly applied to the recharge and storage stage of a mobile robot, and relies on the precise perception and positioning of a charging pile. The robot completes the automatic storage process by perceiving the direction, orientation and position of the charging pile.

[0003] Currently, in the near-field automatic recharge of common mobile robot systems, the charging pile usually emits an infrared light carrier with a specific frequency unidirectionally, and the robot body receives these signals through multiple infrared receivers to achieve the target recognition and direction positioning of the charging pile. Based on this information, the robot adjusts its direction and executes the storage motion control. When the robot enters the warehouse, the system adjusts the orientation and speed of the robot in real time according to the intensity and direction feedback of the infrared receiver signals. The storage methods of different robot systems are different. Some use reverse-in and forward-out, while others use forward-in and reverse-out. Another existing technology is a pure vision recognition method based on machine vision. The charging pile is recognized through a camera and an algorithm, and the orientation and distance are calculated, so as to achieve the same function as the infrared signal and complete the recharge operation.

[0004] It can be seen that in the prior art, when a mobile robot performs near-field automatic recharge, the orientation requirement for the robot is relatively high. When the orientation error of the robot is relatively large, there may be a situation where it cannot enter the warehouse. Summary of the Invention

[0005] The present invention provides a near-field recharge system and control method for a mobile robot, so as to solve the defect in the prior art that when a mobile robot performs near-field automatic recharge, the orientation requirement for the robot is relatively high, and when the orientation error of the robot is relatively large, there may be a situation where it cannot enter the warehouse.

[0006] On the one hand, the present invention provides a near-field recharge system for a mobile robot, including: a charging pile and a robot.

[0007] The charging pile includes a charging base and a signal transmitting device. The charging base is frustum-shaped. The top surface of the charging base is provided with an annular positive electrode and an annular negative electrode. The annular positive electrode and the annular negative electrode are arranged at intervals, and both the annular positive electrode and the annular negative electrode are concentric with the top surface of the charging base. The signal transmitting device is arranged on the charging base, and the signal transmitting device can emit identification signals in any direction along the circumferential direction of the charging base.

[0008] The robot includes a main body, a driving device, and a signal receiving device. The driving device is connected to the main body to drive the main body to move. Limiting plates are provided on both sides of the main body to form a guiding groove extending in the traveling direction between the two limiting plates. Positive contacts and negative contacts are provided at intervals on the bottom of the main body. The signal receiving device is arranged on the main body and is used for receiving the identification signal.

[0009] In the charging state, the side wall of the charging base cooperates with the guiding groove, the positive contact contacts the annular positive electrode, and the negative contact contacts the annular negative electrode.

[0010] According to the mobile robot near-field recharge system provided by the present invention, the signal transmitting device is located inside the charging base, and the charging base is made of a material having the performance of transmitting the identification signal; or, the charging base is provided with a signal transmitting structure along the circumferential direction, and the signal transmitting structure is used for the identification signal to pass through.

[0011] According to the mobile robot near-field recharge system provided by the present invention, the signal transmitting device is an infrared transmitter, the identification signal is an infrared signal, the charging base is made of an infrared light-transmitting material, and the signal receiving device is an infrared signal receiving device.

[0012] According to the mobile robot near-field recharge system provided by the present invention, the identification signal is a carrier signal with a power greater than or equal to 300 mW, and the identification signal is a carrier signal with a frequency less than or equal to 30 Hz.

[0013] According to the mobile robot near-field recharge system provided by the present invention, the charging base is a rigid charging base, the diameter of the charging base is smaller than the width of the guiding groove, and the difference between the width of the guiding groove and the diameter of the charging base is 0 to 3 mm; or, the charging base is a flexible charging base, the diameter of the charging base is larger than the width of the guiding groove, and the difference between the diameter of the charging base and the width of the guiding groove is 0 to 3 mm.

[0014] According to the mobile robot near-field recharge system provided by the present invention, the driving device includes two driving units, and the two driving units are respectively arranged on both sides of the main body, and the limiting plate is integrally provided with the corresponding side driving unit.

[0015] According to the mobile robot near-field recharge system provided by the present invention, the robot further includes a current detection device, and the current detection device is arranged on the main body and is used for detecting the charging current of the robot.

[0016] According to the mobile robot near-field recharge system provided by the present invention, the charging pile further includes a fixed base, and the charging base is arranged on the fixed base.

[0017] On the other hand, the present invention provides a control method for a mobile robot near-field charging system according to any one of the above, including the following steps.

[0018] Control the orientation of the robot to receive the identification signal through the signal receiving device.

[0019] When the signal receiving device receives the identification signal, determine whether the identification signal is within the screen centering error range of the signal receiving device.

[0020] When the identification signal is within the screen centering error range of the signal receiving device, control the robot to move forward along the current orientation.

[0021] According to the control method of the mobile robot near-field charging system provided by the present invention, the following steps are further included.

[0022] Control the robot to detect the charging current signal.

[0023] When the robot detects the charging current signal, control the driving device to turn off the signal transmitting device.

[0024] For the mobile robot near-field charging system and control method provided by the present invention, the charging pile is provided with a frustum-shaped charging base, and an annular positive electrode and an annular negative electrode concentric with the charging base are arranged at intervals on the top surface of the charging base. When the robot is charging under the action of the driving device, the robot can be guided and corrected by the mutual cooperation between the guiding groove and the side wall of the charging base. When the robot travels to a certain position, the positive electrode contacts and the negative electrode contacts arranged at intervals at the bottom of the robot can respectively contact any position of the annular positive electrode and the annular negative electrode, and perform the charging operation. The mobile robot near-field charging system provided by the present invention enables the robot to enter the charging pile for charging in any direction, the warehousing is simple, the requirements for the accuracy of the orientation and position are avoided, and the defect that the existing mobile robot has a high requirement for the orientation of the robot during near-field automatic charging and may not be able to enter the warehouse when the orientation error of the robot is large is solved.

[0025] The additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 It is one of the schematic diagrams of the near - field charging system for a mobile robot provided by an embodiment of the present invention.

[0028] Figure 2 It is another schematic diagram of the near - field charging system for a mobile robot provided by an embodiment of the present invention.

[0029] Figure 3 It is a schematic diagram of a charging pile in the near - field charging system for a mobile robot provided by an embodiment of the present invention.

[0030] Figure 4 It is a schematic diagram of a robot in the near - field charging system for a mobile robot provided by an embodiment of the present invention.

[0031] Figure 5 It is a schematic flow chart of a control method for the near - field charging system of a mobile robot provided by an embodiment of the present invention.

[0032] Figure 6 It is a logic block diagram of a control method for the near - field charging system of a mobile robot provided by an embodiment of the present invention.

[0033] Reference numerals: 100, charging pile; 110, charging base; 120, annular positive electrode; 130, annular negative electrode; 140, fixed base; 200, robot; 210, main body part; 220, driving device; 221, driving unit; 230, signal receiving device; 240, guiding groove; 250, positive electrode contact; 260, negative electrode contact. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of 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 thus should not be construed as a limitation to the embodiments of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0036] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0037] In the embodiments of the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0038] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0039] Next, in combination with Figures 1 to 6 Describe the mobile robot near-field recharge system and control method provided by the present invention.

[0040] See Figures 1 to 4 As shown, the near-field recharge system of the mobile robot provided by the embodiment of the present invention includes: a charging pile 100 and a robot 200.

[0041] The charging pile 100 includes a charging base 110 and a signal transmitting device (not shown in the figure). The charging base 110 is frustum-shaped. An annular positive electrode 120 and an annular negative electrode 130 are provided on the top surface of the charging base 110. The annular positive electrode 120 and the annular negative electrode 130 are arranged at intervals, and both the annular positive electrode 120 and the annular negative electrode 130 are concentric with the top surface of the charging base 110. The signal transmitting device is arranged on the charging base 110, and the signal transmitting device can transmit an identification signal in any direction along the circumferential direction of the charging base 110.

[0042] The robot 200 includes a main body part 210, a driving device 220 and a signal receiving device 230. The driving device 220 is connected to the main body part 210 to drive the main body part 210 to move. Limit plates are provided on both sides of the main body part 210 to form a guiding groove 240 extending in the traveling direction between the two limit plates. Positive electrode contacts 250 and negative electrode contacts 260 are provided at intervals on the bottom of the main body part 210. The signal receiving device 230 is arranged on the main body part 210 for receiving the identification signal.

[0043] In the charging state, the side wall of the charging base 110 cooperates with the guiding groove 240, the positive electrode contact 250 contacts the annular positive electrode 120, and the negative electrode contact 260 contacts the annular negative electrode 130.

[0044] It can be understood that the annular positive electrode 120 and the annular negative electrode 130 are arranged at intervals, and the positive electrode contact 250 and the negative electrode contact 260 are arranged at intervals. Since in the charging state, the side wall of the charging base 110 cooperates with the guiding groove 240, the positive electrode contact 250 contacts the annular positive electrode 120, and the negative electrode contact 260 contacts the annular negative electrode 130, the distance between the annular positive electrode 120 and the annular negative electrode 130 and the distance between the positive electrode contact 250 and the negative electrode contact 260 need to be ensured to be the same. In addition, since both the annular positive electrode 120 and the annular negative electrode 130 are annular components with a certain width, and both the positive electrode contact 250 and the negative electrode contact 260 are contact components with a certain geometric shape, the above-mentioned "distance between the annular positive electrode 120 and the annular negative electrode 130" can be understood as the distance between the median circle of the annular positive electrode 120 and the median circle of the annular negative electrode 130 (see D1 shown in Figure 3 ), and the above-mentioned "distance between the positive electrode contact 250 and the negative electrode contact 260" can be understood as the distance between the geometric center of the positive electrode contact 250 and the geometric center of the negative electrode contact 260 (see D2 shown in Figure 3 ).

[0045] During specific implementation, either the annular positive electrode 120 or the annular negative electrode 130 can be placed on the inner side, and the other can be placed on the outer side. There is no limitation on this, and it can be adaptively arranged according to the layout of the positive electrode contact 250 and the negative electrode contact 260 at the bottom of the main body 210.

[0046] The near-field recharge system for mobile robots provided by the present invention enables the robot 200 to enter the charging pile 100 for charging in any direction, with simple warehousing, avoiding the need for high precision in orientation and position, and solving the defect that the existing mobile robot 200 has a high requirement for the orientation of the robot 200 during near-field automatic recharge. When the orientation error of the robot 200 is large, it may be impossible to enter the warehouse. Moreover, only a single signal receiving device 230 is required to complete the identification signal receiving function, significantly reducing the system cost and complexity.

[0047] By arranging a frustum-shaped charging base 110 on the charging pile 100 and spacing an annular positive electrode 120 and an annular negative electrode 130 concentric with the charging base 110 on the top surface of the charging base 110, when the robot 200 returns for charging under the action of the driving device 220, it can be guided and corrected by the cooperation between the guiding groove 240 and the side wall of the charging base 110. When the robot 200 travels to a certain position, the positive electrode contact 250 and the negative electrode contact 260 spaced at the bottom of the robot 200 can respectively contact any position of the annular positive electrode 120 and the annular negative electrode 130 and perform the charging operation.

[0048] Specifically, the near-field recharge system for mobile robots includes: a charging pile 100 and a robot 200. During use, the charging pile 100 usually remains fixed in position and is used to charge the robot 200 to ensure that the robot 200 can maintain sufficient power to complete long-term operation tasks. The robot 200 can perform specific tasks or operations and uses electricity during the task process. As the power is consumed, the robot 200 can automatically or on demand return to the charging pile 100 for charging to ensure that it can continue to complete the operation.

[0049] Among them, the charging pile 100 includes a frustum-shaped charging base 110 and a signal transmitting device. The top surface of the charging base 110 is provided with an annular positive electrode 120 and an annular negative electrode 130 at intervals. Both the annular positive electrode 120 and the annular negative electrode 130 are circular ring-shaped components with a certain width, and the two are concentric and arranged at intervals. The signal transmitting device is arranged on the charging base 110. The signal transmitting device can transmit identification signals in any direction along the circumferential direction of the charging base 110. Specifically, it can be realized in the following multiple ways. Install multiple directional signal transmitting devices along the circumferential direction, and each transmitter is responsible for a specific signal range. By combining multiple transmitters, coverage in any direction can be achieved. A omnidirectional signal transmitting device can also be used. Using an omnidirectional signal transmitting device (such as an infrared transmitter, etc.), signals can be evenly transmitted in all directions along the circumferential direction without the need to rotate or switch directions. In addition, laser scanning or optical scanning devices can also transmit signals in any direction within a circular range.

[0050] The robot 200 includes a main body part 210, a driving device 220, and a signal receiving device 230. The main body part 210 is used to carry and support all the key components of the robot 200, including the driving device 220, the signal receiving device 230, and other possible sensors or actuators. The main body part 210 is usually the core structure of the robot 200, ensuring the stability and motion function of the robot 200, capable of interacting with the environment and completing specific tasks. The driving device 220 is responsible for providing the power required for the movement of the robot 200, enabling it to perform actions such as walking and turning, and is usually composed of motors, wheels, tracks, or other moving components. The signal receiving device 230 is used to receive the identification signals emitted by the signal transmitting device to determine the orientation of the charging base 110 relative to the robot 200, enabling the robot 200 to have the function of automatic recharging. At the bottom of the main body part 210, there are a positive electrode contact 250 and a negative electrode contact 260. The positive electrode contact 250 and the negative electrode contact 260 are connected to the storage battery arranged in the main body part 210, and are respectively used to contact the annular positive electrode 120 and the annular negative electrode 130 during charging.

[0051] See Figure 3 As shown, according to some embodiments of the present invention, the signal transmitting device is located inside the charging base 110, and the charging base 110 is made of a material with the performance of allowing identification signals to pass through.

[0052] By arranging the signal transmitting device inside the charging base 110 and making the charging base 110 made of a material with the performance of allowing identification signals to pass through, it is possible to avoid arranging the signal transmitting device on the outer wall surface of the charging base 110, avoid interference at the matching part between the signal transmitting device and the robot 200 during the recharging process of the robot 200. At the same time, the material of the charging base 110 allows signals to penetrate, enabling the signals to be transmitted from the transmitting device inside the base to the robot 200 for effective identification or communication.

[0053] It is understandable that the charging base 110 is made of a material with the performance of transmitting the identification signal, and this type of material corresponds to the identification signal. For example, when the identification signal is an infrared signal, the material of the charging base 110 can be made of silicone, transparent plastic, polycarbonate and other materials that can transmit infrared rays.

[0054] Of course, in some embodiments, the charging base 110 is provided with a signal transmission structure along the circumferential direction, and the signal transmission structure is used for the identification signal to pass through.

[0055] By arranging a signal transmission structure for the identification signal to pass through along the circumferential direction of the charging base 110, the identification signal can be transmitted out of the charging base 110 by using the signal transmission structure, which is convenient for the signal receiving device 230 to receive. Therefore, no matter from which angle the robot 200 approaches the charging base 110, the stable reception of the signal can be ensured, so as to achieve automatic identification, precise docking and efficient charging.

[0056] Specifically, when the material of the charging base 110 needs to have certain physical and chemical properties (such as strength, density, high temperature resistance, corrosion resistance, etc.) and cannot be made of a material with the performance of transmitting the identification signal, a signal transmission structure can be arranged along the circumferential direction of the charging base 110 to meet the emission requirements of the signal. The signal transmission structure can be a hollow structure such as holes and grooves, or a locally arranged signal transmission window, signal transmission film, etc.

[0057] According to some embodiments of the present invention, the signal emitting device is an infrared emitter, the identification signal is an infrared signal, the charging base 110 is made of an infrared light-transmitting material, and the signal receiving device 230 is an infrared signal receiving device 230.

[0058] By setting the signal emitting device as an infrared emitter, the identification signal as an infrared signal, the charging base 110 made of an infrared light-transmitting material, and the signal receiving device 230 as an infrared signal receiving device 230, efficient signal transmission and identification can be achieved. And the infrared signal belongs to non-visible light, and users will not perceive the existence of the signal during the trial process, and it will not cause light pollution to the surrounding environment.

[0059] Specifically, when the charging pile 100 is working, the infrared emitter can emit infrared signals in any direction around. The infrared signals can penetrate the infrared light-transmitting material of the charging base 110. When the robot 200 approaches the charging base 110, the infrared signals will be transmitted through the light-transmitting material of the charging base 110 and received by the infrared signal receiving device 230 on the robot 200, and the orientation of the robot 200 is determined thereby.

[0060] In specific implementation, different types of infrared emitters can indeed be selected according to the working requirements of the robot 200. For example, when the robot 200 needs to perform tasks in a dark environment, an infrared emitter with night vision function is more suitable. The infrared emitter with night vision function usually has a strong infrared radiation ability, which can ensure that infrared signals can still be effectively transmitted and received in low-light or completely dark environments, thus supporting the automatic navigation and charging docking of the robot 200. When the robot 200 does not need to work in a dark environment, an infrared emitter without night vision function can be selected. Such emitters usually have lower power consumption and relatively lower costs, and are suitable for scenarios with sufficient light or no involvement of dark environments.

[0061] According to some embodiments of the present invention, the identification signal is a carrier signal with a power greater than or equal to 300 mW, and the identification signal is a carrier signal with a frequency less than or equal to 30 Hz.

[0062] By setting the identification signal as a carrier signal with a power greater than or equal to 300 mW and setting the identification signal as a carrier signal with a frequency less than or equal to 30 Hz (this frequency is significantly lower compared to the traditional 38 kHz carrier), it can ensure that the signal has sufficient strength and stability during transmission, adapting to different working environments and application requirements. The power range of the identification signal greater than or equal to 300 mW can ensure the effective propagation of the infrared signal over a long distance, reduce signal attenuation, and at the same time avoid energy consumption waste or heating problems caused by too high power. The setting of the frequency range (less than or equal to 30 Hz) helps to avoid interference and optimize the transmission performance of the signal, ensuring the stability and clarity of the signal. The combination of the above power and frequency ranges balances the signal strength and energy consumption, improves the adaptability, energy efficiency, and anti-interference ability of the system, enabling the robot 200 to perform charging docking and positioning efficiently and stably in different environments.

[0063] As an example, the power of the identification signal can be 300 mW, 500 mW, or 1 W, etc., and the frequency can be 30 Hz, 20 Hz, 10 Hz, or 1 Hz, etc.

[0064] According to some embodiments of the present invention, the charging base 110 is a rigid charging base 110, the diameter of the charging base 110 is less than the width of the guiding groove 240, and the difference between the width of the guiding groove 240 and the diameter of the charging base 110 is 0 to 3 mm (such as 0, 1 mm, 2 mm, or 3 mm, etc.).

[0065] By setting the charging base 110 as a rigid charging base 110, setting the diameter of the charging base 110 to be less than the width of the guiding groove 240, and ensuring that the difference between the width of the guiding groove 240 and the diameter of the charging base 110 is 0 to 3 mm (such as 0, 1 mm, 2 mm, or 3 mm, etc.), precise automatic docking and a stable charging process can be achieved.

[0066] Specifically, the rigid charging base 110 can provide stable support and fixation for relevant components, ensuring the stability of the charging pile 100 during use. The diameter of the charging base 110 is smaller than the width of the guiding groove 240, and the gap between the two is 0 to 3 mm, which can ensure that the robot 200 is accurately docked to the charging base 110, avoiding the influence of too large or too small gaps on the electrode docking accuracy. At the same time, the guiding groove 240 and the side wall of the charging base 110 can be used to correct the deviation of the robot 200 to achieve physical correction.

[0067] According to some embodiments of the present invention, the charging base 110 is a flexible charging base 110. The diameter of the charging base 110 is larger than the width of the guiding groove 240, and the difference between the diameter of the charging base 110 and the width of the guiding groove 240 is 0 to 3 mm.

[0068] By setting the charging base 110 as a flexible charging base 110, setting the diameter of the charging base 110 to be larger than the width of the guiding groove 240, and ensuring that the difference between the diameter of the charging base 110 and the width of the guiding groove 240 is 0 to 3 mm, the flexible characteristics of the charging base 110 can be utilized to make the docking of the robot 200 and the charging pile 100 more stable.

[0069] Specifically, since the diameter of the charging base 110 is slightly larger than the width of the guiding groove 240, when the guiding groove 240 and the charging base 110 cooperate, the two side walls of the guiding groove 240 can exert an extrusion effect on the charging support, causing the charging base 110 to deform inward, making the cooperation between the guiding groove 240 and the charging base 110 closer, thereby improving the position stability of the robot 200 during charging.

[0070] According to some embodiments of the present invention, the diameter of the charging base 110 gradually decreases from the bottom to the top surface.

[0071] By gradually reducing the diameter of the charging base 110 from the bottom to the top surface, the docking efficiency of the robot 200 and the charging pile 100 is improved, preventing docking failure caused by errors of the signal transmitting device and the signal receiving device 230. In addition, during the demolding process, the design of gradually decreasing diameter is also beneficial to the demolding of the charging base 110.

[0072] Specifically, since the bottom diameter of the charging base 110 is large and the top gradually becomes smaller, during docking, the probability of interference and collision between the top of the charging base 110 and the bottom wall of the main body 210 can be greatly reduced, thereby improving the docking efficiency of the robot 200 and the charging pile 100.

[0073] See Figure 1 、 Figure 2 and Figure 4As shown, according to some embodiments of the present invention, the driving device 220 includes two driving units 221, the two driving units 221 are respectively arranged on both sides of the main body 210, and the limiting plate is integrally provided with the corresponding side driving unit 221.

[0074] By integrally arranging the limiting plate with the corresponding side driving unit 221, it is possible to directly form a limiting groove by using the two driving units 221, without the need to additionally process the limiting plate structure on both sides of the main body 210, and its structure is simple and compact.

[0075] As an example, in this embodiment, the driving unit 221 is a crawler-type driving unit 221, and the inner side wall of the crawler-type driving unit 221 serves as the limiting plate.

[0076] According to some embodiments of the present invention, the robot 200 further includes a current detection device (not shown in the figure), the current detection device is arranged on the main body 210, and the current detection device is used to detect the charging current of the robot 200.

[0077] By setting the current detection device, the charging current of the robot 200 can be detected. When the robot 200 is docked with the charging pile 100 and the charging current of the robot 200 is detected, the driving device 220, the signal transmitting device, etc. can be controlled to turn off, so that the robot 200 stops at the current position for charging.

[0078] The current detection device can be implemented by using a Hall sensor, a shunt resistor or other sensors suitable for detecting current. The current detection device can accurately measure the charging current passing through the robot 200 and feed back the detected data to the control system to control the start and stop of the driving device 220, the signal transmitting device, etc.

[0079] See Figure 3 As shown, according to some embodiments of the present invention, the charging pile 100 further includes a fixed base 140, and the charging base 110 is arranged on the fixed base 140.

[0080] By setting the fixed base 140, the position of the charging pile 100 can be fixed, and when the robot 200 is docked with the charging base 110, it can prevent the charging base 110 from shifting, resulting in docking failure.

[0081] Specifically, the fixed base 140 can be fixed in a variety of ways such as by using a suction cup, adhesives or through counterweights.

[0082] Next, the control method of the mobile robot near-field recharge system provided by the present invention will be described. The control method of the mobile robot near-field recharge system provided below can be mutually corresponding and referred to with the mobile robot near-field recharge system provided above.

[0083] See Figure 5 andFigure 6 As shown in the figure, the control method provided by the embodiment of the present invention is implemented based on the mobile robot near-field charging system described in any one of the above embodiments, and includes the following steps.

[0084] S510. Control the orientation of the robot 200 to receive the identification signal through the signal receiving device 230.

[0085] S520. When the signal receiving device 230 receives the identification signal, determine whether the identification signal is within the screen centering error range of the signal receiving device 230.

[0086] S530. When the identification signal is within the screen centering error range of the signal receiving device 230, control the robot 200 to travel along the current orientation.

[0087] The control method of the mobile robot near-field charging system provided by the present invention can realize efficient and precise control of the charging process, ensuring that the robot 200 can accurately dock with the charging base 110 during charging.

[0088] Specifically, in step S510, when the robot 200 starts the return charging program (automatically starts based on the remaining battery power of the robot 200), the robot 200 detects the identification signal through the signal receiving device 230 in the current orientation. When the identification signal cannot be detected, control the robot 200 to slowly turn by a set angle in place, and then detect the identification signal through the signal receiving device 230 until the identification signal is detected.

[0089] In steps S520 and S530, when the signal receiving device 230 receives the identification signal, determine whether the identification signal is within the screen centering error range of the signal receiving device 230. If the identification signal is within the screen centering error range of the signal receiving device 230, it indicates that the robot 200 can successfully dock with the charging pile 100 when traveling along this orientation. Therefore, control the robot 200 to travel along the current orientation to complete the docking with the charging pile 100, and this process does not require manual intervention. When the identification signal is not within the screen centering error range of the signal receiving device 230, the orientation of the robot 200 can be rotated in place until the identification signal is within the screen centering error range of the signal receiving device 230.

[0090] See Figure 5 and Figure 6 As shown in the figure, according to some embodiments of the present invention, the control method further includes the following steps.

[0091] Control the robot 200 to detect the charging current signal.

[0092] When the robot 200 detects the charging current signal, control the signal transmitting device of the driving device 220 to turn off.

[0093] By automatically detecting the charging current signal and controlling the driving device 220 and the signal transmitting device to turn off, manual intervention can be effectively avoided, making the charging process more intelligent. Once the robot 200 enters the charging state and stops moving, it can prevent the contact from detaching from the electrode and can prevent the charging pile 100 from continuously transmitting the identification signal, reducing energy consumption.

[0094] See Figure 6 As shown, the control method of the near-field recharge system for the mobile robot provided by the present invention will be specifically exemplified below. In this example, the signal transmitting device is an infrared transmitter, and the signal receiving device is an infrared signal receiving device.

[0095] When the power of the robot 200 is lower than the set value, it can automatically start the return-to-base recharge procedure. First, the robot 200 receives the infrared signal (identification signal) along the current orientation. When the infrared signal is received, it indicates that the charging pile 100 is at the set distance in the current orientation of the robot 200. When the infrared signal is not received, it indicates that the charging pile 100 is not at the set distance in the current orientation of the robot 200. At this time, control the robot 200 to slowly rotate a certain angle in place and repeat the reception until the infrared signal is received. After the robot 200 receives the infrared signal, it first needs to rotate in place to correct the orientation so that the infrared signal source is within the error range in the picture of the infrared signal receiving device, and then control the robot 200 to move forward along the current front direction to reach the position where the infrared signal source is located (i.e., the position where the charging pile 100 is located). When the robot 200 reaches the position of the charging pile 100, it can use the limiting groove to cooperate with the frustum-shaped charging base to restrict the orientation of the robot 200, and can make the positive contact and the negative contact on its abdomen contact the annular positive electrode and the annular negative electrode respectively. After contact, the current detection device can detect the charging current and judge whether the robot 200 is in the charging state accordingly. When the charging current is detected, it indicates that the robot 200 has been successfully docked, and the driving device and the infrared transmitter can be controlled to turn off to stop the docking procedure, ensuring the stable position of the robot 200 and reducing the system energy consumption. Of course, if the current detection device does not detect the charging current, continue to control the robot 200 to finely adjust the orientation until it is successfully docked with the charging pile 100.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A near-field recharge system for a mobile robot, characterized in that, Comprising: A charging pile, the charging pile includes a charging base and a signal transmitting device. The charging base is frustum-shaped. The top surface of the charging base is provided with an annular positive electrode and an annular negative electrode. The annular positive electrode and the annular negative electrode are arranged at intervals, and both the annular positive electrode and the annular negative electrode are concentric with the top surface of the charging base. The signal transmitting device is arranged on the charging base, and the signal transmitting device can transmit an identification signal in any direction along the circumferential direction of the charging base; A robot, the robot includes a main body part, a driving device and a signal receiving device. The driving device is connected to the main body part to drive the main body part to move. Limiting plates are arranged on both sides of the main body part to form a guiding groove extending along the traveling direction between the two limiting plates. Positive electrode contacts and negative electrode contacts are arranged at intervals at the bottom of the main body part. The signal receiving device is arranged on the main body part for receiving the identification signal; In the charging state, the side wall of the charging base cooperates with the guiding groove, the positive electrode contact contacts the annular positive electrode, and the negative electrode contact contacts the annular negative electrode.

2. The near-field recharge system for a mobile robot according to claim 1, wherein The signal transmitting device is located inside the charging base, and the charging base is made of a material with the performance of transmitting the identification signal; Or, the charging base is provided with a signal transmitting structure along the circumferential direction, and the signal transmitting structure is used for the identification signal to pass through.

3. The near-field recharge system of the mobile robot according to claim 2, wherein The signal transmitting device is an infrared emitter, the identification signal is an infrared signal, the charging base is made of an infrared light-transmitting material, and the signal receiving device is an infrared signal receiving device.

4. The near-field recharge system of the mobile robot according to claim 3, wherein The identification signal is a carrier signal with a power greater than or equal to 300 mW, and the identification signal is a carrier signal with a frequency less than or equal to 30 Hz.

5. The near-field recharge system for a mobile robot according to claim 1, wherein The charging base is a rigid charging base, the diameter of the charging base is smaller than the width of the guiding groove, and the difference between the width of the guiding groove and the diameter of the charging base is 0 to 3 mm; Or, the charging base is a flexible charging base, the diameter of the charging base is larger than the width of the guiding groove, and the difference between the diameter of the charging base and the width of the guiding groove is 0 to 3 mm.

6. The near-field charging system for a mobile robot according to claim 1, wherein, The driving device includes two driving units, and the two driving units are respectively arranged on both sides of the main body part, and the limiting plate is integrally arranged with the corresponding side driving unit.

7. The near-field recharge system for a mobile robot according to claim 1, wherein The robot further includes a current detection device, and the current detection device is arranged on the main body part, and the current detection device is used for detecting the charging current of the robot.

8. The near-field recharge system for a mobile robot according to claim 1, wherein The charging pile further includes a fixed base, and the charging base is arranged on the fixed base.

9. A control method for a mobile robot near-field recharge system according to any one of claims 1 to 8, characterized in that, Comprising: Controlling the orientation of the robot to receive the identification signal through the signal receiving device; When the signal receiving device receives the identification signal, judging whether the identification signal is within the screen centering error range of the signal receiving device; When the identification signal is within the screen centering error range of the signal receiving device, controlling the robot to travel along the current orientation.

10. The control method of the mobile robot near-field recharge system according to claim 9, characterized in that Further comprising: Controlling the robot to detect a charging current signal; When the robot detects the charging current signal, controlling the driving device and the signal transmitting device to turn off.

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