Following type online charging robot group and system

Abstract

The invention discloses an accompanying online charging robot group and system, and the system comprises a charging mobile robot and a charged mobile robot, the charging mobile robot and the charged mobile robot are respectively provided with a battery management module, a robot control module and a charging management module, and the battery management modules are connected with the robot control modules. The robot control module is connected with the charging management module, the charging management module comprises a charging guide arm, a charging port and a communication protocol, and the charging mobile robot is connected with the charged mobile robot through the charging management module. Compared with the prior art, accompanying and online charging of the mobile robot in the running state is achieved, and therefore the operation continuity of the robot and a production line is not affected.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing equipment, and in particular to a companion online charging robot group and system. Background Art

[0002] In industrial manufacturing, mobile robots must be able to operate continuously around the clock to meet the demands of 24-hour production on automated production lines. Current mainstream solutions utilize high-capacity lithium-ion battery packs, enabling a continuous operation cycle of 6-8 hours on a single charge. When the battery charge drops to a critical threshold, the system triggers a recharge command, directing the robot to return to the charging station for refueling.

[0003] However, many automated production lines operate 24 hours a day. Furthermore, some production lines have strict requirements on the robot's movement rhythm. When the robot's battery power is low, how can we ensure that the continuity of production is not affected? Traditional solutions include:

[0004] 1. In scenarios with high cycle times, where robots cannot leave the production line and do not have the allowed charging time period, a replacement robot must be configured so that when a robot leaves the production line to charge, the replacement robot can continue to perform its tasks, ensuring production continuity.

[0005] 2. Adjust the production of production lines equipped with robots, such as reducing the production rhythm and reserving a certain time period to allow robots to be offline for charging.

[0006] All of the above solutions have their drawbacks. For example, in the first solution, if the waiting time for the replacement robot is long, it is a waste of the equipment. In addition, the technical aspects, the timing of replacement, task switching, etc., place additional requirements on the robot scheduling system and the robot itself.

[0007] Therefore, the industry urgently needs a better way to solve the above problems. Summary of the Invention

[0008] In view of this, the present invention proposes a companion online charging robot group and system to achieve companion online charging of mobile robots in operation, thereby not affecting the operational continuity of the robots and production lines. The technical solutions of the present invention are as follows:

[0009] On the one hand, the present invention discloses a companion online charging robot group, including a charging mobile robot and a charged mobile robot. The charging mobile robot and the charged mobile robot are both provided with a battery management module, a robot control module, and a charging management module. The battery management module is connected to the robot control module, and the robot control module is connected to the charging management module. The charging management module includes a charging guide arm, a charging port, and a communication protocol. The charging mobile robot and the charged mobile robot are connected through the charging management module.

[0010] Another aspect of the present invention discloses a system for a companion online charging robot group, comprising the following steps:

[0011] S1. The charging mobile robot opens the charging guide arm and connects to the charged mobile robot;

[0012] S2, the charging mobile robot charges the charged mobile robot, and the two are always in contact;

[0013] S3, the charging mobile robot and the charged mobile robot exchange data through the communication protocol and select a working mode;

[0014] S4. The distance between the charging mobile robot and the charged mobile robot changes within a certain range;

[0015] S5. After charging is completed, the charging guide arm will be retracted and hidden on the side of the charging mobile robot.

[0016] Specifically, in step S1, the rotation angle range of the two ends of the charging guide arm is 0° to 360°.

[0017] Specifically, in step S3, the charging mobile robot and the charged mobile robot perform data interaction in two ways: wired and wireless.

[0018] Specifically, in step S3, the data sent by the charged mobile robot to the charging mobile robot includes handshake information, moving speed, moving angle, acceleration, planned route, posture data, and dynamic information.

[0019] Specifically, in step S3, the data sent by the charging mobile robot to the charged mobile robot includes real-time power capacity, maximum charging power, real-time moving speed, moving angle and acceleration, and posture data.

[0020] Specifically, in step S3, the working modes include follow-up, synchronous, and hybrid.

[0021] Specifically, in the following working mode, the charged mobile robot is in the master mode, the charging mobile robot is in the slave mode, and the slave mode robot completely follows the master-slave mode robot and acts based on mutual communication and its own sensor information.

[0022] Specifically, in the synchronous working mode, the central control scheduling system synchronously calculates and monitors the operation of the charging mobile robot and the charged mobile robot based on their real-time data. Each motion parameter is set with a corresponding synchronization allowable range. At the same time, the two transmit data to each other, and simultaneously calculate the synchronization error corresponding to each parameter, and send it to the central control scheduling system for verification and adjustment.

[0023] Specifically, in the hybrid working mode, the charged mobile robot is in master mode and the charging mobile robot is in slave mode. The central control scheduling system monitors the movement of both robots in real time and calculates the synchronization of their behaviors in real time. Based on the degree of parameter asynchrony, it sends adjustment control instructions to the charging mobile robot first. Specifically, the change in the motion synchronization state between the two robots is represented by ∈_index. The specific process is as follows:

[0024] ∈_A_AB(ω,α,θ,TABvalid)=∑(ωA,αA,θA,TAvalid) / ∑(ωAB,αAB,θAB,TABvalid)

[0025] ∈_B_AB(ω,α,θ,TABvalid)=∑(ωB,αB,θB,TBvalid) / ∑(ωAB,αAB,θAB,TABvalid)

[0026] Where:

[0027] ∈_A_AB(ω,α,θ,TABvalid): The synchronization performance index of robot A relative to the two robots;

[0028] ∈_B_AB(ω,α,θ,TABvalid): The synchronization performance index of robot B relative to the two robots;

[0029] ∑(ωA,αA,θA,TAvalid): parameter data set of robot A, including velocity, acceleration, posture, and data validity time;

[0030] ∑(ωB,αB,θB,TBvalid)): Parameter data set of robot B, including velocity, acceleration, posture, and data validity time;

[0031] ∑(ωAB,αAB,θAB,TABvalid): Parameter data set between robots A and B, which are relative speed, relative acceleration, relative posture, and relative data validity time.

[0032] Then, ∈_A_AB(ω,α,θ,TABvalid) and ∈_B_AB(ω,α,θ,TABvalid) are fused to obtain ∈_index.

[0033] The advantages of the present invention are as follows:

[0034] 1. The charging mobile robot and the operating robot move in real-time synchronization, enabling contactless, uninterrupted online charging. The charging guide arm's servo motor torque control mode, adaptive chute structure, and rotatable mechanical design ensure continuous and reliable contact between the charging interface and the charging port in dynamic environments. This eliminates the disruption to production cycles associated with traditional charging methods and significantly improves the continuous operation capability of the production line.

[0035] 2. Adopting three operating modes, namely follower, synchronous, and hybrid, and combining a spatiotemporal constraint window model with a sliding window mechanism, the system achieves dynamic matching of dual-robot motion parameters. Through master-slave control, central control system redundancy verification, and real-time compensation for synchronization errors, the system ensures that the speed, acceleration, and posture of the two robots are synchronized within the allowable deviation range, balancing control flexibility and system robustness.

[0036] 3. Integrated dual-channel communication via wired (power line carrier / dedicated communication cable) and wireless (WiFi / Bluetooth) supports real-time interaction of handshake information, motion parameters, charging status, and environmental perception data. Through multi-source data fusion and time-stamp alignment technology, high-precision synchronization performance indicators (such as ε_index) are constructed, providing low-latency, high-reliability decision-making basis for control algorithms.

[0037] 4. The charging guide arm adopts a multi-section folding configuration coupled with a slide rail design. Combined with the servo motor's active torque control and passive degree of freedom release strategy, it can dynamically compensate for the relative posture offset of the two robots, further expanding the system's adaptability to complex motion trajectories and reducing the structural complexity of the charged robot.

[0038] 5. Based on a spatiotemporal boundary constraint algorithm (e.g., δ = f(ω, α, θ, f1, f2, f12)), collision risk is calculated in real time, triggering preload warning and posture correction. Multiple disengagement thresholds (physical spacing limit exceeded, synchronization parameter mutation, fault code triggering) are established, combined with servo motor emergency braking and active cable retraction mechanisms to ensure zero equipment damage under abnormal operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A diagram showing the internal control mechanism of the charging mobile robot and the charged mobile robot in the present invention;

[0041] Figure 2 This is a partial structural diagram of Example 1 of the present invention;

[0042] Figure 3 This is a partial structural diagram of Example 1 of the present invention;

[0043] Figure 4 Schematic diagram of part of the structure of Example 2 of the present invention: Figure A shows a connection method with a chute structure, and Figure B shows a connection method with a slope chute structure;

[0044] Figure 5 This is a partial structural diagram of Example 3 of the present invention;

[0045] Figure 6 This is a partial structural diagram of Example 4 of the present invention;

[0046] Figure 7 Schematic diagram of the following working mode in the present invention;

[0047] Figure 8 Schematic diagram of the synchronous working mode of the present invention;

[0048] Figure 9 Schematic diagram of synchronous control of the charging mobile robot and the charged mobile robot in the present invention;

[0049] Figure 10 Flowchart of the spatiotemporal boundary definition control algorithm of the present invention;

[0050] Figure 11 This is a flow chart of synchronous separation control in protection mode in the present invention. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention and the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specific embodiments are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" in the description and claims of the present invention and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0053] In the description of the specific embodiments of the present invention, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present invention, the meaning of "plurality" is more than two, unless otherwise specifically defined.

[0054] References to "embodiments" in this disclosure mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0055] In the description of the embodiments of the present invention, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three possible relationships exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exists simultaneously, and B exists alone. In addition, the character " / " in this invention generally indicates that the associated objects are in an "or" relationship.

[0056] It should be noted that, for the convenience of description, in the following embodiments, all identical technical features are marked with the same symbols.

[0057] In industrial manufacturing, mobile robots must be able to operate continuously around the clock to meet the demands of 24-hour production on automated production lines. Current mainstream solutions utilize high-capacity lithium-ion battery packs, enabling a continuous operation cycle of 6-8 hours on a single charge. When the battery charge drops to a critical threshold, the system triggers a recharge command, directing the robot to return to the charging station for refueling.

[0058] However, many automated production lines operate 24 hours a day. Furthermore, some production lines have strict requirements on the robot's movement rhythm. When the robot's battery power is low, how can we ensure that the continuity of production is not affected? Traditional solutions include:

[0059] 1. In scenarios with high cycle times, where robots cannot leave the production line and do not have the allowed charging time period, a replacement robot must be configured so that when a robot leaves the production line to charge, the replacement robot can continue to perform its tasks, ensuring production continuity.

[0060] 2. Adjust the production of production lines equipped with robots, such as reducing the production rhythm and reserving a certain time period to allow robots to be offline for charging.

[0061] All of the above solutions have their drawbacks. For example, in the first solution, if the waiting time for the replacement robot is long, it is a waste of the equipment. In addition, the technical aspects, the timing of replacement, task switching, etc., place additional requirements on the robot scheduling system and the robot itself.

[0062] Therefore, the industry urgently needs a better way to solve the above problems.

[0063] In view of this, the present invention proposes a companion online charging robot group and system to achieve companion online charging of mobile robots in operation, thereby not affecting the operational continuity of the robots and production lines. The technical solutions of the present invention are as follows:

[0064] like Figure 1 As shown, on the one hand, the present invention discloses a companion online charging robot group, including a charging mobile robot and a charged mobile robot. The charging mobile robot and the charged mobile robot are both provided with a battery management module, a robot control module, and a charging management module. The battery management module is connected to the robot control module, and the robot control module is connected to the charging management module. The charging management module includes a charging guide arm, a charging port, and a communication protocol. The charging mobile robot and the charged mobile robot are connected through the charging management module.

[0065] Another aspect of the present invention discloses a system for a companion online charging robot group, comprising the following steps:

[0066] S1. The system sends a charging task instruction. The charging mobile robot opens the charging guide arm and connects to the charged mobile robot.

[0067] S2, the charging mobile robot charges the charged mobile robot, and the two are always in contact;

[0068] S3, the charging mobile robot and the charged mobile robot exchange data through the communication protocol and select a working mode;

[0069] S4. The distance between the charging mobile robot and the charged mobile robot changes within a certain range;

[0070] S5. The system receives an event triggering instruction, and the charging mobile robot and the charged mobile robot are synchronously released from control.

[0071] In a feasible implementation, the S5 step is specifically as follows: when the system receives the "event trigger" instruction, it first executes the charging contact power-off operation, then the charging contacts of the charged mobile robot are disconnected from the charging mobile robot, and then the charging mobile robot begins to retract the charging arm, ending the online charging mode, and finally the charging mobile robot automatically returns to the charging pile to stand by.

[0072] In a feasible implementation, in step S3, the charging mobile robot and the charged mobile robot perform data interaction in a wired or wireless manner.

[0073] In a feasible implementation, in step S3, the data sent by the charged mobile robot to the charging mobile robot includes handshake information, moving speed, moving angle, acceleration, planned route, posture data, and dynamic information.

[0074] In a feasible implementation, in step S3, the data sent by the charging mobile robot to the charged mobile robot includes real-time power capacity, maximum charging power, real-time moving speed, moving angle and acceleration, and posture data.

[0075] In addition, the two robots can also exchange data via wireless communication, such as Bluetooth, WiFi, etc., although the present invention does not limit or exclude other communication methods. The primary purpose of real-time communication between the two robots is to ensure that the two robots' movements remain synchronized, and that the distance between the two robots and the difference in their relative postures remain within a certain range during movement, thereby ensuring safe charging.

[0076] Furthermore, communication between the two robots via the charging management module is a wired communication method, which can be based on any communication protocol that meets real-time requirements. In conventional mode, a separate communication cable can be installed at the charging port. Alternatively, a power cable communication method based on the charging contacts can be designed without a separate communication cable, which is not a limitation of the present invention.

[0077] In one feasible implementation, in step S3, the working modes include follow-up, synchronous, and hybrid.

[0078] In a feasible implementation, in the following working mode, the charged mobile robot is in the master mode, the charging mobile robot is in the slave mode, and the slave mode robot completely follows the master-slave mode robot and acts based on mutual communication and its own sensor information.

[0079] Specifically, in this mode, the charging mobile robot completely follows the charged mobile robot, ensuring following performance based on mutual communication and its own sensor information. In this mode, the charged mobile robot is the "master" and the charging mobile robot is the "slave." Specifically, the master robot transmits speed, acceleration, and position angles to the slave robot in real time. The slave robot receives these data as its own control commands and uses its corresponding parameters as feedback, forming a closed-loop control loop to ensure following performance. In this mode, the slave robot completely follows the movements of the master robot.

[0080] like Figure 7 As shown, during the following process, the slave robot's perception system continues to function. If any fault occurs, it reports the fault and transmits it to the master robot, stopping operation. The controller can be based on the PID control law to form a closed-loop control. Other control laws, such as predictive control algorithms, can also be used.

[0081] The control variables are output to the robot controller (in fact, the control law runs in the robot controller, and the above figure represents the closed-loop control concept). The robot's movement speed control variable and movement acceleration control variable are used to control the robot's driving; and the attitude control variable is used to control the robot's attitude, such as steering.

[0082] In the following mode, not only does the master robot move forward and the slave robot follow it, but it also moves backward when the master robot moves backward. In this case, the "slave" robot seems to be the "master", but it is actually still in slave mode, and its backward performance parameters are still determined by the master robot.

[0083] In a feasible implementation, in a synchronous working mode, the central control scheduling system synchronously calculates and monitors the operation of the charging mobile robot and the charged mobile robot based on the real-time data of the charging mobile robot and the charged mobile robot. A corresponding synchronization allowable range is set for each motion parameter. At the same time, the two transmit data to each other, and simultaneously calculate the synchronization error corresponding to each parameter, and send it to the central control scheduling system for verification and adjustment.

[0084] Specifically, if Figure 8 As shown in the figure, for the sake of convenience, let the charged mobile robot be A and the charging mobile robot be B. In the synchronous working mode, the charging mobile robot uses the received real-time mobile data as the main reference to execute its own movement behavior, ensuring that its own movement data is synchronized with the received data within a certain range. The biggest difference from the follower mode is that the two robots are no longer in a master-slave relationship. Both are masters, and the goal of their movement is synchronization, not following. Specifically:

[0085] The two robots simultaneously send the following data to the central control and dispatching system: moving speed, acceleration and deceleration, posture data, synchronization signal, and other related data such as fault codes, start and stop signals, etc.

[0086] The central control and dispatching system synchronously calculates and monitors the operation of the two robots based on their real-time data. Each motion parameter is set with a corresponding synchronization allowable range. Once a parameter exceeds the allowable range, the adjustment control instruction will be sent to robot B first, provided that robot A is operating normally and without faults.

[0087] Simultaneously, the two robots transmit the following data to each other: movement speed, acceleration / deceleration, position data, synchronization signals, and other relevant data, such as fault codes and start / stop signals. The synchronization error corresponding to each parameter is calculated and sent to the central control and dispatch system. This error serves as redundant data for the central control and dispatch system to verify the synchronization of the two robots.

[0088] In a feasible implementation, in a hybrid working mode, the charged mobile robot is in the master mode and the charging mobile robot is in the slave mode. The central control scheduling system monitors the movement of the two in real time and calculates the synchronization of their behaviors in real time. According to the degree of asynchrony of the parameters, the adjustment control instructions are sent to the charging mobile robot first.

[0089] Specifically, in a hybrid operating mode, the charging robot must ensure both synchronization and a certain degree of following characteristics. This mode is a fusion of the two aforementioned modes. The robot itself is in a master-slave following mode based on its own control. The central control and dispatching system monitors the movement of the two robots in real time and calculates the synchronization of their behavior in real time. Based on the degree of asynchrony of a certain parameter (i.e., exceeding the set synchronization fluctuation range), adjustment control instructions are sent to the charging mobile robot first. The benefit of this mode is that it utilizes the synchronous computing and monitoring capabilities of the central control and dispatching system to further monitor and correct the following mode, thereby achieving better reliability of the robot's online charging.

[0090] In one feasible implementation, the charging robot synchronization control algorithm specifically adopts a window model synchronization mechanism with time and space constraints to achieve synchronous control between the two robots.

[0091] At the time level, based on the robot motion data (speed, acceleration, deceleration, posture, trajectory, etc.), define the effective duration T of the data valid :

[0092]

[0093] Where Δmax represents the maximum allowable deviation, such as speed, acceleration, attitude and other data; E r Represents the actual motion parameters of the robot.

[0094] At the spatial level, the central control system generates the spatial constraint boundaries f1, f2 and mutual constraint boundaries f12 of each robot through other environmental perception data uploaded by the robot, the scene point cloud map data, driving route and obstacle identification data.

[0095] The model defines a synchronization trigger request mechanism, which triggers the synchronization control and synchronization adjustment mechanisms when any of the following conditions are met:

[0096] 1. The rate of change of any relative motion parameter between the two robots is higher than the set value, such as the speed deviation change rate:

[0097]

[0098] Where, ω 12 Represents the relative speed value between robots 1 and 2; Δωmax represents the maximum value of the relative speed change allowed;

[0099] 2. There is a sudden change in environmental perception data, such as encountering an obstacle;

[0100] 3. When task data is interrupted or changed;

[0101] 4. A robot fault code appears;

[0102] Based on this, a sliding window mechanism is used to dynamically update T valid and constraint boundaries f1, f2, and f12. The window size is inversely proportional to the acceleration and deceleration of the robot motion.

[0103] In one possible implementation, Figure 9 As shown, the charged mobile robot is in a turning state, and the charging mobile robot and the charged mobile robot have the shortest distance point under the space-time constraint boundary, and the shortest distance of the boundary is calculated based on the real-time posture and motion parameters of the two robots. The shortest distance is set to a threshold value to ensure that the two robots cannot contact and collide with each other.

[0104] The shortest distance is a function of the space-time constraint boundaries f1, f2, f12 and the mutual motion parameters of the two robots:

[0105] δ=f((ωAB, αAB, θAB), f1, f2, f12) Specifically, Figure 10 As shown in the figure, the flowchart describes a closed-loop control process, starting with a determination of whether the parameter "δ" is greater than δlimit. If the determination is "no," the system directly proceeds to the state estimation phase for the charging arm and charging contacts. If the determination is "yes," the system first adjusts the motion control of the mobile charging robot and then recalculates the δ value using the specific function δ = f((ωAB, αAB, θAB), f1, f2, f12). After the calculation is complete, the system re-enters the new δ value into the initial determination node, forming a continuous monitoring and adjustment cycle.

[0106] In addition to calculating the shortest distance to the boundary, the mobile charging robot also needs to perform state calculation and estimation of the physical state of the charging guide arm and charging contacts. For example, based on the shortest distance calculation, combined with the motion state and relative posture of the two robots, the tensile force of the charging guide arm or charging contact is estimated to be within the warning range; if the warning critical value is reached, the motion control instructions of the mobile charging robot are quickly adjusted to adjust its posture and motion parameters.

[0107] In addition, other warning parameters include: the minimum allowable angle between the two robots' mutual postures (which can be regarded as the angle between the x1y1 and x2y2 coordinate systems) and the warning value; the synchronization performance of the two robots and the warning value, etc.

[0108] In one achievable embodiment, the present invention also discloses two-robot synchronization performance index parameters based on spatiotemporal parameter fusion to characterize, track, and evaluate the motion synchronization performance level between the two robots in real-time control, as follows:

[0109] ∈_A_AB(ω,α,θ,TABvalid)=∑(ωA,αA,θA,TAvalid) / ∑(ωAB,αAB,θAB,TABvalid)

[0110] ∈_B_AB(ω,α,θ,TABvalid)=∑(ωB,αB,θB,TBvalid) / ∑(ωAB,αAB,θAB,TABvalid)

[0111] ∈_A_AB(ω,α,θ,TABvalid) and ∈_B_AB(ω,α,θ,TABvalid) are fused to finally obtain ∈_index.

[0112] Variations in the synchronization performance index parameter ∈_index within a certain range indicate changes in the motion synchronization between the two robots. Large variations indicate a decrease in synchronization. In the final fusion process, the parameters are fused and calculated using TABvalid as the timestamp standard to form the final data index.

[0113] In one possible implementation, Figure 11 As shown, the present invention discloses a synchronous protection mechanism. When the system receives an "event trigger" instruction, it first executes the charging contact power-off operation; then the charging contacts of the charged mobile robot are disconnected from the device; then the charging mobile robot starts to retract the charging arm; after completing the above operations, the online charging mode is officially ended; finally, the robot automatically returns to the charging pile to stand by.

[0114] It can be seen from the above embodiments that various control adjustments in the present invention are performed on the mobile charging robot, and no intervention is made on the motion state of the mobile working robot.

[0115] The advantages of the present invention are as follows:

[0116] 1. The charging mobile robot and the operating robot move in real-time synchronization, enabling contactless, uninterrupted online charging. The charging guide arm's servo motor torque control mode, adaptive chute structure, and rotatable mechanical design ensure continuous and reliable contact between the charging interface and the charging port in dynamic environments. This eliminates the disruption to production cycles associated with traditional charging methods and significantly improves the continuous operation capability of the production line.

[0117] 2. Adopting three operating modes, namely follower, synchronous, and hybrid, and combining a spatiotemporal constraint window model with a sliding window mechanism, the system achieves dynamic matching of dual-robot motion parameters. Through master-slave control, central control system redundancy verification, and real-time compensation for synchronization errors, the system ensures that the speed, acceleration, and posture of the two robots are synchronized within the allowable deviation range, balancing control flexibility and system robustness.

[0118] 3. Integrated dual-channel communication via wired (power line carrier / dedicated communication cable) and wireless (WiFi / Bluetooth) supports real-time interaction of handshake information, motion parameters, charging status, and environmental perception data. Through multi-source data fusion and time-stamp alignment technology, high-precision synchronization performance indicators (such as ε_index) are constructed, providing low-latency, high-reliability decision-making basis for control algorithms.

[0119] 4. The charging guide arm adopts a multi-section folding configuration coupled with a slide rail design. Combined with the servo motor's active torque control and passive degree of freedom release strategy, it can dynamically compensate for the relative posture offset of the two robots, further expanding the system's adaptability to complex motion trajectories and reducing the structural complexity of the charged robot.

[0120] 5. Based on a spatiotemporal boundary constraint algorithm (e.g., δ = f(ω, α, θ, f1, f2, f12)), collision risk is calculated in real time, triggering preload warning and posture correction. Multiple disengagement thresholds (physical spacing limit exceeded, synchronization parameter mutation, fault code triggering) are established, combined with servo motor emergency braking and active cable retraction mechanisms to ensure zero equipment damage under abnormal operating conditions.

[0121] The technical effects of the present invention will be further illustrated by Examples 1 to 4 below:

[0122] Example 1

[0123] like Figure 2 and Figure 3As shown, charging ports are integrated on both the mobile robot and the charging mobile robot. When charging, the charging mobile robot opens the charging guide arm and connects it to the metal contact of the charging port of the mobile robot to start the charging process. The charging guide arm is controlled by a servo motor; when the charging guide arm successfully contacts the charging contact of the charged robot, the servo motor switches to a torque control mode. During the driving process of the two robots, this control mode ensures that the charging contact is always in contact (the torque control mode of the charging guide arm ensures that the charging contact at the front end of the charging guide arm always has a certain pressing force); and allows the distance between the two robots to vary within a certain range, thereby improving charging safety and reliability. When charging is completed, the charging guide arm will be retracted and hidden on one side of the charging robot. Under the action of external force, the two ends of the charging guide arm can rotate within 360 degrees to adapt to changes in the distance and posture between the two robots within a certain range;

[0124] Example 2

[0125] The charging guide arm is mounted on the charging mobile robot body and driven by a servo motor. In some embodiments, the charging arm can be foldable in at least two sections. When the distance between the robots changes, the charging arm can be opened and closed at the folding axis to adapt to the change in the distance between the robots.

[0126] In this embodiment 2, Figure 4 As shown, a charging port is provided on one side of the charged mobile robot. The charging port is located in a slide groove. The charging port is fixed on a guide rail in the slide groove and can slide up and down.

[0127] As the charging mobile robot approaches the charged mobile robot, guided by the robot's visual servo system, its charging arm, driven by its servo motor, gradually unfolds and brings the charging contacts at the front of the arm into contact with the charging port of the charged mobile robot, locking them. At this point, the servo motor driving the charging arm on the charging mobile robot is deactivated and loses power (unlike the torque mode described on the previous page).

[0128] When the charged mobile robot and the charging mobile robot are moving synchronously, when the distance or relative posture between the two changes, the charging port on the charged mobile robot will slide freely up and down in the slide groove under the external force to adapt to the change in the distance between the two robots.

[0129] In this embodiment 2, Figure 4 As shown in (A), at both ends of the charging guide arm (the end that contacts the charging port located in the chute and the end of the charging guide arm located at the charging mobile robot), a mechanical mechanism that can rotate 360 degrees freely is installed to adapt to changes in the distance or relative posture between the two robots.

[0130] When charging is completed, the built-in locking device of the charging port is released, the charging contact head at the front end of the charging guide arm is disconnected, and the charging mobile robot, driven by the servo motor, retracts the charging guide arm and places it on the side of the charging mobile robot.

[0131] like Figure 4 As shown in (B), in order to further enhance the tolerance of the distance change between the two robots during charging, the upper and lower slides are designed as a slide structure with a certain slope. When the distance between the robots changes within a certain range, the charging contacts can slide along the slope of the slide.

[0132] Example 3

[0133] In this embodiment 3, Figure 5 As shown, a charging contact module is installed at the front end of the charging guide arm, and a charging cable is provided at the end of the charging contact module. The charging cable is routed from the inside of the charging guide arm to the inside of the charging mobile robot.

[0134] After the charging contacts of the charging contact module at the front end of the charging guide arm are successfully connected to the charging port on the charged robot, they are locked. At the same time, the charging contact module is detached from the front end of the charging guide arm, and only the charging cable remains connected.

[0135] When the distance or position of the two robots changes, the charging cable inside the charging arm has sufficient excess length to accommodate changes in the distance and position of the two robots. In one design, the charging cable enters the charging robot through the charging arm, and a cable tightening and loosening device is designed to accommodate changes in cable tension.

[0136] After charging is complete, the locking device releases, allowing the charging contact module to fall off the charging port. The cable tightening device inside the charging mobile robot pulls the fallen charging contact module back into a tightly coupled state with the front end of the charging guide arm. The charging guide arm is then retracted, ready for the next charging task.

[0137] In this embodiment, the charging port on the charged robot may not be provided with a slide groove structure, so as to reduce the complexity of the charging port of the charged robot and facilitate standardization.

[0138] Example 4

[0139] In this embodiment 4, Figure 6As shown, the charging break located in the chute of the charged mobile robot does not require a locking device. When the charging contact at the front end of the charging guide arm successfully contacts the charging port, the servo motor at the other end of the charging guide arm is in torque control mode. As shown in the figure, the charging guide arm is always maintained by the downward pressure of the torque so that the front end charging contact and the charging port are in continuous contact. When the distance between the two robots changes within a certain range, under the downward pressure of the torque, the charging contact is always in contact with the charging port and slides within a certain range in the chute.

[0140] Regardless of whether there is a locking device or not, the sliding size range of the slide is limited, so there is also a certain limit on the change in the distance between the two robots. Within the limited range, the two robots can charge reliably; outside the limited range, the charging of the two robots is threatened, and the robots will alarm and stop running.

[0141] Therefore, from the perspective of robot operational safety, charging without a locking device is safer than charging with a locking device. This is because if the distance between the two robots changes significantly or their positions change drastically under unexpected circumstances, the charging contacts without a locking device will automatically disengage, preventing damage to the charging port or the robots themselves. However, the charging arm and its contact connection points at both ends of a charging contact locking device are designed to withstand a certain amount of tensile force, but this requires higher synchronization control performance between the two robots.

Claims

1. A companion online charging robot group, characterized in that: Including charging mobile robots and charged mobile robots; Both the charging mobile robot and the charged mobile robot are equipped with a battery management module, a robot control module, and a charging management module; The battery management module is connected to the robot control module, and the robot control module is connected to the charging management module; The charging management module includes a charging guide arm, a charging port, and a communication protocol. The charging mobile robot and the charged mobile robot are connected through the charging management module.

2. A companion online charging robot group system as claimed in claim 1, characterized in that: The steps include: S1. The system sends a charging task instruction. The charging mobile robot opens the charging guide arm and connects to the charged mobile robot. S2, the charging mobile robot charges the charged mobile robot, and the two are always in contact; S3, the charging mobile robot and the charged mobile robot exchange data through the communication protocol and select a working mode; S4. The distance between the charging mobile robot and the charged mobile robot changes within a certain range; S5. The system receives an event triggering instruction, and the charging mobile robot and the charged mobile robot are synchronously released from control.

3. A companion online charging robot group system as claimed in claim 1, characterized in that: The S5 step is specifically as follows: When the system receives the event trigger instruction, it first executes the charging contact power-off operation, then the charging contacts of the charged mobile robot are disengaged from the charging mobile robot, and then the charging mobile robot begins to retract the charging arm, ending the online charging mode, and finally the charging mobile robot automatically returns to the charging pile to stand by.

4. A system for accompanying online charging robot groups according to claim 2, characterized in that: In step S3, the charging mobile robot and the charged mobile robot perform data interaction in two ways: wired and wireless.

5. A system for accompanying online charging robot groups according to claim 2, characterized in that: In step S3, the data sent by the charged mobile robot to the charging mobile robot includes handshake information, moving speed, moving angle, acceleration, planned route, posture data, and dynamic information; The data sent by the charging mobile robot to the charged mobile robot include real-time power capacity, maximum charging power, real-time moving speed, moving angle and acceleration, and posture data.

6. A system for accompanying online charging robot groups according to claim 2, characterized in that: In step S3, the working modes include follow-up, synchronous, and hybrid.

7. A system for accompanying online charging robot groups according to claim 6, characterized in that: In the following working mode, the charged mobile robot is in the master mode, and the charging mobile robot is in the slave mode. The slave mode robot completely follows the master-slave mode robot and acts based on mutual communication and its own sensor information.

8. A companion online charging robot group system according to claim 6, characterized in that: In the synchronous working mode, the central control and dispatching system synchronously calculates and monitors the operation of the charging mobile robot and the charged mobile robot based on their real-time data. Each motion parameter is set with a corresponding synchronization allowable range. At the same time, the two transmit data to each other, and simultaneously calculate the synchronization error corresponding to each parameter, and send it to the central control and dispatching system for verification and adjustment.

9. A system for accompanying online charging robot groups according to claim 6, characterized in that: In the hybrid working mode, the charged mobile robot is in the master mode and the charging mobile robot is in the slave mode. The central control scheduling system monitors the movement of the two in real time and calculates the synchronization of their behaviors in real time. According to the degree of parameter asynchrony, it sends adjustment control instructions to the charging mobile robot first.

10. A system for accompanying online charging robot groups according to claims 7 to 9, characterized in that: The change in the motion synchronization state between the two robots is represented by ∈_index, and the specific formula is as follows: ∈_A_AB(ω,α,θ,TABvalid)=∑(ωA,αA,θA,TAvalid) / ∑(ωAB,αAB,θAB,TABvalid) ∈_B_AB(ω,α,θ,TABvalid)=∑(ωB,αB,θB,TBvalid) / ∑(ωAB,αAB,θAB,TABvalid) ∈_A_AB(ω,α,θ,TABvalid) is fused with ∈_B_AB(ω,α,θ,TABvalid) to obtain ∈_index; Where: ∈_A_AB(ω,α,θ,TABvalid): The synchronization performance index of robot A relative to the two robots; ∈_B_AB(ω,α,θ,TABvalid): The synchronization performance index of robot B relative to the two robots; ∑(ωA,αA,θA,TAvalid): parameter data set of robot A, including velocity, acceleration, posture, and data validity time; ∑(ωB,αB,θB,TBvalid)): Parameter data set of robot B, including velocity, acceleration, posture, and data validity time; ∑(ωAB,αAB,θAB,TABvalid): Parameter data set between robots A and B, which are relative speed, relative acceleration, relative posture, and relative data validity time.

Images