Charging device and charging docking system

Abstract

The invention is suitable for the technical field of mobile robots, and provides a charging device and a charging docking system, the charging device is used for docking with a mobile robot, the charging device comprises a base and a guide part, the guide part comprises a guide line, the guide line is arranged on the base, and a closed guide area is defined on the base; when the guide wire is powered on, the guide wire generates an electromagnetic field signal in the closed guide area, and the electromagnetic field signal is used for guiding the mobile robot to be in butt joint with the charging device. According to the charging device provided by the invention, the intensity of the electromagnetic field signal in the closed guide area can be far greater than the intensity of the interference electromagnetic field signal in the external environment by adjusting the magnitude of the current introduced into the guide wire, so that the mobile robot can accurately identify the electromagnetic field signal in the guide area; interference of interference electromagnetic field signals in the external environment on the mobile robot is reduced, and stability and reliability in the docking process of the mobile robot and the charging device are guaranteed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mobile robots, and more particularly relates to a charging device and a charging docking system. BACKGROUND

[0002] A mobile robot is an autonomous robot that can move in a working environment. Unlike an industrial robot, it is not fixed at a certain position and has a larger working space and flexibility. The control of the mobile robot is divided into two ways, remote control and autonomous navigation. Among them, the mobile robot with autonomous navigation will move to the position of the charging station when the power is low, and will dock with the charging station to complete the charging. The existing charging station and the mobile robot mostly use complex mechanical structures or optical sensors to realize docking.

[0003] However, using complex mechanical structures or optical sensors to guide the mobile robot to dock with the charging station for charging not only increases the cost of the equipment, but also has low docking accuracy, which affects the charging effect. SUMMARY

[0004] The purpose of the embodiment of the application is to provide a charging device and a charging docking system, which aims to solve the technical problem that the charging station in the prior art uses complex mechanical structures or optical sensors to guide the mobile robot to dock with the charging station for charging, which not only has high cost, but also has low docking accuracy, which affects the charging effect.

[0005] To achieve the above-mentioned purpose, according to one aspect of the application, a charging device is provided, the charging device is used for docking with a mobile robot, and the charging device comprises a base and a guide part, the guide part comprises a guide line, the guide line is arranged on the base and surrounds the base to form a closed guide area; wherein when the guide line is powered, the guide line generates an electromagnetic field signal in the closed guide area, and the electromagnetic field signal is used for guiding the mobile robot to dock with the charging device.

[0006] Optionally, the guide line has a first guide segment and a second guide segment which are symmetrically arranged, and when the guide line is powered, the guide line generates a first electromagnetic field signal between the first guide segment and the second guide segment.

[0007] Optionally, the first guide segment and the second guide segment are straight line segments or curve segments, and the first guide segment and the second guide segment are parallel to each other.

[0008] Optionally, the length of the first guide segment or the second guide segment is greater than 3 / 4 of the length of the base.

[0009] Optionally, the current direction of the first guide segment is opposite to the current direction of the second guide segment.

[0010] Optionally, the guide wire further has a third guide segment connecting the first guide segment and the second guide segment, and when the guide wire is energized, the guide wire generates a second electromagnetic field signal in the vicinity of the third guide segment, and the second electromagnetic field signal is used to instruct the mobile robot to avoid the charging device or to indicate that the mobile robot is currently located in the vicinity of the charging device.

[0011] Optionally, the guide wire is arranged at the bottom of the base, and the guide wire is symmetrically arranged along the central axis of the base in the width direction or symmetrically arranged along the central axis of the base in the length direction; the length direction of the closed guide area is arranged in parallel with the length direction of the base and / or the width direction of the closed guide area is arranged in parallel with the width direction of the base.

[0012] Optionally, the guide portion further comprises a guide structure arranged on the base and located in the closed guide area, and the guide structure can cooperate with the mobile robot and guide the movement of the mobile robot during the docking process of the mobile robot and the charging device.

[0013] Optionally, the charging device further comprises a first charging portion arranged on the base and used for docking with the mobile robot, and a projection of an output end of the first charging portion on the base is at least partially located in the closed guide area.

[0014] According to another aspect of the present application, a charging docking system is provided, which comprises the charging device and the mobile robot as described above, and the mobile robot is provided with a magnetic field detection portion for sensing the electromagnetic field signal, so that the mobile robot can dock with the charging device through the electromagnetic field signal.

[0015] Optionally, the magnetic field detection portion comprises a first magnetic field sensor and a second magnetic field sensor, and the first magnetic field sensor and the second magnetic field sensor can be located in the closed guide area.

[0016] Optionally, the width of the closed guide area is greater than the distance between the first magnetic field sensor and the second magnetic field sensor.

[0017] Optionally, the difference between the width of the closed guide area and the distance between the first magnetic field sensor and the second magnetic field sensor is greater than the installation height of the first magnetic field sensor or the second magnetic field sensor.

[0018] Optionally, the width of the closed guide area is less than twice the installation height of the first magnetic field sensor or the second magnetic field sensor.

[0019] Optionally, the absolute value of the difference between the width of the closed guide area and twice the installation height of the first magnetic field sensor or the second magnetic field sensor is less than the distance between the first magnetic field sensor and the second magnetic field sensor.

[0020] Optionally, the charging device comprises a first charging part, and the first magnetic field sensor and the second magnetic field sensor are symmetrically arranged relative to the first charging part.

[0021] Optionally, the mobile robot has two action wheels, and a distance between the two action wheels is greater than a width of the closed guide area.

[0022] Optionally, during movement of the mobile robot along the central axis of the charging device, the two action wheels are located directly above the guide line.

[0023] The charging device provided by the application has the following beneficial effects: compared with the prior art, the charging device provided by the application sets a guide line on the base and surrounds the guide line on the base to form a closed guide area, so that the guide line can generate an electromagnetic field signal for guiding the mobile robot under the condition of being electrified, thereby enabling the mobile robot to dock with the charging device or avoid the charging device under the guidance of the electromagnetic field signal, and meanwhile, part of the electromagnetic field signal generated after electrification of the guide line can be gathered in the closed guide area, so that the electromagnetic field signal strength in the closed guide area is effectively improved, and by adjusting the size of the current flowing in the guide line, the electromagnetic field signal strength in the closed guide area can be made much greater than the strength of the interference electromagnetic field signal in the external environment, thereby enabling the mobile robot to accurately distinguish the electromagnetic field signal of the closed guide area from the interference electromagnetic field signal in the external environment, and ensuring the stability and reliability of the mobile robot during docking with the charging device. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0025] Figure 1 A structural schematic diagram of the charging device provided by the embodiment of the application is shown in the figure.

[0026] Figure 2 A structural schematic diagram of the charging device provided by the embodiment of the application is shown in the figure.

[0027] Figure 3 A bottom view of the charging device provided by the embodiment of the application is shown in the figure.

[0028] Figure 4 A structural schematic diagram of the mobile robot provided by the embodiment of the application is shown in the figure.

[0029] Figure 5A structural schematic diagram of a mobile robot from another perspective according to an embodiment of the present application;

[0030] Figure 6 A bottom view of a mobile robot with some parts removed according to an embodiment of the present application;

[0031] Figure 7 A front view of a mobile robot with some parts removed according to an embodiment of the present application;

[0032] Figure 8 A structural schematic diagram of a mobile robot and a charging device docking according to an embodiment of the present application;

[0033] Figure 9 A structural schematic diagram of a mobile robot and a charging device docking from another perspective according to an embodiment of the present application;

[0034] Figure 10 A distribution schematic diagram of the magnetic field strength of an electromagnetic field signal generated by a guide wire in the width direction of a base according to an embodiment of the present application;

[0035] Figure 11 A distribution schematic diagram of the magnetic field strength of an electromagnetic field signal generated by a guide wire in the width direction of a base according to another embodiment of the present application;

[0036] The label details involved in the above figures are as follows:

[0037] 1. Charging device;

[0038] 2. Mobile robot;

[0039] 10. Base; 11. Closed guide area; 12. Mounting recess; 121. Buckle structure;

[0040] 20. Guide part; 21. Guide wire; 211. First guide segment; 212. Second guide segment; 213. Third guide segment; 22. Guide structure; 221. Guide protrusion;

[0041] 30. First charging part;

[0042] 40. Shell;

[0043] 50. Magnetic field detection part; 51. First magnetic field sensor; 52. Second magnetic field sensor;

[0044] 60. Moving part; 61. Driving wheel assembly; 62. Driven wheel assembly; 621. Driving wheel;

[0045] 70. Second charging part;

[0046] 80. Power supply part. DETAILED DESCRIPTION

[0047] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and not to limit the present application.

[0048] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0049] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0050] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0051] As described in the background, a mobile robot is an autonomous robot that can move in a working environment. Unlike an industrial robot, it is not fixed at a certain position and has a larger working space and flexibility. The control of the mobile robot is divided into remote control and autonomous navigation. Among them, the mobile robot with autonomous navigation will move to the position of the charging station when the low power condition occurs, and will be docked with the charging station to complete the charging. The existing charging station and the mobile robot mostly use complex mechanical structures or optical sensors to realize docking. However, using complex mechanical structures or optical sensors to guide the mobile robot to dock with the charging station for charging not only increases the cost of the equipment, but also has low docking accuracy, which affects the charging effect.

[0052] Referring to Figures 1 to 3To solve the above problems, according to one aspect of the present application, the embodiment of the present application provides a charging device 1 used for docking with a mobile robot 2, the charging device 1 comprises a base 10 and a guide part 20, the guide part 20 comprises a guide line 21, the guide line 21 is arranged on the base 10 and surrounds the base 10 to form a closed guide area 11; when the guide line 21 is powered, the guide line 21 generates an electromagnetic field signal in the closed guide area 11, and the electromagnetic field signal is used for guiding the mobile robot 2 to dock with the charging device 1. The charging device 1 provided by the embodiment can generate an electromagnetic field signal for guiding the mobile robot 2 when the guide line 21 is powered, so that the mobile robot 2 can be guided by the electromagnetic field signal to dock with the charging device 1 or avoid the charging device 1. At the same time, part of the electromagnetic field signal generated after the guide line 21 is powered can be gathered in the closed guide area 11, so that the intensity of the electromagnetic field signal in the closed guide area 11 is effectively improved. By adjusting the size of the current flowing in the guide line 21, the intensity of the electromagnetic field signal in the closed guide area 11 can be much greater than the intensity of the interference electromagnetic field signal in the external environment, so that the mobile robot 2 can accurately distinguish the electromagnetic field signal in the closed guide area 11 from the interference electromagnetic field signal in the external environment, and the stability and reliability of the mobile robot 2 during the docking process with the charging device 1 are ensured.

[0053] In a specific embodiment, the guide line 21 provided by the embodiment can generate an electromagnetic field signal near the base 10 after being powered.

[0054] In an optional embodiment, the charging device 1 provided by the embodiment further comprises a power supply part 80, the power supply part 80 is arranged on the base 10 and is electrically connected with the guide line 21, and is used for supplying power to the guide line 21, and the guide line 21 can form a closed loop with the power supply part 80. By electrically connecting the power supply part 80 with the guide line 21 and making the guide line 21 form a closed loop with the power supply part 80, the guide line 21 can generate an electromagnetic field signal in the closed guide area 11 after being powered.

[0055] In an optional embodiment, the power supply part 80 provided by the embodiment supplies an alternating signal to the guide line 21, so that the guide line 21 generates a corresponding electromagnetic field signal.

[0056] In an optional embodiment, the alternating signal provided by the embodiment is a square wave signal.

[0057] Referring to Figure 3As shown, in a specific embodiment, the guide line 21 in the embodiment has a first guide segment 211 and a second guide segment 212 arranged symmetrically, and when the guide line 21 is powered, the guide line 21 generates a first electromagnetic field signal between the first guide segment 211 and the second guide segment 212. By arranging the guide line 21 provided in the embodiment to have the first guide segment 211 and the second guide segment 212 arranged symmetrically, the stability and directivity of the first electromagnetic field signal can be effectively improved, so that the mobile robot 2 can find the docking position more accurately.

[0058] In an alternative embodiment, the first guide segment 211 and the second guide segment 212 provided in the embodiment are straight guide segments, and the extension directions of the first guide segment 211 and the second guide segment 212 are both arranged parallel to the length direction of the base 10. By arranging the first guide segment 211 and the second guide segment 212 as straight guide segments, and arranging the extension directions of the first guide segment 211 and the second guide segment 212 both parallel to the length direction of the base 10, the directivity of the first magnetic field signal can be effectively improved, which is conducive to the mobile robot 2 confirming the relative position with the charging device 1.

[0059] In an alternative embodiment, the first guide segment 211 and the second guide segment 212 provided in the embodiment are straight guide segments, and the extension directions of the first guide segment 211 and the second guide segment 212 both have the same angle (less than 30 degrees) with the length direction of the base 10. By arranging the first guide segment 211 and the second guide segment 212 as straight guide segments, and arranging the extension directions of the first guide segment 211 and the second guide segment 212 both not parallel to the length direction of the base 10, a stronger (or weaker) first electromagnetic field signal can be detected when the mobile robot 2 is closer (or farther) to the power supply part 80, so that the mobile robot 2 can more accurately position the positional relationship between itself and the charging device 1, and then adjust the moving speed of the mobile robot 2 in a timely manner, thereby improving the positioning accuracy and charging efficiency of the mobile robot 2.

[0060] In an alternative embodiment, the first guiding section 211 and the second guiding section 212 are curved guiding sections. The curves of the curved guiding sections not only provide directional guidance for the mobile robot 2, but also generate magnetic field signals of different intensities due to the unique bending angles and curvature changes. This design allows the detection of magnetic field signals of different intensities when the mobile robot 2 approaches or moves away from the power supply part 80. Specifically, as the mobile robot 2 moves along the curved guiding sections, the magnetic field signal intensities change accordingly due to the different distances between the points on the curved sections and the power supply part 80, providing more abundant and accurate navigation information for the mobile robot 2. This allows the mobile robot 2 to more accurately determine its position relative to the charging device 1 and adjust its movement speed in a timely manner, thereby improving the positioning accuracy and charging efficiency of the mobile robot 2.

[0061] Referring to Figure 3 In a specific embodiment, the length of the first guiding section 211 and / or the second guiding section 212 is greater than 3 / 4 of the length of the base 10. By setting the length of the first guiding section 211 and / or the second guiding section 212 to be greater than 3 / 4 of the length of the base 10, the coverage of the first magnetic field signal provided by the present embodiment can be increased, thereby effectively increasing the likelihood of the mobile robot 2 detecting the electromagnetic field signal generated on the guiding line 21 and improving the docking accuracy of the mobile robot 2 with the charging device 1.

[0062] In a specific embodiment, the length of the first guiding section 211 and / or the second guiding section 212 is greater than the length of the mobile robot 2, so that the mobile robot can move along the first guiding section 211 and / or the second guiding section 212.

[0063] In a specific embodiment, the current direction of the first guiding section 211 is opposite to the current direction of the second guiding section 212. Since the current direction of the first guiding section 211 is opposite to the current direction of the second guiding section 212, a signal with the same magnetic field direction can be generated between the first guiding section 211 and the second guiding section 212, thereby enhancing the magnetic field intensity and stability between the first guiding section 211 and the second guiding section 212 and improving the efficiency and accuracy of the docking of the mobile robot 2 with the charging device 1.

[0064] Referring to Figure 3As shown, in a specific embodiment, the guide wire 21 in the embodiment further has a third guide segment 213 connecting the first guide segment 211 and the second guide segment 212, when the guide wire 21 is powered, the guide wire 21 generates a second electromagnetic field signal near the third guide segment 213, when the mobile robot 2 is in the working mode, the second electromagnetic field signal is used to indicate that the charging device 1 is near the mobile robot 2, at this time, the mobile robot 2 needs to be controlled to avoid the charging device 1, when the mobile robot 2 is in the back charging mode, the second electromagnetic field signal is used to indicate that the charging device 1 is near the mobile robot 2, at this time, the offset of the mobile robot 2 relative to the charging device 1 needs to be obtained through other navigation devices, and then the mobile robot 2 is controlled to dock with the charging device 1 according to the offset. By setting the guide wire 21 to further have the third guide segment 213 connecting the first guide segment 211 and the second guide segment 212, the guide wire 21 can generate the second electromagnetic field signal near the third guide segment 213 when powered, and the second electromagnetic field signal can provide clear instructions for the mobile robot 2 to avoid or approach the charging device 1, thereby improving the safety of the charging docking system, the efficiency of the charging docking, and the user experience.

[0065] Referring to Figure 2 and Figure 3 As shown, in a specific embodiment, the guide wire 21 in the embodiment is arranged at the bottom of the base 10, and the guide wire 21 is symmetrically arranged along the central axis of the base 10 in the width direction or symmetrically arranged along the central axis of the base 10 in the length direction; the length direction of the closed guide area 11 is arranged in parallel with the length direction of the base 10 and / or the width direction of the closed guide area 11 is arranged in parallel with the width direction of the base 10. By arranging the guide wire 21 provided in the embodiment at the bottom of the base 10, interference of the guide wire 21 with the mobile robot 2 during docking of the mobile robot 2 and the charging device 1 can be effectively avoided, and arranging the guide wire 21 at the bottom of the base 10 can protect the guide wire 21 sufficiently, thereby effectively improving the service life of the guide wire 21. At the same time, by symmetrically arranging the guide wire 21 along the central axis of the base 10 in the width direction or symmetrically arranging the guide wire 21 along the central axis of the base 10 in the length direction, the spatial distribution of the electromagnetic field signal can be more uniform, and the mobile robot 2 can obtain the same electromagnetic field signal in any direction, thereby enabling the mobile robot 2 to accurately navigate to the charging device 1.

[0066] In an alternative embodiment, the bottom of the base 10 is provided with a mounting recess 12, and the guide wire 21 is mounted in the mounting recess 12. By mounting the guide wire 21 in the mounting recess 12, the guide wire 21 can be protected from the external environment.

[0067] In an alternative embodiment, the mounting recess 12 is provided with a buckle structure 121, and the guide wire 21 is detachably mounted in the mounting recess 12 through the buckle structure 121.

[0068] In an alternative embodiment, the buckle structure 121 is provided in multiple, and the multiple buckle structures 121 are spaced apart along the circumference of the base 10 and arranged in the mounting recess 12.

[0069] Referring to Figure 1 In a specific embodiment, the guide portion 20 further includes a guide structure 22 arranged on the base 10 and located in the closed guide area 11. During the docking process of the mobile robot 2 and the charging device 1, the guide structure 22 can cooperate with the mobile robot 2 and guide the movement of the mobile robot 2. By arranging the guide structure 22 on the base 10 and locating it in the guide area, the mobile robot 2 can be accurately docked with the charging device 1 through the guidance of the guide structure 22 during the docking process.

[0070] In an alternative embodiment, the guide structure 22 includes a guide protrusion 211 arranged on the side of the base 10 away from the bottom. During the docking process of the mobile robot 2 and the charging device 1, the guide protrusion 211 can contact and cooperate with the mobile robot 2 and guide the movement of the mobile robot 2, so that the mobile robot 2 can be accurately docked with the charging device 1.

[0071] In an alternative embodiment, the guide protrusion 211 is provided in multiple, and at least two of the multiple guide protrusions 211 are symmetrically arranged along the central axis of the width of the base 10.

[0072] In an alternative embodiment, the guide protrusion 211 gradually extends towards the central axis of the width of the base 10 from the first end of the base 10 to the second end of the base 10.

[0073] In another embodiment, the guiding structure 22 comprises a guiding recess, which is arranged on the side of the base 10 away from the bottom, and can be in contact with the mobile robot 2 during the docking process of the mobile robot 2 and the charging device 1, and guides the movement of the mobile robot 2, so that the mobile robot 2 can be accurately docked with the charging device 1.

[0074] In an alternative embodiment, the guiding recesses are multiple, and at least two of the multiple guiding recesses are symmetrically arranged along the central axis of the width of the base 10.

[0075] In an alternative embodiment, the cross-sectional area of the guiding recess in the length direction of the base 10 gradually increases from the first end of the base 10 to the second end of the base 10.

[0076] Referring to Figure 1 In a specific embodiment, the charging device 1 further comprises a first charging part 30 arranged on the base 10 and used for docking with the mobile robot 2, and the projection of the output end of the first charging part 30 on the base 10 is at least partially located in the closed guiding area 11. By arranging the first charging part 30 on the base 10, the charging device 1 can be docked with the mobile robot 2 through the output end of the first charging part 30, and at the same time, since the projection of the output end of the first charging part 30 on the base 10 is at least partially located in the closed guiding area 11, the mobile robot 2 can be docked with the output end of the first charging part 30 under the guidance of the electromagnetic field signal in the closed guiding area 11 even if there is a slight deviation in the movement path or direction during the docking process of the mobile robot 2 and the charging device 1, and the reliability is high.

[0077] In a specific embodiment, by arranging the projection of the output end of the first charging part 30 on the base 10 at least partially in the guiding area, the mobile robot 2 can complete docking in the guiding area, and even if there is a deviation in the docking of the mobile robot 2, the position can be adjusted in time through the electromagnetic field signal in the guiding area, the adjustment time is reduced, the docking efficiency is improved, and compared with arranging the projection of the output end of the first charging part 30 on the base 10 outside the guiding area, if the projection of the output end of the first charging part 30 on the base 10 is arranged outside the guiding area, the mobile robot 2 may be out of the guiding area during the docking process, and at this time, if there is a deviation in the docking of the mobile robot 2, the mobile robot 2 needs to be returned to the guiding area for position adjustment and then redock, which is time-consuming and laborious.

[0078] In an alternative embodiment, the first charging portion 30 comprises charging pads, the charging pads are symmetrically arranged along the middle axis of the width direction of the base 10, or the charging pads are symmetrically arranged along the middle axis of the length direction of the base 10, the charging pads form the output end of the first charging portion 30.

[0079] In an alternative embodiment, the first charging portion 30 is arranged on the first end of the base 10, the charging pads are symmetrically arranged along the middle axis of the width direction of the base 10, and the guide area is located between the first end and the second end of the base 10.

[0080] In another embodiment, the base 10 comprises a guide mark, the guide mark is arranged on the side of the base 10 away from the bottom, the mobile robot 2 can recognize the guide mark during the docking process of the mobile robot 2 and the charging device 1, and move under the guidance of the guide mark, so that the mobile robot 2 can accurately dock with the charging device 1.

[0081] In an alternative embodiment, the guide mark extends along the middle axis of the width of the base 10.

[0082] In an alternative embodiment, the guide mark is a grating code structure extending along the middle axis of the width of the base 10, the mobile robot 2 can detect the grating code structure through a photoelectric sensor, so that the mobile robot 2 can move along the extension direction of the grating code.

[0083] In another embodiment, the guide mark is a strip pattern extending along the middle axis of the width of the base 10, the mobile robot 2 can detect the strip pattern through a camera, so that the mobile robot 2 can move along the extension direction of the strip pattern.

[0084] Referring to Figures 4 to 9As shown, according to another aspect of the present application, a charging docking system is provided, the charging docking system comprising the charging device 1 and the mobile robot 2, the mobile robot 2 is provided with a magnetic field detection unit 50, the magnetic field detection unit 50 is used to sense the electromagnetic field signal in the closed guide area 11, so that the mobile robot 2 can dock with the charging device 1 through the electromagnetic field signal. By providing the magnetic field detection unit 50 in the mobile robot 2 provided in the embodiment, the mobile robot 2 can sense the electromagnetic field signal generated on the guide wire 21 through the magnetic field detection unit 50, so that the mobile robot 2 can automatically dock or avoid the charging device 1 under the guidance of the electromagnetic field signal, reducing the need for manual intervention and improving the charging docking efficiency of the mobile robot 2.

[0085] In an optional embodiment, the mobile robot 2 provided in the embodiment can be an intelligent mower, a plowing robot, a weeding robot, an intelligent snow remover, a cleaning robot, a service robot, and the like.

[0086] In an optional embodiment, the mobile robot 2 provided in the embodiment comprises a housing 40, the housing 40 is provided with a receiving cavity, and the magnetic field detection unit 50 provided in the embodiment is arranged in the receiving cavity.

[0087] In a specific embodiment, the magnetic field detection unit 50 in the embodiment comprises a first magnetic field sensor 51 and a second magnetic field sensor 52, and during the movement of the mobile robot 2 along the central axis of the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 are both located in the closed guide area 11. Since the magnetic field direction in the closed guide area 11 is consistent, the magnetic field strength mainly comes from the cumulative effect of the electromagnetic field signal generated after the guide wire is powered on. Therefore, compared with the outside of the closed guide area 11, the magnetic field strength in the closed guide area 11 is more significant. This enhanced magnetic field strength enables the first magnetic field sensor 51 and the second magnetic field sensor 52 located in the closed guide area 11 to more accurately capture the electromagnetic field signal, thereby greatly improving the accuracy and stability of the mobile robot 2 during the docking process with the charging device 1. At the same time, the combined use of the two magnetic field sensors also provides more information input for the mobile robot 2, which helps the mobile robot 2 to better judge the relative position between the mobile robot 2 and the charging device 1, and further enhances the safety and reliability of the docking.

[0088] Referring to Figure 3 and Figure 6 As shown, in a specific embodiment, the width of the closed guide area 11 provided in the embodiment is a, and the distance between the first magnetic field sensor 51 and the second magnetic field sensor 52 is d.

[0089] Referring to Figure 10As shown, in a specific embodiment, the width a of the closed guiding area 11 in the present embodiment is greater than the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52. By setting the width a of the closed guiding area 11 to be greater than the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52, i.e. a>d, it can be ensured that the mobile robot 2 can detect the electromagnetic field signal through the two magnetic field sensors even if it slightly deviates from the center line of the charging device 1, achieving accurate docking.

[0090] Referring to Figure 7 As shown, in a specific embodiment, the installation height e of the first magnetic field sensor 51 or the second magnetic field sensor 52 provided in the present embodiment is greater than the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52.

[0091] Referring to Figure 7 and Figure 10 As shown, in a specific embodiment, the difference between the width a of the closed guiding area 11 in the present embodiment and the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52 is greater than the installation height e of the first magnetic field sensor 51 or the second magnetic field sensor 52. By setting the difference between the width a of the closed guiding area 11 and the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52 to be greater than the installation height e of the magnetic field sensor, i.e. a-d>e, it can be ensured that the first magnetic field sensor 51 and the second magnetic field sensor 52 can maintain a stable detection state even if there is a bump or tilt phenomenon during the travel of the mobile robot 2, ensuring the accuracy of docking.

[0092] Referring to Figure 7 and Figure 10 As shown, in a specific embodiment, the width a of the closed guiding area 11 in the present embodiment is less than twice the installation height e of the first magnetic field sensor 51 or the second magnetic field sensor 52. By setting the width a of the closed guiding area 11 to be less than twice the installation height e of the magnetic field sensor, i.e. a<2e, it can be ensured that the strength and stability of the electromagnetic field signal within the closed guiding area 11, avoiding the electromagnetic field signal being too dispersed to affect the accuracy of docking.

[0093] Referring to Figure 3 , Figure 7 and Figure 10As shown, in a specific embodiment, the absolute value of the difference between the width a of the closed guide area 11 and twice the installation height e of the first magnetic field sensor 51 or the second magnetic field sensor 52 is less than the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52. By setting the absolute value of the difference between the width a of the closed guide area 11 and twice the installation height e of the first magnetic field sensor 51 or the second magnetic field sensor 52 to be less than the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52, i.e. |a-2e|<d, the stability of the electromagnetic field signal can be ensured while the distance between the first magnetic field sensor 51 and the second magnetic field sensor 52 is large enough to allow the mobile robot 2 to more accurately sense the change in the electromagnetic field signal.

[0094] In a specific embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 in the present embodiment are symmetrically arranged about the central axis of the mobile robot 2. By arranging the first magnetic field sensor 51 and the second magnetic field sensor 52 in the present embodiment symmetrically about the central axis of the mobile robot 2, the mobile robot 2 in the present embodiment can obtain balanced sensing information in different directions through the first magnetic field sensor 51 and the second magnetic field sensor 52, i.e. the first magnetic field sensor 51 and the second magnetic field sensor 52 can sense consistent electromagnetic field signal strength in different directions, thereby effectively improving the stability of navigation and charging docking of the mobile robot 2.

[0095] In an alternative embodiment, the central axis of the mobile robot 2 in the present embodiment is the central axis in the width direction of the mobile robot 2, and of course in other embodiments, the central axis of the mobile robot 2 in the present embodiment is the central axis in the length direction of the mobile robot 2.

[0096] Referring to Figure 10 As shown, in a specific embodiment, the electromagnetic field signal generated by the guide line 21 in the present embodiment can be superimposed within the closed guide area 11, and the magnetic field strength distribution of the electromagnetic field signal generated by the guide line 21 in the width direction of the base 10 is shown in Figure 10As shown, the superimposed electromagnetic field signal can form a flat zone in the closed guide area 11, and the width of the flat zone is f. By setting the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52 to be approximately equal to or slightly less than the width f of the flat zone, during the docking process of the mobile robot 2 and the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 can be located in the flat zone and near the two critical points of the flat zone, respectively. If the mobile robot 2 deviates, one of the first magnetic field sensor 51 and the second magnetic field sensor 52 will be out of the flat zone, and the magnetic field signal strength sensed by the magnetic field sensor not in the flat zone will decrease, while the magnetic field information strength sensed by the magnetic field sensor in the flat zone remains unchanged. Therefore, according to this feature, it can be determined that the mobile robot 2 deviates and the deviation direction is determined, so that the mobile robot 2 can timely adjust the moving direction, thereby ensuring that the central axis of the mobile robot 2 and the central axis of the charging device 1 are approximately coincident during the docking process of the mobile robot 2 and the charging device 1.

[0097] Referring to Figure 11 As shown, in another specific embodiment, the distance d between the first magnetic field sensor 51 and the second magnetic field sensor 52 is set to be slightly greater than the width f of the flat zone. During the docking process of the mobile robot 2 and the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 can be located outside the flat zone and near the two critical points of the flat zone, respectively. If the mobile robot 2 deviates, the electromagnetic field signal strength sensed by one of the first magnetic field sensor 51 and the second magnetic field sensor 52 will decrease, and the electromagnetic field signal strength sensed by the other one will increase. Therefore, according to this feature, it can be determined that the mobile robot 2 deviates and the deviation direction is determined, so that the mobile robot 2 can timely adjust the moving direction, thereby ensuring that the central axis of the mobile robot 2 and the central axis of the first charging part are approximately coincident during the docking process of the mobile robot 2 and the charging device 1.

[0098] Referring to Figure 6 As shown, the first magnetic field sensor 51 provided in the above two embodiments is located at the right side of the front side in the moving direction of the mobile robot 2, and the second magnetic field sensor 52 is located at the left side of the front side in the moving direction of the mobile robot 2. The magnetic field strength distribution of the electromagnetic field signal generated by the guide line 21 provided in the present embodiment in the width direction of the base 10 is shown in FIGS. 10 and Figure 11As shown, when the electromagnetic field signal strength sensed by the first magnetic field sensor 51 is less than the electromagnetic field signal strength sensed by the second magnetic field sensor 52, the control unit can control the mobile robot 2 to adjust the position to the left, when the electromagnetic field signal strength sensed by the first magnetic field sensor 51 is greater than the electromagnetic field signal strength sensed by the second magnetic field sensor 52, the control unit can control the mobile robot 2 to adjust the position to the right, when the electromagnetic field signal strength sensed by the first magnetic field sensor 51 is not much different from the electromagnetic field signal strength sensed by the second magnetic field sensor 52, the control unit can control the mobile robot 2 to go straight.

[0099] In an alternative embodiment, the center axis of the charging device 1 provided by the embodiment is the center axis in the width direction of the charging device 1, of course, in other embodiments, the center axis of the charging device 1 provided by the embodiment is the center axis in the length direction of the charging device 1.

[0100] In an alternative embodiment, the center axis of the charging device 1 provided by the embodiment is collinear with the center axis in the width direction of the base 10.

[0101] In an alternative embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided by the embodiment are located on the front side of the moving direction of the mobile robot 2.

[0102] In an alternative embodiment, the guide line 21 provided by the embodiment is symmetrically arranged along the center axis in the width direction of the base 10.

[0103] In a specific embodiment, since the guide line 21 provided by the embodiment is symmetrically arranged along the center axis in the width direction of the base 10, the strength of the electromagnetic field signal generated by the guide line 21 after energization can be symmetrical along the center axis in the width direction of the base 10, and since the first magnetic field sensor 51 and the second magnetic field sensor 52 are symmetrically arranged along the center axis of the mobile robot 2, when the electromagnetic field signal strength sensed by the first magnetic field sensor 51 is not much different from the electromagnetic field signal strength sensed by the second magnetic field sensor 52, the center axis of the mobile robot 2 can be approximately coincident with the center axis in the width direction of the base 10.

[0104] In an alternative embodiment, during the docking process between the mobile robot 2 and the charging device 1 provided by the embodiment, the center axis in the width direction of the mobile robot 2 housing 40 can be approximately coincident with the center axis in the width direction of the base 10 of the charging device 1, and in the case where the center axis in the width direction of the mobile robot 2 housing 40 is approximately coincident with the center axis in the width direction of the base 10 of the charging device 1, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided by the embodiment can be located in the closed guide area.

[0105] In an alternative embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 are arranged at the same height in the height direction of the mobile robot 2.

[0106] Referring to Figures 4 to 9 In a specific embodiment, the mobile robot 2 further comprises a control unit and a moving unit 60, both of which are arranged on the housing 40. The mobile robot 2 can move through the moving unit 60. The control unit is electrically connected to the moving unit 60 and the magnetic field detection unit 50. The control unit can control the moving unit 60 according to the electromagnetic field signal sensed by the magnetic field detection unit 50. By arranging the moving unit on the housing 40, the mobile robot 2 can move through the moving unit 60. At the same time, by arranging the control unit on the housing 40 and electrically connecting the control unit to the moving unit 60 and the magnetic field detection unit 50, the control unit can determine the offset of the mobile robot 2 relative to the charging device 1 according to the direction and strength of the electromagnetic field signal, and then send a control signal to control the mobile robot 2 to dock with or avoid the charging device 1.

[0107] In an alternative embodiment, the moving unit 60 comprises a driving wheel assembly 61 and a driven wheel assembly 62, both of which are arranged on the housing 40. The driven wheel assembly 62 is located on the front side of the mobile robot 2 in the walking direction, and the driving wheel assembly 61 is located on the rear side of the mobile robot 2 in the walking direction.

[0108] In an alternative embodiment, the driven wheel assembly 62 comprises two action wheels 621, which are symmetrically arranged along the central axis of the mobile robot 2.

[0109] In an alternative embodiment, during the docking process of the mobile robot 2 and the charging device 1, the guide protrusion 211 or the guide recess can contact the action wheel 621 and guide the movement direction of the action wheel 621, so that the mobile robot 2 can accurately dock with the charging device 1.

[0110] Referring to Figures 5 to 8 In a specific embodiment, the mobile robot 2 has two action wheels 621, and the distance between the two action wheels 621 is greater than the width of the closed guide area 11. By setting the distance between the two action wheels 621 to be greater than the width of the closed guide area 11, the action wheel 621 can be prevented from blocking the electromagnetic field signal, so that the first magnetic field sensor 51 and the second magnetic field sensor 52 can receive the electromagnetic field signal.

[0111] In a specific embodiment, the distance between the two action wheels 621 is the distance between the centers of the two action wheels 621.

[0112] Referring to Figure 8 and Figure 9 In a specific embodiment, the two action wheels 621 are located directly above the guide line 21 during the movement of the mobile robot 2 along the central axis of the charging device 1, i.e., the guide line 21 is located within the projection range of the two action wheels 621 on the base 10. By arranging the two action wheels 621 provided in the present embodiment to be located directly above the guide line 21 during the movement of the mobile robot 2 along the central axis of the charging device 1, it can be ensured that the mobile robot 2 maintains a stable driving state during docking, thereby avoiding docking failure due to deviation from the guide line 21.

[0113] Referring to Figure 4 In an alternative embodiment, the mobile robot 2 provided in the present embodiment further comprises a second charging portion 70. The second charging portion 70 provided in the present embodiment is arranged on the housing 40, and the position of the second charging portion 70 can correspond to the position of the first charging portion. The mobile robot 2 provided in the present embodiment can dock with the charging device 1 through cooperation of the second charging portion 70 and the first charging portion.

[0114] Referring to Figure 4 , Figure 8 and Figure 9 In an alternative embodiment, the second charging portion 70 provided in the present embodiment comprises a charging connector. The charging connector provided in the present embodiment is arranged on the housing 40 and located on the front side of the mobile robot 2. When the mobile robot 2 docks with the charging device 1, the mobile robot 2 first senses the electromagnetic field signal generated by the guide line 21 through the first magnetic field sensor 51 and the second magnetic field sensor 52. The control portion controls the moving direction of the mobile robot 2 according to the electromagnetic field signal strength sensed by the first magnetic field sensor 51 and the second magnetic field sensor 52, so that the central axis in the width direction of the housing 40 substantially corresponds to the central axis in the width direction of the base 10. After the central axis in the width direction of the housing 40 substantially corresponds to the central axis in the width direction of the base 10, the mobile robot 2 can move linearly along the central axis in the width direction of the base 10. With the movement of the mobile robot 2, the charging connector provided in the present embodiment can touch and dock with the charging electrode sheet. After the charging connector docks with the charging electrode sheet, the control portion can control the mobile robot 2 to stop moving.

[0115] In summary, the charging device and the charging docking system provided by the embodiment have at least the following beneficial technical effects: the charging device 1 provided by the embodiment sets the guide line 21 on the base 10 and surrounds the guide line 21 on the base 10 to form the closed guide area 11, so that the guide line 21 can generate an electromagnetic field signal for guiding the mobile robot 2 under the condition of being electrified, thereby enabling the mobile robot 2 to dock with the charging device 1 or avoid the charging device 1 under the guidance of the electromagnetic field signal. At the same time, part of the electromagnetic field signal generated after the guide line 21 is electrified can be gathered in the closed guide area 11, so that the intensity of the electromagnetic field signal in the closed guide area 11 is effectively improved. By adjusting the size of the current flowing in the guide line 21, the intensity of the electromagnetic field signal in the closed guide area 11 can be much greater than the intensity of the interference electromagnetic field signal in the external environment, thereby enabling the mobile robot 2 to accurately distinguish the electromagnetic field signal of the closed guide area 11 from the interference electromagnetic field signal in the external environment, and ensuring the stability and reliability of the mobile robot 2 during the docking process with the charging device 1.

[0116] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A charging device for docking with a mobile robot (2), characterized in that, The charging device (1) includes: Base (10); The guide part (20) includes a guide line (21), which is disposed on the base (10) and surrounds a closed guide area (11) on the base (10); When the guide line (21) is energized, the guide line (21) generates an electromagnetic field signal in the closed guide area (11), and the electromagnetic field signal is used to guide the mobile robot (2) to dock with the charging device (1).

2. The charging device according to claim 1, characterized in that, The guide line (21) has a first guide segment (211) and a second guide segment (212) arranged symmetrically. When the guide line (21) is energized, the guide line (21) generates a first electromagnetic field signal between the first guide segment (211) and the second guide segment (212).

3. The charging device according to claim 2, characterized in that, The first guide segment (211) and the second guide segment (212) are straight line segments or curved segments, and the first guide segment (211) and the second guide segment (212) are parallel to each other.

4. The charging device according to claim 3, characterized in that, The length of the first guide segment (211) and / or the second guide segment (212) is greater than 3 / 4 of the length of the base (10).

5. The charging device according to claim 3, characterized in that, The current direction of the first guide segment (211) is opposite to the current direction of the second guide segment (212).

6. The charging device according to claim 3, characterized in that, The guide line also has a third guide section (213) connecting the first guide section (211) and the second guide section (212). When the guide line (21) is energized, the guide line (21) generates a second electromagnetic field signal near the third guide section (213). The second electromagnetic field signal is used to instruct the mobile robot (2) to avoid the charging device (1) or to instruct the mobile robot (2) to be near the charging device (1) at this time.

7. The charging device according to claim 1, characterized in that, The guide line (21) is disposed at the bottom of the base (10). The guide line (21) is symmetrically disposed along the central axis of the width direction of the base (10), or the guide line (21) is symmetrically disposed along the central axis of the length direction of the base (10). The length direction of the closed guide area (11) is parallel to the length direction of the base (10) and / or the width direction of the closed guide area (11) is parallel to the width direction of the base (10).

8. The charging device according to claim 1, characterized in that, The guide part (20) further includes a guide structure (22), which is disposed on the base (10) and located in the closed guide area (11). During the docking process between the mobile robot (2) and the charging device (1), the guide structure (22) can cooperate with the mobile robot (2) and guide the movement of the mobile robot (2).

9. The charging device according to any one of claims 1 to 8, characterized in that, The charging device (1) further includes a first charging part (30), which is disposed on the base (10) for docking with the mobile robot (2). The projection of the output end of the first charging part (30) on the base (10) is at least partially located within the closed guide area (11).

10. A charging docking system, characterized in that, include: The charging device (1) as described in any one of claims 1 to 9; A mobile robot (2) is provided with a magnetic field detection unit (50). The magnetic field detection unit (50) is used to sense the electromagnetic field signal in the closed guide area (11) so that the mobile robot (2) can dock with the charging device (1) through the electromagnetic field signal.

11. The charging docking system according to claim 10, characterized in that, The magnetic field detection unit (50) includes a first magnetic field sensor (51) and a second magnetic field sensor (52), both of which are located within the closed guide area (11).

12. The charging docking system according to claim 11, characterized in that, The width of the closed guide area (11) is greater than the distance between the first magnetic field sensor (51) and the second magnetic field sensor (52).

13. The charging docking system according to claim 12, characterized in that, The difference between the width of the closed guide area (11) and the distance between the first magnetic field sensor (51) and the second magnetic field sensor (52) is greater than the installation height of the first magnetic field sensor (51) or the second magnetic field sensor (52).

14. The charging docking system according to claim 11, characterized in that, The width of the closed guide area (11) is less than twice the installation height of the first magnetic field sensor (51) or the second magnetic field sensor (52).

15. The charging docking system according to claim 14, characterized in that, The absolute value of the difference between the width of the closed guide area (11) and twice the installation height of the first magnetic field sensor (51) or the second magnetic field sensor (52) is less than the distance between the first magnetic field sensor (51) and the second magnetic field sensor (52).

16. The charging docking system according to any one of claims 11 to 15, characterized in that, The charging device (1) includes a first charging section (30), and the first magnetic field sensor (51) and the second magnetic field sensor (52) are symmetrically arranged about the first charging section (30).

17. The charging docking system according to claim 10, characterized in that, The mobile robot (2) has two action wheels (621), and the distance between the two action wheels (621) is greater than or equal to the width of the closed guide area (11).

18. The charging docking system according to claim 17, characterized in that, During the movement of the mobile robot (2) along the central axis of the charging device (1), the two action wheels (621) are located directly above the guide line (21).

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