Robot and robot system

Abstract

The utility model relates to the technical field of robots, in particular to a robot and a robot system.The robot comprises a robot body, a distance measuring module, a control module and a driving module; the distance measuring module is installed on the side face of the robot body and is in communication connection with the control module. The control module can send a driving instruction about a charging route to the driving module according to the received distance measurement data; and then the driving module drives the robot body to move to the target position according to the driving instruction. As the distance measuring module is installed on the side face of the robot body, distance measurement data of the distance measuring module is related to the actual position of the robot body; the control module sends the driving instruction about the charging route to the driving module based on the actual position of the robot body, so that the driving module drives the robot body to move to the target charging position more accurately based on the driving instruction, and then automatic charging of the robot is achieved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to robots and robotic systems. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and can perform tasks such as operations or movement through programming and automatic control. Realizing automated charging of robots can reduce labor costs and further improve the intelligence of robots.

[0003] Existing methods for realizing automatic charging of robots include: contact charging and wireless charging. Both charging methods require the robot to accurately reach the charging position. However, the current robot navigation positioning accuracy cannot meet the position accuracy requirements of automatic charging; and although the visual identification docking technology can assist the robot to accurately reach the charging position, the technology relies on expensive visual sensors and is relatively costly. Utility Model Content

[0004] In view of this, the purpose of the embodiments of the present application is to provide a robot and a robot system to solve the existing technical problem of high cost in realizing automated charging of robots.

[0005] In a first aspect, an embodiment of the present application provides a robot, the robot comprising: a robot body, a ranging module, a control module and a driving module;

[0006] The distance measuring module is installed on the side of the robot body, and the control module is communicatively connected with the distance measuring module and the driving module;

[0007] The control module is configured to receive distance measurement data from the distance measurement module, and send a driving instruction about a charging route to the driving module based on the distance measurement data;

[0008] The driving module is configured to receive the driving instruction and drive the robot body to move to a target charging position according to the driving instruction.

[0009] In the above implementation process, the robot includes a robot body, a ranging module, a control module and a driving module; the ranging module is installed on the side of the robot body, and the ranging module is connected to the control module in communication; so that the control module can send a driving instruction about the charging route to the driving module according to the received distance measurement data; and then the driving module drives the robot body to move to the target position according to the driving instruction. Since the ranging module is installed on the side of the robot body, the distance measurement data of the ranging module is related to the actual position of the robot body; the control module sends a driving instruction about the charging route to the driving module based on the actual position of the robot body, so that the driving module drives the robot body to move to the target charging position more accurately based on the driving instruction, thereby realizing the automatic charging of the robot. Compared with the existing visual identification docking technology, the robot provided in this application can realize the automatic charging of the robot based on the robot body, the ranging module, the control module and the driving module, and the cost is relatively low. It solves the existing technical problem of high cost of realizing automatic charging of robots.

[0010] Optionally, in an embodiment of the present application, the ranging module includes: a first ranging module and a second ranging module; the first ranging module and the second ranging module are respectively installed on a first side surface and a second side surface that are oppositely arranged on the robot body.

[0011] In the above implementation process, by respectively installing the first ranging module and the second ranging module on the first side surface and the second side surface which are relatively arranged on the robot body, the distance data between the robot body and the environmental objects on both sides can be simultaneously acquired based on the first ranging module and the second ranging module, thereby more accurately controlling the robot body to move to the target charging position.

[0012] Optionally, in an embodiment of the present application, a charging receiving port is provided on the robot body; the charging receiving port is specifically provided on the first side surface or the second side surface.

[0013] In the above implementation process, the first distance measuring module and the second distance measuring module are respectively installed on the first side surface and the second side surface which are oppositely arranged on the robot body. By setting the charging receiving port on the first side surface or the second side surface, the distance between the charging receiving port and the target charging port for charging the robot can be obtained based on the first distance measuring module or the second distance measuring module. Therefore, without increasing the number of distance measuring modules, the robot body can be more accurately controlled to move to the target charging position.

[0014] Optionally, in an embodiment of the present application, a charging receiving port is provided on the third side of the robot body; wherein the third side is orthogonal to the first side and the second side, respectively, and the distance between the charging receiving port and the first side is equal to the distance between the charging receiving port and the second side; the ranging module also includes a third ranging module, and the third ranging module is installed on the third side of the robot body; the third ranging module is arranged directly above or directly below the charging receiving port.

[0015] In the above implementation process, by installing a third ranging module on the third side where the charging receiving port is provided, the distance between the charging receiving port and the target charging port used to charge the robot can be obtained based on the third ranging module, thereby more accurately controlling the robot body to move to the target charging position.

[0016] In a second aspect, an embodiment of the present application further provides a robot system, the robot system comprising: a charging station and at least one robot as described in any one of the first aspects;

[0017] The charging depot is provided with a charging port, and the setting height of the charging port is consistent with the height of the charging receiving port of the robot; the charging depot is configured to charge the robot based on the charging port when the charging port is electrically connected to the charging receiving port of the robot.

[0018] In the above implementation process, the robot system includes a charging depot and a robot. The charging depot is provided with a charging port that is highly consistent with the charging receiving port of the robot. As mentioned above, the robot in the robot system can accurately move to the target charging position, thereby realizing automatic charging of the robot based on the charging depot.

[0019] Optionally, in an embodiment of the present application, the charging warehouse also includes: a temperature detection module and a main control module; the temperature detection module is arranged within a preset area around the charging port; the temperature detection module and the main control module are communicatively connected; the temperature detection module is configured to detect the charging temperature of the charging port and send the charging temperature to the main control module; the main control module is configured to receive the charging temperature and, if the charging temperature is abnormal, shut down the charging function of the charging port.

[0020] In the above implementation process, the temperature detection module is set within a preset area around the charging port, so that the main control module can monitor the charging temperature of the charging port based on the temperature detection module, and then in the case of abnormal charging temperature, the charging function of the charging port is shut down in time, thereby improving the charging safety of the robot system.

[0021] Optionally, in an embodiment of the present application, the charging warehouse also includes: a first communication device; the robot also includes: a second communication device; the main control module is also configured to realize a communication connection with the control module of the robot based on the first communication device and the second communication device; the control module is configured to send a charging start instruction to the main control module when the robot body of the robot moves to the target charging position; and send a charging shutdown instruction to the main control module when the robot is charged to the target power; the main control module is also configured to start the charging function of the charging port when receiving the charging start instruction; and to shut down the charging function of the charging port when receiving the charging shutdown instruction.

[0022] In the above implementation process, the communication connection between the robot control module and the charging depot main control module is realized through the first communication device and the second communication device. In addition, when the robot body moves to the target charging position, the charging function of the charging port is controlled to be turned on; and when the robot is charged to the target power, the charging function of the charging port is controlled to be turned off; that is, when the robot does not need to be charged based on the charging port, the charging function of the charging port is turned off, thereby reducing energy loss.

[0023] Optionally, in an embodiment of the present application, the shape of the charging warehouse includes a rectangle; the charging warehouse includes: a first charging side wall, a second side wall and a third side wall; the charging port is arranged on the first charging side wall; the second side wall is arranged at one end of the first charging side wall, and the third side wall is arranged at the other end of the first charging side wall; the side wall heights of the first charging side wall, the second side wall and the third side wall are greater than the height of the robot; the distance between the second side wall and the third side wall is greater than the maximum cross-sectional diameter of the robot; wherein the maximum cross-sectional diameter refers to the maximum value in the cross-sectional diameter of the robot; the cross-sectional diameter of the robot includes a line segment whose two ends are on the periphery of the cross-sectional diameter of the robot.

[0024] In the above implementation process, the rectangular charging depot can improve the accuracy of determining the actual position of the robot body while reducing the difficulty of determining the actual position of the robot body. The second side wall is arranged at one end of the first charging side wall, and the third side wall is arranged at the other end of the first charging side wall, that is, the second side wall and the third side wall are arranged relative to each other. Based on the second side wall and the third side wall, a baffle can also be placed above the charging depot to prevent damage to the robot caused by falling objects from high altitude, thereby further improving the charging safety of the robot system. By setting the distance between the second side wall and the third side wall to be greater than the maximum cross-sectional diameter of the robot, the side wall is prevented from restricting the steering of the robot, so as to ensure that the robot can move flexibly in the charging depot.

[0025] Optionally, in an embodiment of the present application, the first charging side wall includes a mezzanine area arranged in the first charging side wall; the temperature detection module, the main control module, the first communication device and the charging line of the charging port are arranged in the mezzanine area.

[0026] In the above implementation process, by arranging the temperature detection module, the main control module, the first communication device and the charging line of the charging port in the interlayer area, the internal surface of the charging warehouse can be made smoother, so as to further reduce the difficulty of determining the actual position of the robot body and improve the accuracy of determining the actual position of the robot body.

[0027] Optionally, in an embodiment of the present application, the charging warehouse also includes: a status indication module; the status indication module is communicatively connected to the main control module; the main control module is configured to send corresponding status instructions to the status indication module according to the current charging status of the charging port; the status indication module is configured to receive the status instruction and indicate the current charging status of the charging port according to the status instruction.

[0028] In the above implementation process, the current charging status of the charging port can be indicated by the status indication module, so that the operation and maintenance personnel can obtain the charging status of the robot.

[0029] The beneficial effects of the present application are as follows: a robot is provided, including a robot body, a ranging module, a control module and a driving module. Since the ranging module is installed on the side of the robot body, the distance measurement data of the ranging module is related to the actual position of the robot body; the control module sends a driving instruction about the charging route to the driving module based on the actual position of the robot body, so that the driving module drives the robot body to move to the target charging position more accurately based on the driving instruction, thereby realizing the automatic charging of the robot. Compared with the existing visual identification docking technology, the robot provided in the present application can realize the automatic charging of the robot based on the robot body, the ranging module, the control module and the driving module, and the cost is relatively low. The existing technical problem of high cost in realizing automatic charging of robots is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A schematic diagram of the structure of a robot provided in an embodiment of the present application;

[0032] Figure 2 A schematic diagram of the structure of another robot provided in an embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of a robot system provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of the structure of another robot system provided in an embodiment of the present application.

[0035] Figure markings: 01-robot; 10-robot body; 101-first side; 102-second side; 103-third side; 104-charging receiving port; 20-ranging module; 201-first ranging module; 202-second ranging module; 203-third ranging module; 30-control module; 40-driving module; 02-robot system; 021-charging depot; 0210-charging port; 0211-first charging side wall; 0212-second side wall; 0213-third side wall; 0214-temperature detection module; 0215-main control module; 0216-first communication device; 0217-status indication module; 105-second communication device. DETAILED DESCRIPTION

[0036] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0038] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0039] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a robot 01 provided in an embodiment of the present application. It should be noted that: Figure 1 Specifically, it relates to a schematic diagram of a top view structure of a robot 01. The robot 01 comprises: a robot body 10, a distance measurement module 20, a control module 30 and a drive module 40;

[0040] The distance measuring module 20 is installed on the side of the robot body 10, and the control module 30 is communicatively connected with the distance measuring module 20 and the driving module 40;

[0041] The control module 30 is configured to receive the distance measurement data of the distance measurement module 20 and send a driving instruction about the charging route to the driving module 40 based on the distance measurement data;

[0042] The driving module 40 is configured to receive the driving instruction and drive the robot body 10 to move to the target charging position according to the driving instruction.

[0043] Among them, the robot 01 can be a wheeled robot, or a walking robot, a flying robot or a tracked robot, etc. The robot body 10 refers to the mechanical part of the robot 01, including the actuator and mechanical transmission mechanism of the robot 01. The actuator can include a fixed or movable base, a wall, a wrist, a walking part, etc.; the mechanical transmission mechanism is connected to the actuator in a transmission manner, and the mechanical transmission mechanism can include a reducer, a gear, etc. The ranging module 20 can be implemented by a distance sensor, such as an ultrasonic sensor or an infrared ranging sensor, etc. The control module 30 can be implemented by a control chip or a programmable logic controller, etc. The driving module 40 refers to a module for driving the robot body 10 (including the actuator and the mechanical transmission mechanism) to move, and the driving module 40 can be specifically implemented by an electrical driving device (DC servo motor, AC servo motor or stepping motor) or a hydraulic driving device, etc.

[0044] Among them, after receiving the distance measurement data from the ranging module 20, the control module 30 can adjust the current charging route of the robot body 10 according to the distance measurement data, determine the driving instructions according to the adjusted charging route, and then send the driving instructions determined based on the adjusted charging route to the driving module 40. The driving module 40 drives the robot body 10 to move to the target charging position according to the adjusted charging route based on the driving instructions. The specific implementation method of "after receiving the distance measurement data from the ranging module 20, the control module 30 can adjust the current charging route of the robot body 10 according to the distance measurement data, and determine the driving instructions according to the adjusted charging route" can be an existing driving instruction determination method.

[0045] After receiving the distance measurement data from the distance measuring module 20, the control module 30 may also send the distance measurement data to the external processing module; receive the adjusted charging route fed back by the external processing module; and then determine the driving instruction according to the adjusted charging route, and send the driving instruction determined based on the adjusted charging route to the driving module 40. The specific implementation method of "the control module 30 determines the driving instruction according to the adjusted charging route" may also be an existing driving instruction determination method. After receiving the distance measurement data from the distance measuring module 20, the control module 30 may also send the distance measurement data to the external processing module; so that the external processing module adjusts the current charging route of the robot body 10 according to the distance measurement data, and determines the driving instruction according to the adjusted charging route, and returns the driving instruction to the control module 30. The control module 30 sends the "driving instruction returned by the external processing module" to the driving module 40.

[0046] It can be seen that the robot 01 provided in the embodiment of the present application includes a robot body 10, a ranging module 20, a control module 30 and a drive module 40. Since the ranging module 20 is installed on the side of the robot body 10, the distance measurement data of the ranging module 20 is related to the actual position of the robot body 10; the control module 30 sends a driving instruction about the charging route to the drive module 40 based on the actual position of the robot body 10, so that the drive module 40 drives the robot body 10 to move to the target charging position more accurately based on the driving instruction, thereby realizing the automatic charging of the robot 01. Compared with the existing visual identification docking technology, the robot 01 provided in the present application can realize the automatic charging of the robot 01 based on the robot body 10, the ranging module 20, the control module 30 and the drive module 40, and the cost is relatively low. It solves the existing technical problem of high cost of realizing automatic charging of robots.

[0047] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of another robot 01 provided in an embodiment of the present application. It should be noted that: Figure 2 Specifically, it relates to a schematic diagram of the structure of the robot 01 from a top view.

[0048] In some optional embodiments, the ranging module 20 includes: a first ranging module 201 and a second ranging module 202; the first ranging module 201 and the second ranging module 202 are respectively installed on the first side surface 101 and the second side surface 102 which are oppositely arranged on the robot body 10.

[0049] The first distance measuring module 201 or the second distance measuring module 202 can be implemented by a distance sensor, such as an ultrasonic sensor or an infrared distance measuring sensor, etc. The specific implementation methods of the first distance measuring module 201 and the second distance measuring module 202 can be the same or different. The first distance measuring module 201 can be installed on the first side surface 101 and at a position 50 cm away from the bottom surface of the robot body 10. The installation height of the second distance measuring module 202 can be the same as or different from the installation height of the first distance measuring module 201, and this application does not make specific restrictions on this.

[0050] In some optional embodiments, a charging receiving port is provided on the robot body 10 ; the charging receiving port is specifically provided on the first side surface 101 or the second side surface 102 .

[0051] Among them, taking the charging receiving port being set on the first side 101 as an example, the charging receiving port can be specifically set in the upper area of ​​the first ranging module 201, or can be set in the lower area of ​​the first ranging module 201, or can be set flush with the first ranging module. The charging receiving port is connected to the energy storage module used to power the robot. When the charging receiving port is electrically connected to the charging power supply, the energy storage module can be charged based on the charging power supply. By setting the charging receiving port on the first side 101 or the second side 102, the distance between the charging receiving port and the target charging port used to charge the robot can be obtained based on the first ranging module 201 or the second ranging module 202. Thereby, without increasing the number of ranging modules, the robot body 10 can be more accurately controlled to move to the target charging position.

[0052] In some optional embodiments, a charging receiving port 104 is provided on the third side 103 of the robot body 10; wherein the third side 103 is orthogonal to the first side 101 and the second side 102 respectively, and the distance between the charging receiving port 104 and the first side 101 is equal to the distance between the charging receiving port 104 and the second side 102; the ranging module 20 also includes a third ranging module 203, and the third ranging module 203 is installed on the third side 103 of the robot body 10; the third ranging module 203 is arranged directly above or directly below the charging receiving port 104.

[0053] Among them, the third ranging module 203 can be implemented by a distance sensor, such as an ultrasonic sensor or an infrared ranging sensor; the specific implementation method of the third ranging module 203 and the first ranging module 201 and / or the second ranging module 202 can be the same or different. The distance between the charging receiving port 104 and the first side 101 is equal to the distance between the charging receiving port 104 and the second side 102, that is, the charging receiving port 104 is arranged in the middle area of ​​the third side 103. By installing the third ranging module 203 on the third side 103 where the charging receiving port is arranged, the distance between the charging receiving port and the target charging port for charging the robot 01 can be obtained based on the third ranging module 203, thereby more accurately controlling the robot body 10 to move to the target charging position. Figure 2 , it is shown that a charging receiving port 104 is provided on the third side surface 103 of the robot body 10 , and the ranging module 20 further includes a third ranging module 203 , and the third ranging module 203 is installed on the third side surface 103 of the robot body 10 .

[0054] In some optional embodiments, the above-mentioned robot also includes: a remote control receiving module; the remote control receiving module is communicatively connected to the remote control of the robot and the control module 30; the remote control receiving module is configured to receive remote control instructions of the remote control and send the remote control instructions to the control module 30.

[0055] The remote control receiving module can be implemented by a wireless remote control receiving module, and correspondingly, the remote control can be implemented by a wireless remote control sending module. The charging instruction or full charge outbound instruction of the robot can be implemented based on the remote control. For example, a charging request can be sent to the remote control receiving module of the robot based on the remote control. When the robot receives the charging request based on the remote control receiving module, the robot can be controlled to move to the target charging position for charging.

[0056] Please refer to Figure 3 , Figure 3 A schematic diagram of the structure of a robot system 02 provided in an embodiment of the present application. The robot system 02 comprises: a charging warehouse 021 and at least one robot 01 as described in any one of the first aspects above;

[0057] The charging depot 021 is provided with a charging port 0210 , and the setting height of the charging port 0210 is consistent with the height of the charging receiving port 104 of the robot 01 ; the charging depot 021 is configured to charge the robot 01 based on the charging port 0210 when the charging port 0210 is electrically connected to the charging receiving port 104 of the robot 01 .

[0058] The bottom shape of the charging station 021 may be rectangular, semicircular, or trapezoidal. Figure 3The case where the bottom surface of the charging depot 021 is rectangular is shown in the figure. The materials used to build the charging depot 021 may include aluminum profiles, acrylic plates, or bakelite, etc. The charging port 0210 is electrically connected to the charging power supply. When the charging port 0210 is electrically connected to the charging receiving port 104, the electrical connection between the charging power supply and the energy storage module of the robot can be achieved, thereby realizing the charging of the robot 01. Before realizing the automatic charging of the robot 01, the robot 01 can be placed in the charging depot 021, and the charging receiving port 104 of the robot 01 can be aligned with the charging port 0210 provided in the charging depot 021 as the target charging position.

[0059] Please refer to Figure 4 , Figure 4 A schematic diagram of the structure of another robot system 02 provided in an embodiment of the present application.

[0060] In some optional embodiments, the charging warehouse 021 also includes: a temperature detection module 0214 and a main control module 0215; the temperature detection module 0214 is arranged within a preset area around the charging port 0210; the temperature detection module 0214 and the main control module 0215 are communicatively connected; the temperature detection module 0214 is configured to detect the charging temperature of the charging port 0210, and send the charging temperature to the main control module 0215; the main control module 0215 is configured to receive the charging temperature, and when the charging temperature is abnormal, shut down the charging function of the charging port 0210.

[0061] Among them, the temperature detection module 0214 can be implemented by a sensor that can sense temperature and convert it into a usable output signal, such as a thermocouple or a thermistor. The main control module 0215 can be implemented by an STM32 chip, an Arduino development board, or a Raspberry Pi development board. The preset area range may refer to: an area less than or equal to 20 cm away from the charging port 0210; or an area that coincides with the center point of the charging port 0210 and has an area of ​​40 square centimeters. The main control module 0215 can determine whether the charging temperature is abnormal based on the received charging temperature and the preset temperature threshold upper and lower limits; for example, the charging temperature can be determined to be abnormal when the charging temperature is greater than the preset temperature threshold upper limit or less than the preset temperature threshold lower limit. The specific implementation method of "the main control module 0215 determines whether the charging temperature is abnormal based on the received charging temperature and the preset temperature threshold upper and lower limits" can be implemented based on the existing temperature abnormality judgment method. The main control module 0215 can also send the received charging temperature to the external data processing module, and receive the temperature detection result (including normal charging temperature and abnormal charging temperature) returned by the external data processing module based on the charging temperature. The charging function of the charging port 0210 can be turned off by cutting off the electrical connection between the charging power source and the charging port 0210; the charging function of the charging port 0210 can also be turned off by preventing the charging port 0210 from being electrically connected to the charging receiving port 104 (for example, controlling the charging port 0210 to shrink so that the shrinking charging port 0210 cannot achieve electrical connection with the charging receiving port 104).

[0062] In some optional embodiments, the charging warehouse 021 also includes: a first communication device 0216; the robot 01 also includes: a second communication device 105; the main control module 0215 is also configured to realize a communication connection with the control module of the robot 01 based on the first communication device 0216 and the second communication device 105; the control module is configured to send a charging start instruction to the main control module 0215 when the robot body of the robot 01 moves to the target charging position; and send a charging shutdown instruction to the main control module 0215 when the robot 01 is charged to the target power; the main control module 0215 is also configured to start the charging function of the charging port 0210 when receiving the charging start instruction; and shut down the charging function of the charging port 0210 when receiving the charging shutdown instruction.

[0063] Among them, the first communication device 0216 and the second communication device 105 can be implemented by LoRa communication devices, wireless network communication devices, Bluetooth communication devices or radio frequency communication devices. The communication connection between the robot 01 control module and the charging library 021 main control module 0215 can be realized through the first communication device 0216 and the second communication device 105. In addition, when the robot body moves to the target charging position, the charging function of the charging port 0210 is controlled to be turned on; and when the robot 01 is charged to the target power, the charging function of the charging port 0210 is controlled to be turned off; that is, when the robot does not need to be charged based on the charging port 0210, the charging function of the charging port 0210 is turned off, thereby reducing the energy loss of the robot system 02.

[0064] In some optional embodiments, the shape of the charging depot 021 includes a rectangle; the charging depot 021 includes: a first charging side wall 0211, a second side wall 0212 and a third side wall 0213; the charging port 0210 is arranged on the first charging side wall 0211; the second side wall 0212 is arranged at one end of the first charging side wall 0211, and the third side wall 0213 is arranged at the other end of the first charging side wall 0211; the side wall heights of the first charging side wall 0211, the second side wall 0212 and the third side wall 0213 are greater than the height of the robot 01; the distance between the second side wall 0212 and the third side wall 0213 is greater than the maximum cross-sectional diameter of the robot 01; wherein the maximum cross-sectional diameter refers to the maximum value of the cross-sectional diameter of the robot 01; the cross-sectional diameter of the robot 01 includes a line segment whose two ends are on the periphery of the cross-sectional diameter of the robot 01.

[0065] Among them, the shape of the charging depot 021 refers to the cross-sectional shape of the charging depot 021. The manufacturing materials of the first charging side wall 0211, the second side wall 0212 and the third side wall 0213 may include aluminum alloy, acrylic material or phenolic plastic, etc. The manufacturing materials of the first charging side wall 0211, the second side wall 0212 and the third side wall 0213 may not be exactly the same. Based on the second side wall 0212 and the third side wall 0213, a baffle can be placed above the charging depot 021 to prevent damage to the robot 01 caused by falling objects from high altitude, further improving the charging safety of the robot system 02. By setting the distance between the second side wall 0212 and the third side wall 0213 to be greater than the maximum cross-sectional diameter of the robot 01, it is possible to avoid the side wall from restricting the turning of the robot 01, so as to ensure that the robot 01 can move flexibly in the charging depot 021. The charging port 0210 may be specifically disposed in the middle area of ​​the first charging side wall 0211 , that is, the distances between the charging port 0210 and the second side wall 0212 and the third side wall 0213 are equal.

[0066] Before the robot 01 is automatically charged, the robot 01 can be placed at the target charging position of the charging warehouse 021; the robot 01 is controlled to move toward the front of the charging warehouse 021 (i.e., in the direction away from the first charging side wall 0211) until the robot 01 moves to the preset rotation position; the distance between the preset rotation position and the first charging side wall 0211 can ensure that the robot 01 can rotate freely without colliding with the first charging side wall 0211, the second side wall 0212, and the third side wall 0213. In the case where the ranging module of the robot 01 includes the first ranging module and the second ranging module, the robot 01 is controlled to rotate until the first side surface is parallel to the second side wall 0212 and the second side surface is parallel to the third side wall 0213, and the rotation position data measured by the first ranging module and the second ranging module are recorded. In the process of realizing automatic charging of robot 01, the robot 01 can be first controlled to navigate to the rotation navigation position according to the control module of robot 01 (due to the limitation of navigation accuracy, there will be a position error between the rotation navigation position and the preset rotation position), and the rotation state of robot 01 (that is, the orientation of robot 01) is made consistent with the rotation state (that is, the orientation of robot 01) when "recording the rotation position data measured by the first ranging module and the second ranging module". At this time, the navigation position data of robot 01 is measured based on the first ranging module and the second ranging module, and the charging route of robot 01 is adjusted according to the deviation between the navigation position data and the rotation position data, and then the control module sends a driving instruction about the adjusted charging route to the driving module, so that the driving module drives the robot body to move to the target charging position more accurately based on the driving instruction, thereby realizing the automatic charging of robot 01. When the ranging module of robot 01 only includes the first ranging module, robot 01 can be controlled to rotate until the first side surface is parallel to the second side wall 0212, and the first rotational position data measured by the first ranging module is recorded; then the robot body of robot 01 is controlled to rotate 180°, and the second rotational position data measured by the first ranging module is recorded again; accordingly, the rotational position data includes: the first rotational position data and the second rotational position data.

[0067] In some optional embodiments, the first charging side wall 0211 includes a sandwich area arranged in the first charging side wall; the temperature detection module 0214, the main control module 0215, the first communication device 0216 and the charging line of the charging port 0210 are arranged in the sandwich area.

[0068] The specific size and location of the interlayer area can be adjusted according to the actual application. By arranging the temperature detection module 0214, the main control module 0215, the first communication device 0216 and the charging line of the charging port 0210 in the interlayer area, the internal surface of the charging reservoir 021 can be made smoother, so as to further reduce the difficulty of determining the actual position of the robot body and improve the accuracy of determining the actual position of the robot body.

[0069] In some optional embodiments, the first charging side wall 0211 may also be provided with ventilation holes. The ventilation holes can maintain smooth ventilation in the charging warehouse 021 to prevent the internal temperature of the charging warehouse 021 from being too high.

[0070] In some optional embodiments, the charging warehouse 021 also includes: a status indication module 0217; the status indication module 0217 is communicatively connected to the main control module 0215; the main control module 0215 is configured to send corresponding status instructions to the status indication module 0217 according to the current charging status of the charging port 0210; the status indication module 0217 is configured to receive the status instruction and indicate the current charging status of the charging port 0210 according to the status instruction.

[0071] The status indication module 0217 may be implemented by a status display screen or a status indicator light (e.g., a digital tube, a three-color light, etc.). The status indication module 0217 may be installed in front of the charging warehouse 021 (on the side away from the first charging side wall 0211) to indicate the current charging status of the charging port 0210 of the charging warehouse 021.

[0072] It should be understood that the robot system 02 corresponds to the above-mentioned robot 01 embodiment. The specific implementation method of the robot system 02 can be found in the description above. To avoid repetition, the detailed description is appropriately omitted here.

[0073] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed machine structure / system can also be implemented in other ways. The embodiments described above are merely schematic. For example, the block diagrams in the accompanying drawings show the possible architecture or functions that can be implemented according to multiple embodiments of the embodiments of the present application. In this regard, each box in the block diagram can represent a module or a part of a module. It should also be noted that each box in the block diagram, and the combination of boxes in the block diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0074] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0075] The above description is only an optional implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiments of the present application, which should be covered within the protection scope of the embodiments of the present application.

Claims

1. A robot, characterized in that: The robot comprises: a robot body, a distance measurement module, a control module and a driving module; The distance measuring module is installed on the side of the robot body, and the control module is communicatively connected with the distance measuring module and the driving module; The control module is configured to receive distance measurement data from the distance measurement module, and send a driving instruction about a charging route to the driving module based on the distance measurement data; The driving module is configured to receive the driving instruction and drive the robot body to move to a target charging position according to the driving instruction.

2. The robot according to claim 1, characterized in that: The distance measurement module includes: a first distance measurement module and a second distance measurement module; The first distance measuring module and the second distance measuring module are respectively mounted on a first side surface and a second side surface that are oppositely arranged on the robot body.

3. The robot according to claim 2, characterized in that: The robot body is provided with a charging receiving port; the charging receiving port is specifically provided on the first side surface or the second side surface.

4. The robot according to claim 2, characterized in that: A charging receiving port is provided on the third side surface of the robot body; wherein the third side surface is orthogonal to the first side surface and the second side surface respectively, and the distance between the charging receiving port and the first side surface is equal to the distance between the charging receiving port and the second side surface; The distance measuring module also includes a third distance measuring module, and the third distance measuring module is installed on the third side surface of the robot body; the third distance measuring module is arranged just above or just below the charging receiving port.

5. A robot system, characterized in that: The system comprises: a charging depot and at least one robot as described in any one of claims 1 to 4; The charging depot is provided with a charging port, and the setting height of the charging port is consistent with the height of the charging receiving port of the robot; the charging depot is configured to charge the robot based on the charging port when the charging port is electrically connected to the charging receiving port of the robot.

6. The system according to claim 5, characterized in that The charging station further comprises: a temperature detection module and a main control module; the temperature detection module is arranged within a preset area around the charging port; The temperature detection module is communicatively connected to the main control module; the temperature detection module is configured to detect the charging temperature of the charging port and send the charging temperature to the main control module; the main control module is configured to receive the charging temperature and, if the charging temperature is abnormal, shut down the charging function of the charging port.

7. The system according to claim 6, characterized in that The charging station further comprises: a first communication device; the robot further comprises: a second communication device; The main control module is further configured to realize a communication connection with the control module of the robot based on the first communication device and the second communication device; The control module is configured to send a charging start instruction to the main control module when the robot body of the robot moves to the target charging position; and send a charging stop instruction to the main control module when the robot is charged to the target power; The main control module is further configured to enable the charging function of the charging port when the charging enable instruction is received; and to disable the charging function of the charging port when the charging disable instruction is received.

8. The system according to claim 7, characterized in that The shape of the charging station includes a rectangle; the charging station includes: a first charging side wall, a second side wall and a third side wall; the charging port is arranged on the first charging side wall; the second side wall is arranged at one end of the first charging side wall, and the third side wall is arranged at the other end of the first charging side wall; The side wall heights of the first charging side wall, the second side wall, and the third side wall are greater than the height of the robot; The distance between the second side wall and the third side wall is greater than the maximum cross-sectional diameter of the robot; wherein the maximum cross-sectional diameter refers to the maximum value of the cross-sectional diameters of the robot; the cross-sectional diameter of the robot includes a line segment whose two ends are on the periphery of the cross-sectional area of ​​the robot.

9. The system according to claim 8, characterized in that The first charging sidewall includes an interlayer region disposed within the first charging sidewall; The temperature detection module, the main control module, the first communication device and the charging line of the charging port are arranged in the interlayer area.

10. The system according to claim 6, characterized in that The charging station further comprises: a status indication module; the status indication module is communicatively connected with the main control module; The main control module is configured to send a corresponding status instruction to the status indication module according to the current charging status of the charging port; The status indication module is configured to receive the status instruction and indicate the current charging status of the charging port according to the status instruction.

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