Charging device and charging docking system

Abstract

The utility model 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] This application belongs to the technical field of mobile robots, and more specifically, relates to a charging device and a charging docking system. Background Art

[0002] A mobile robot is an autonomous robot that can move in a working environment. Different from industrial robots, it is not fixed at a certain position and has a larger working space and flexibility. The control of mobile robots is divided into two methods: remote control and autonomous navigation. Among them, when the battery level of an autonomously navigated mobile robot is low, it will move to the position of the charging station and dock with the charging station to complete charging. Most of the existing charging stations and mobile robots use complex mechanical structures or optical sensors to achieve docking.

[0003] However, using complex mechanical structures or optical sensors to guide the docking and charging of mobile robots with the charging station not only increases the cost of the equipment, but also has low docking accuracy, affecting the charging effect. Summary of the Utility Model

[0004] The purpose of the embodiments of this application is to provide a charging device and a charging docking system, aiming to solve the technical problems in the prior art that the charging station uses complex mechanical structures or optical sensors to guide the docking and charging of mobile robots with the charging station, which not only has a high cost, but also has low docking accuracy, affecting the charging effect.

[0005] To achieve the above purpose, according to one aspect of this application, a charging device is provided. The charging device is used to dock with a mobile robot. The charging device includes: a base and a guiding part. The guiding part includes a guiding wire. The guiding wire is arranged on the base and encloses a closed guiding area on the base. When the guiding wire is energized, an electromagnetic field signal is generated in the closed guiding area, and the electromagnetic field signal is used to guide the mobile robot to dock with the charging device.

[0006] Optionally, the guiding wire has a first guiding segment and a second guiding segment that are symmetrically arranged. When the guiding wire is energized, a first electromagnetic field signal is generated between the first guiding segment and the second guiding segment.

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

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

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

[0010] Optionally, the guiding wire further has a third guiding segment connecting the first guiding segment and the second guiding segment. When the guiding wire is energized, the guiding wire generates a second electromagnetic field signal near the third guiding segment, and the second electromagnetic field signal is used to instruct the mobile robot to avoid the charging device or indicate that the mobile robot is near the charging device at this time.

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

[0012] Optionally, the guiding part further includes a guiding structure, and the guiding structure is arranged on the base and located within the closed guiding area. During the docking process of the mobile robot and the charging device, the guiding structure can cooperate with the mobile robot and guide the movement of the mobile robot.

[0013] Optionally, the charging device further includes a first charging part, and the first charging part is arranged on the base for docking with the mobile robot. The projection of the output end of the first charging part on the base is at least partially located within the closed guiding area.

[0014] According to another aspect of the present application, a charging docking system is provided, and the charging docking system includes: the above-mentioned charging device and the mobile robot. A magnetic field detection part is arranged in the mobile robot, and the magnetic field detection part is used to sense 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 part includes a first magnetic field sensor and a second magnetic field sensor, and both the first magnetic field sensor and the second magnetic field sensor can be located within the closed guiding area.

[0016] Optionally, the width of the closed guiding 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 guiding 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 guiding 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 guiding 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 includes a first charging unit, and the first magnetic field sensor and the second magnetic field sensor are symmetrically arranged with respect to the first charging unit.

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

[0022] Optionally, during the process of the mobile robot moving along the central axis of the charging device, the two driving wheels are located directly above the guiding line.

[0023] The beneficial effects of the charging device provided in this application are as follows: Compared with the prior art, the charging device provided in this application sets a guiding line on the base and encloses the guiding line into a closed guiding area on the base. When the guiding line is energized, it can generate an electromagnetic field signal for guiding the mobile robot, so that the mobile robot can dock with the charging device or avoid the charging device under the guidance of the electromagnetic field signal. At the same time, part of the electromagnetic field signal generated after the guiding line is energized can be concentrated in the closed guiding area, effectively improving the intensity of the electromagnetic field signal in the closed guiding area. By adjusting the magnitude of the current passing through the guiding line, the intensity of the electromagnetic field signal in the closed guiding area can be made much greater than the intensity of the interfering electromagnetic field signal in the external environment, so that the mobile robot can accurately distinguish the electromagnetic field signal in the closed guiding area from the interfering electromagnetic field signal in the external environment, ensuring the stability and reliability during the docking process of the mobile robot and the charging device. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic structural diagram of the charging device provided in the embodiment of the present application;

[0026] Figure 2 It is a schematic structural diagram of the charging device from another perspective provided in the embodiment of the present application;

[0027] Figure 3 It is a bottom view of the charging device provided in the embodiment of the present application;

[0028] Figure 4 It is a schematic structural diagram of the mobile robot provided in the embodiment of the present application;

[0029] Figure 5Schematic diagram of the structure of the mobile robot from another perspective provided by the embodiments of the present application;

[0030] Figure 6 Bottom view of the mobile robot with some components removed provided by the embodiments of the present application;

[0031] Figure 7 Front view of the mobile robot with some components removed provided by the embodiments of the present application;

[0032] Figure 8 Schematic diagram of the structure of the mobile robot docked with the charging device provided by the embodiments of the present application;

[0033] Figure 9 Schematic diagram of the structure of the mobile robot docked with the charging device from another perspective provided by the embodiments of the present application;

[0034] Figure 10 Schematic diagram of the distribution of the magnetic field intensity of the electromagnetic field signal generated by the guiding wire in the width direction of the base provided by the embodiments of the present application;

[0035] Figure 11 Schematic diagram of the distribution of the magnetic field intensity of the electromagnetic field signal generated by the guiding wire in the width direction of the base provided by another embodiment of the present application;

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

[0037] 1. Charging device;

[0038] 2. Mobile robot;

[0039] 10. Base; 11. Closed guiding area; 12. Installation recess; 121. Buckle structure;

[0040] 20. Guiding part; 21. Guiding wire; 211. First guiding section; 212. Second guiding section; 213. Third guiding section; 22. Guiding structure; 221. Guiding protrusion;

[0041] 30. First charging part;

[0042] 40. Housing;

[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 implementation manners

[0047] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer and more understandable, 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 used to explain the present application and are not used to limit the present application.

[0048] It should be noted that when an element is referred to as being "fixed to" or "disposed 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. Without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0049] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0050] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0051] As described in the background art, a mobile robot is an autonomous robot that can move in a working environment. Different from industrial robots, it is not fixed in a certain position and has a larger working space and flexibility. The control of mobile robots is divided into two methods: remote control and autonomous navigation. Among them, when the autonomous navigation mobile robot has a low battery level, it will move to the position of the charging station and dock with the charging station to complete charging. Most of the existing charging stations and mobile robots use complex mechanical structures or optical sensors to achieve 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 and affects the charging effect.

[0052] See Figures 1 to 3As shown in the figure, to solve the above problems, according to one aspect of the present application, an embodiment of the present application provides a charging device 1 for docking with a mobile robot 2. The charging device 1 includes: a base 10 and a guiding part 20. The guiding part 20 includes a guiding wire 21. The guiding wire 21 is arranged on the base 10 and forms a closed guiding area 11 on the base 10. Wherein, when the guiding wire 21 is energized, an electromagnetic field signal is generated in the closed guiding area 11, and the electromagnetic field signal is used to guide the mobile robot 2 to dock with the charging device 1. The charging device 1 provided in this embodiment sets the guiding wire 21 on the base 10 and makes the guiding wire 21 form a closed guiding area 11 on the base 10, so that when the guiding wire 21 is energized, it can generate an electromagnetic field signal for guiding the mobile robot 2, so that the mobile robot 2 can 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 guiding wire 21 is energized can be concentrated in the closed guiding area 11, effectively improving the intensity of the electromagnetic field signal in the closed guiding area 11. By adjusting the magnitude of the current passed through the guiding wire 21, the intensity of the electromagnetic field signal in the closed guiding area 11 can be made much greater than the intensity of the interfering electromagnetic field signal in the external environment, so that the mobile robot 2 can accurately distinguish the electromagnetic field signal in the closed guiding area 11 from the interfering electromagnetic field signal in the external environment, ensuring the stability and reliability during the docking process of the mobile robot 2 and the charging device 1.

[0053] In a specific embodiment, the guiding wire 21 provided in this embodiment can generate an electromagnetic field signal near the base 10 after being energized.

[0054] In an alternative embodiment, the charging device 1 provided in this embodiment further includes a power supply unit 80. The power supply unit 80 is arranged on the base 10 and is electrically connected to the guiding wire 21 for supplying power to the guiding wire 21. The guiding wire 21 can form a closed loop with the power supply unit 80. By electrically connecting the power supply unit 80 to the guiding wire 21 and making the guiding wire 21 form a closed loop with the power supply unit 80, the guiding wire 21 can generate an electromagnetic field signal in the closed guiding area 11 after being energized.

[0055] In an alternative embodiment, the power supply unit 80 provided in this embodiment delivers an alternating current signal to the guiding wire 21 to generate a corresponding electromagnetic field signal on the guiding wire 21.

[0056] In an alternative embodiment, the alternating current signal provided in this embodiment is a square wave signal.

[0057] See Figure 3As shown, in a specific embodiment, the guiding wire 21 in this embodiment has a symmetrically arranged first guiding section 211 and a second guiding section 212. When the guiding wire 21 is energized, a first electromagnetic field signal is generated between the first guiding section 211 and the second guiding section 212. By setting the guiding wire 21 provided in this embodiment to have a symmetrically arranged first guiding section 211 and a second guiding section 212, the stability and directivity of the first electromagnetic field signal can be effectively improved, enabling the mobile robot 2 to find the docking position more accurately.

[0058] In an alternative embodiment, the first guiding section 211 and the second guiding section 212 provided in this embodiment are straight guiding sections, and the extending directions of the first guiding section 211 and the second guiding section 212 are both parallel to the length direction of the base 10. By setting the first guiding section 211 and the second guiding section 212 as straight guiding sections and setting the extending directions of the first guiding section 211 and the second guiding section 212 to be both parallel to the length direction of the base 10, the directivity of the first magnetic field signal can be effectively improved, which is beneficial for the mobile robot 2 to confirm its relative position with the charging device 1.

[0059] In an alternative embodiment, the first guiding section 211 and the second guiding section 212 provided in this embodiment are straight guiding sections, and the extending directions of the first guiding section 211 and the second guiding section 212 both have the same angle (less than 30 degrees) with the length direction of the base 10. By setting the first guiding section 211 and the second guiding section 212 as straight guiding sections and setting the extending directions of the first guiding section 211 and the second guiding section 212 to be not parallel to the length direction of the base 10, a stronger (or weaker) first electromagnetic field signal can be detected when approaching (or moving away from) the power supply unit 80, enabling the mobile robot 2 to more accurately locate the positional relationship between itself and the charging device 1, and then timely adjust the moving speed of the mobile robot 2, improving the positioning accuracy and charging efficiency of the mobile robot 2.

[0060] In an alternative embodiment, the first guiding segment 211 and the second guiding segment 212 provided in this embodiment are curved guiding segments. The bending of the curved guiding segment not only provides directional guidance for the mobile robot 2, but also its unique bending angle and curvature change can generate magnetic field signals of different intensities. This design enables different intensities of the first electromagnetic field signals to be detected when the mobile robot 2 approaches or moves away from the power supply unit 80. Specifically, as the mobile robot 2 moves along the curved guiding segment, since the distances of the points on the curved segment from the power supply unit 80 are different, the intensities of the generated magnetic field signals will also change accordingly, which can provide richer and more accurate navigation information for the mobile robot 2, enabling the mobile robot 2 to more accurately locate the positional relationship between itself and the charging device 1, and timely adjust the moving speed, thereby improving the positioning accuracy and charging efficiency of the mobile robot 2.

[0061] See Figure 3 As shown, in a specific embodiment, the length of the first guiding segment 211 and / or the second guiding segment 212 in this embodiment is greater than 3 / 4 of the length of the base 10. By setting the length of the first guiding segment 211 and / or the second guiding segment 212 to be greater than 3 / 4 of the length of the base 10, the coverage range of the first electromagnetic field signal provided in this embodiment can be increased, thereby effectively increasing the possibility that the mobile robot 2 detects the electromagnetic field signal generated on the guiding wire 21, and improving the docking accuracy rate between the mobile robot 2 and the charging device 1.

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

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

[0064] See Figure 3As shown, in a specific embodiment, the guiding wire 21 in this embodiment further has a third guiding segment 213 connecting the first guiding segment 211 and the second guiding segment 212. When the guiding wire 21 is energized, the guiding wire 21 generates a second electromagnetic field signal near the third guiding 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, it is necessary to control the mobile robot 2 to avoid the charging device 1. When the mobile robot 2 is in the recharge mode, the second electromagnetic field signal is used to indicate that the charging device 1 is near the mobile robot 2. At this time, it is necessary to obtain the offset of the mobile robot 2 relative to the charging device 1 through other navigation devices, and then control the mobile robot 2 to dock with the charging device 1 according to the offset. By setting the guiding wire 21 to further have a third guiding segment 213 connecting the first guiding segment 211 and the second guiding segment 212, the guiding wire 21 can generate a second electromagnetic field signal near the third guiding segment 213 when energized. Through the second electromagnetic field signal, a clear indication for the mobile robot 2 to avoid or approach the charging device 1 can be provided, improving the safety of the charging docking system, the efficiency of charging docking, and the user experience.

[0065] See Figure 2 and Figure 3 As shown, in a specific embodiment, the guiding wire 21 in this embodiment is arranged at the bottom of the base 10. The guiding wire 21 is symmetrically arranged along the central axis in the width direction of the base 10, or the guiding wire 21 is symmetrically arranged along the central axis in the length direction of the base 10; the length direction of the closed guiding area 11 is parallel to the length direction of the base 10 and / or the width direction of the closed guiding area 11 is parallel to the width direction of the base 10. By arranging the guiding wire 21 provided in this embodiment at the bottom of the base 10, it can effectively avoid interference with the mobile robot 2 during the docking process of the mobile robot 2 and the charging device 1. Moreover, arranging the guiding wire 21 at the bottom of the base 10 can fully protect the guiding wire 21, thus effectively improving the service life of the guiding wire 21. At the same time, by symmetrically arranging the guiding wire 21 provided in this embodiment along the central axis in the width direction of the base 10, or symmetrically arranging the guiding wire 21 along the central axis in the length direction of the base 10, the spatial distribution of the electromagnetic field signal can be made more uniform, so that the mobile robot 2 can obtain the same electromagnetic field signal in any direction, and thus the mobile robot 2 can accurately navigate to the charging device 1.

[0066] In an alternative embodiment, an installation recess 12 is provided at the bottom of the base 10 provided in this embodiment, and the guide provided in this embodiment is installed in the installation recess 12. By installing the guide wire 21 provided in this embodiment in the installation recess 12, the guide wire 21 can be prevented from being directly exposed to the external environment, so that the guide wire 21 can be fully protected.

[0067] In an alternative embodiment, a snap structure 121 is provided in the installation recess 12 provided in this embodiment, and the guide wire 21 provided in this embodiment is detachably installed in the installation recess 12 through the snap structure 121.

[0068] In an alternative embodiment, a plurality of snap structures 121 are provided in this embodiment, and the plurality of snap structures 121 are arranged at intervals along the circumferential direction of the base 10 in the installation recess 12.

[0069] See Figure 1 As shown, in a specific embodiment, the guide portion 20 in this embodiment further includes a guiding structure 22. The guiding structure 22 is provided on the base 10 and is located within the closed guiding area 11. During the docking process of the mobile robot 2 with the charging device 1, the guiding structure 22 can cooperate with the mobile robot 2 and guide the movement of the mobile robot 2. By providing the guiding structure 22 on the base 10 provided in this embodiment and making the guiding structure 22 located within the guiding area, when the mobile robot 2 docks with the charging device 1, it can be accurately docked with the charging device 1 through the guidance of the guiding structure 22.

[0070] In an alternative embodiment, the guiding structure 22 provided in this embodiment includes a guiding protrusion 211. The guiding protrusion 211 provided in this embodiment is provided on the side of the base 10 away from the bottom. During the docking process of the mobile robot 2 with the charging device 1, the guiding protrusion 211 provided in this embodiment can come into 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, a plurality of guiding protrusions 211 are provided in this embodiment, and at least two of the plurality of guiding protrusions 211 are symmetrically arranged along the central axis of the width of the base 10.

[0072] In an alternative embodiment, the guiding protrusion 211 provided in this embodiment extends gradually from the first end of the base 10 to the second end of the base 10 in a direction approaching the central axis of the width of the base 10.

[0073] In another embodiment, the guide structure 22 provided in this embodiment includes a guide recess, and the guide recess provided in this embodiment is arranged on a side of the base 10 away from the bottom. During the docking process between the mobile robot 2 and the charging device 1, the guide recess provided in this embodiment 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 accurately dock with the charging device 1.

[0074] In an optional embodiment, the present embodiment provides a plurality of guide recesses, and at least two of the plurality of guide recesses are symmetrically arranged along the central axis of the width of the base 10 .

[0075] In an optional embodiment, the cross-sectional area of the guide recess provided in this embodiment 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] See also Figure 1 As shown, in a specific embodiment, the charging device 1 in this embodiment further includes a first charging part 30, which is arranged on the base 10 and is used to dock 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 in the closed guide area 11. By arranging the first charging part 30 on the base 10, the charging device 1 can dock with the mobile robot 2 through the output end of the first charging part 30. 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 guide area 11, during the docking process between the mobile robot 2 and the charging device 1, even if the moving path or moving direction is slightly deviated, it can dock with the output end of the first charging part 30 under the guidance of the electromagnetic field signal in the closed guide area 11, and the reliability is high.

[0077] In a specific embodiment, by setting the projection of the output end of the first charging part 30 on the base 10 to be at least partially located in the guide area, the mobile robot 2 can complete the docking in the guide area. Even if the docking of the mobile robot 2 deviates, the position can be adjusted in time through the electromagnetic field signal in the guide area, thereby reducing the adjustment time and improving the docking efficiency. Compared with setting the projection of the output end of the first charging part 30 on the base 10 outside the guide area, if the projection of the output end of the first charging part 30 on the base 10 is set outside the guide area, the mobile robot 2 may leave the guide area during the docking process. At this time, if the docking of the mobile robot 2 deviates, the mobile robot 2 needs to be returned to the guide area for position adjustment and then re-docked, which is time-consuming and labor-intensive.

[0078] In an alternative embodiment, the first charging part 30 provided in this embodiment includes charging electrode plates. The charging electrode plates provided in this embodiment are arranged on the base 10 and are symmetrically arranged along the central axis in the width direction of the base 10, or the charging electrode plates are symmetrically arranged along the central axis in the length direction of the base 10. The charging electrode plates provided in this embodiment form the output end of the first charging part 30.

[0079] In an alternative embodiment, the first charging part 30 provided in this embodiment is arranged on the first end of the base 10. The charging electrode plates provided in this embodiment are symmetrically arranged along the central axis in the width direction of the base 10. The guiding area provided in this embodiment is located between the first end and the second end of the base 10.

[0080] In another embodiment, the base 10 provided in this embodiment includes guiding marks. The guiding marks provided in this embodiment are 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 mobile robot 2 provided in this embodiment can identify the guiding marks and move under the guidance of the guiding marks so that the mobile robot 2 can accurately dock with the charging device 1.

[0081] In an alternative embodiment, the guiding marks provided in this embodiment extend along the central axis of the width of the base 10.

[0082] In an alternative embodiment, the guiding marks provided in this embodiment are a grating coding structure extending along the central axis of the width of the base 10. The mobile robot 2 can detect the grating coding structure through a photoelectric sensor, so that the mobile robot 2 can move along the extending direction of the grating coding.

[0083] In another embodiment, the guiding marks provided in this embodiment are a strip pattern extending along the central 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 extending direction of the strip pattern.

[0084] See Figures 4 to 9As shown, according to another aspect of the present application, a charging docking system is provided. The charging docking system includes: the above-mentioned charging device 1 and the mobile robot 2. A magnetic field detection unit 50 is provided inside the mobile robot 2. The magnetic field detection unit 50 is used to sense the electromagnetic field signal in the closed guiding 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 inside the mobile robot 2 provided in this embodiment, the mobile robot 2 can sense the electromagnetic field signal generated on the guiding wire 21 through the magnetic field detection unit 50, so that the mobile robot 2 can automatically dock with 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 alternative embodiment, the mobile robot 2 provided in this embodiment can be an intelligent device that can automatically move, such as an intelligent lawn mower, a tillage robot, a weeding robot, an intelligent snow remover, a cleaning robot, a service robot, etc.

[0086] In an alternative embodiment, the mobile robot 2 provided in this embodiment includes a housing 40. An accommodation cavity is provided inside the housing 40. The magnetic field detection unit 50 provided in this embodiment is arranged in the accommodation cavity.

[0087] In a specific embodiment, the magnetic field detection unit 50 in this embodiment includes a first magnetic field sensor 51 and a second magnetic field sensor 52. During the process of the mobile robot 2 moving along the central axis of the charging device 1, both the first magnetic field sensor 51 and the second magnetic field sensor 52 are located in the closed guiding area 11. Since the magnetic field direction in the closed guiding area 11 is consistent, and its magnetic field intensity mainly comes from the cumulative effect of the electromagnetic field signal generated after the guiding wire is energized. Therefore, compared with the outside of the closed guiding area 11, the magnetic field intensity in the closed guiding area 11 is more significant. This enhanced magnetic field intensity enables the first magnetic field sensor 51 and the second magnetic field sensor 52 located in the closed guiding area 11 to capture the electromagnetic field signal more accurately, thus greatly improving the accuracy and stability during the docking process of the mobile robot 2 and 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, helping the mobile robot 2 better judge the relative position with the charging device 1 and further enhancing the safety and reliability of the docking.

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

[0089] See Figure 10As shown, in a specific embodiment, the width a of the closed guiding area 11 in this 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, that is, a > d, it can be ensured that even when the mobile robot 2 deviates slightly from the center line of the charging device 1, the electromagnetic field signal can be sensed by the two magnetic field sensors, achieving accurate docking.

[0090] See Figure 7 As shown, in a specific embodiment, the installation height of the first magnetic field sensor 51 or the second magnetic field sensor 52 provided in this embodiment is e.

[0091] See Figure 7 and Figure 10 As shown, in a specific embodiment, 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 in this embodiment 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, that is, a - d > e. It can be ensured that during the driving process of the mobile robot 2, even if there are bumps or tilts, the first magnetic field sensor 51 and the second magnetic field sensor 52 can maintain a stable detection state, ensuring the accuracy of docking.

[0092] See Figure 7 and Figure 10 As shown, in a specific embodiment, the width a of the closed guiding area 11 in this 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, that is, a < 2e, it can be ensured the intensity and stability of the electromagnetic field signal within the closed guiding area 11, avoiding the electromagnetic field signal from being too dispersed and affecting the accuracy of docking.

[0093] See 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 guiding area 11 in this embodiment 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 guiding 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, that is, |a - 2e| < d, while ensuring the stability of the electromagnetic field signal, the distance between the first magnetic field sensor 51 and the second magnetic field sensor 52 can be made large enough so that the mobile robot 2 can more accurately sense the change of the electromagnetic field signal.

[0094] In a specific embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 in this embodiment are symmetrically arranged about the central axis of the mobile robot 2. By setting the first magnetic field sensor 51 and the second magnetic field sensor 52 provided in this embodiment to be symmetrically arranged about the central axis of the mobile robot 2, the mobile robot 2 provided in this embodiment can obtain balanced sensing information through the first magnetic field sensor 51 and the second magnetic field sensor 52 in different directions, that is, the first magnetic field sensor 51 and the second magnetic field sensor 52 can sense the same electromagnetic field signal intensity in different directions, thereby effectively improving the stability of the navigation and charging docking of the mobile robot 2.

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

[0096] In an alternative embodiment, the central axis of the charging device 1 provided in this embodiment is the central axis in the width direction of the charging device 1. Of course, in other embodiments, the central axis of the charging device 1 provided in this embodiment is the central axis in the length direction of the charging device 1.

[0097] In an alternative embodiment, the central axis of the charging device 1 provided in this embodiment is collinear with the central axis in the width direction of the base 10.

[0098] In an alternative embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided in this embodiment are located on the front side in the traveling direction of the mobile robot 2.

[0099] In an alternative embodiment, the guiding line 21 provided in this embodiment is symmetrically arranged about the central axis in the width direction of the base 10.

[0100] In a specific embodiment, since the guiding wire 21 provided in this embodiment is symmetrically arranged along the central axis in the width direction of the base 10, the intensity of the electromagnetic field signal generated after the guiding wire 21 is energized can be symmetric along the central 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 central axis of the mobile robot 2, when the intensity of the electromagnetic field signal sensed by the first magnetic field sensor 51 is not much different from the intensity of the electromagnetic field signal sensed by the second magnetic field sensor 52, the central axis of the mobile robot 2 can be substantially coincident with the central axis in the width direction of the base 10.

[0101] In an alternative embodiment, during the docking process of the mobile robot 2 provided in this embodiment with the charging device 1, the central axis in the width direction of the housing 40 of the mobile robot 2 provided in this embodiment can be substantially coincident with the central axis in the width direction of the base 10 of the charging device 1. When the central axis in the width direction of the housing 40 of the mobile robot 2 provided in this embodiment is substantially coincident with the central 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 in this embodiment can be located in the closed guiding area.

[0102] In an alternative embodiment, the first magnetic field sensor 51 and the second magnetic field sensor 52 provided in this embodiment are arranged at the same height in the height direction of the mobile robot 2.

[0103] See Figures 4 to 9 As shown, in a specific embodiment, the mobile robot 2 in this embodiment further includes a control unit and a moving unit 60. The control unit and the moving unit 60 are both 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 respectively. 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 provided in this embodiment, the mobile robot 2 provided in this embodiment 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 respectively, the control unit provided in this embodiment can judge the offset amount of the mobile robot 2 relative to the charging device 1 according to the orientation and intensity of the electromagnetic field signal, and then send a control signal to control the docking or avoidance of the mobile robot 2 with the charging device 1.

[0104] In an alternative embodiment, the moving unit 60 provided in this embodiment includes a driving wheel assembly 61 and a driven wheel assembly 62. The driving wheel assembly 61 and the driven wheel assembly 62 are both arranged on the housing 40. Among them, the driven wheel assembly 62 is located on the front side in the traveling direction of the mobile robot 2, and the driving wheel assembly 61 is located on the rear side in the traveling direction of the mobile robot 2.

[0105] In an alternative embodiment, the driven wheel assembly 62 provided in this embodiment includes two driving wheels 621, and the two driving wheels 621 are symmetrically arranged along the central axis of the mobile robot 2.

[0106] In an alternative embodiment, during the docking process of the mobile robot 2 provided in this embodiment with the charging device 1, the guiding protrusion 211 or the guiding recess can contact the driving wheel 621 and guide the moving direction of the driving wheel 621, so that the mobile robot 2 can accurately dock with the charging device 1.

[0107] See Figures 5 to 8 As shown, in a specific embodiment, the mobile robot 2 in this embodiment has two driving wheels 621, and the distance between the two driving wheels 621 is greater than the width of the closed guiding area 11. By setting the distance between the two driving wheels 621 to be greater than the width of the closed guiding area 11, it is possible to prevent the driving wheels 621 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.

[0108] In a specific embodiment, the distance between the two driving wheels 621 is the distance between the centers of the two driving wheels 621.

[0109] See Figure 8 and Figure 9 As shown, in a specific embodiment, during the process of the mobile robot 2 moving along the central axis of the charging device 1, the two driving wheels 621 are located directly above the guiding line 21, that is, the guiding line 21 is within the projection range of the two driving wheels 621 on the base 10. By setting the two driving wheels 621 provided in this embodiment to be able to be located directly above the guiding line 21 during the process of the mobile robot 2 moving along the central axis of the charging device 1, it is possible to ensure that the mobile robot 2 maintains a stable driving state during the docking process and avoid docking failure caused by deviating from the guiding line 21.

[0110] See Figure 4 As shown, in an alternative embodiment, the mobile robot 2 provided in this embodiment further includes a second charging portion 70. The second charging portion 70 provided in this 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 this embodiment can dock with the charging device 1 through the cooperation of the second charging portion 70 and the first charging portion.

[0111] See Figure 4 , Figure 8 and Figure 9As shown, in an alternative embodiment, the second charging unit 70 provided in this embodiment includes a charging connector. The charging connector provided in this embodiment is disposed on the housing 40 and located at the front side of the mobile robot 2. When the mobile robot 2 provided in this embodiment docks with the charging device 1, first, the first magnetic field sensor 51 and the second magnetic field sensor 52 sense the electromagnetic field signal generated by the guiding wire 21. The control unit controls the moving direction of the mobile robot 2 according to the intensity of the electromagnetic field signal 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. As the mobile robot 2 moves, the charging connector provided in this embodiment can touch and dock with the charging electrode plate. After the charging connector is docked with the charging electrode plate, the control unit can control the mobile robot 2 to stop moving.

[0112] In summary, implementing the charging device and the charging docking system provided in this embodiment has at least the following beneficial technical effects: The charging device 1 provided in this embodiment sets the guiding wire 21 on the base 10 and makes the guiding wire 21 enclose a closed guiding area 11 on the base 10. When the guiding wire 21 is energized, it can generate an electromagnetic field signal for guiding the mobile robot 2, so that the mobile robot 2 can 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 guiding wire 21 is energized can be concentrated in the closed guiding area 11, effectively improving the intensity of the electromagnetic field signal in the closed guiding area 11. By adjusting the magnitude of the current passing through the guiding wire 21, the intensity of the electromagnetic field signal in the closed guiding area 11 can be made much greater than the intensity of the interfering electromagnetic field signal in the external environment, so that the mobile robot 2 can accurately distinguish the electromagnetic field signal in the closed guiding area 11 from the interfering electromagnetic field signal in the external environment, ensuring the stability and reliability during the docking process between the mobile robot 2 and the charging device 1.

[0113] The above are only the preferred embodiments of the present application and are 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: a base (10); a guiding part (20), the guiding part (20) includes a guiding wire (21), the guiding wire (21) is arranged on the base (10) and encloses a closed guiding area (11) on the base (10); wherein, when the guiding wire (21) is electrified, the guiding wire (21) generates an electromagnetic field signal in the closed guiding 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, wherein The guiding wire (21) has a first guiding section (211) and a second guiding section (212) which are symmetrically arranged. When the guiding wire (21) is electrified, the guiding wire (21) generates a first electromagnetic field signal between the first guiding section (211) and the second guiding section (212).

3. The charging device according to claim 2, wherein The first guiding section (211) and the second guiding section (212) are straight line segments or curved line segments, and the first guiding section (211) and the second guiding section (212) are parallel to each other.

4. The charging device according to claim 3, characterized in that, 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).

5. The charging device according to claim 3, wherein The current direction of the first guiding section (211) is opposite to the current direction of the second guiding section (212).

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

7. The charging device according to claim 1, wherein The guiding wire (21) is arranged at the bottom of the base (10), and the guiding wire (21) is symmetrically arranged along the central axis in the width direction of the base (10), or the guiding wire (21) is symmetrically arranged along the central axis in the length direction of the base (10); the length direction of the closed guiding area (11) is parallel to the length direction of the base (10) and / or the width direction of the closed guiding area (11) is parallel to the width direction of the base (10).

8. The charging device according to claim 1, wherein The guiding part (20) further includes a guiding structure (22), the guiding structure (22) is arranged on the base (10) and is located in the closed guiding area (11). During the docking process of the mobile robot (2) and the charging device (1), the guiding 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), the first charging part (30) is arranged on the base (10) and is used to dock 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).

10. A charging docking system, characterized in that, including: The charging device (1) according to any one of claims 1 to 9; A mobile robot (2), in which a magnetic field detection unit (50) is provided. The magnetic field detection unit (50) is used to sense the electromagnetic field signal in the closed guiding 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, wherein The magnetic field detection unit (50) includes a first magnetic field sensor (51) and a second magnetic field sensor (52), and both the first magnetic field sensor (51) and the second magnetic field sensor (52) are located in the closed guiding area (11).

12. The charging docking system according to claim 11, wherein, The width of the closed guiding 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, wherein, The difference between the width of the closed guiding 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, wherein The width of the closed guiding 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 guiding 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 unit (30), and the first magnetic field sensor (51) and the second magnetic field sensor (52) are symmetrically arranged with respect to the first charging unit (30).

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

18. The charging docking system according to claim 17, wherein During the process of the mobile robot (2) moving along the central axis of the charging device (1), the two driving wheels (621) are located directly above the guiding line (21).

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