Humanoid robot charging equipment

Abstract

A humanoid robot charging device is used for executing an automatic charging program on a humanoid robot. The humanoid robot charging equipment comprises a machine body, a charging base arranged on the machine body, and a control module electrically connected with the charging base to control an automatic charging program. The charging seat comprises a charging module, a sensing module and a position adjusting module. The charging module provides charging power and is provided with a first charging interface. The sensing module senses the position relation between the second charging interface and the first charging interface of the humanoid robot. And the position adjusting module adjusts the first charging interface according to the position relation, so that the first charging interface is correspondingly connected with a second charging interface of the humanoid robot.

Description

TECHNICAL FIELD

[0001] The present application relates to a humanoid robot charging device, in particular, a humanoid robot charging device capable of automatically performing a charging procedure. BACKGROUND

[0002] Currently, service robots need to be manually replaced with batteries or manually charged after moving to a fixed point when charging. In particular, humanoid robots have a more complex structure in appearance, and the charging procedure is more complex. Therefore, the current charging procedure not only consumes manpower but also consumes time.

[0003] Therefore, it is necessary to develop a humanoid robot charging device to improve the shortcomings of the above-mentioned known technology. CONTENT OF THE INVENTION

[0004] The purpose of the present application is to provide a humanoid robot charging device capable of automatically performing a charging procedure of a humanoid robot.

[0005] To achieve the above-mentioned purpose, the present application provides a humanoid robot charging device for performing an automatic charging procedure on a humanoid robot. The humanoid robot charging device includes a body, a charging seat arranged on the body, and a control module electrically connected with the charging seat to control the automatic charging procedure. The charging seat includes a charging module, a sensing module, and a position adjustment module. The charging module provides charging power and has a first charging interface. The sensing module senses the positional relationship between the second charging interface of the humanoid robot and the first charging interface. The position adjustment module adjusts the first charging interface according to the positional relationship, so that the first charging interface corresponds to the connection of the second charging interface of the humanoid robot.

[0006] In an embodiment, the sensing module includes a first sensor for sensing whether the humanoid robot enters a charging executable range, and whether the distance and orientation between the humanoid robot and the body are within an allowable range, and the control module drives the charging seat to extend from the body when the distance and orientation between the humanoid robot and the body are within the allowable range.

[0007] In an embodiment, the sensing module includes a second sensor arranged around the first charging interface to sense the positional relationship.

[0008] In an embodiment, the position adjustment module includes an angle adjustment module and a distance adjustment module.

[0009] In an embodiment, the angle adjustment module is used to adjust the lifting angle of the first charging interface, and the lifting angle is between 30 degrees and 70 degrees.

[0010] In an embodiment, the distance adjustment module is configured to adjust the extension distance of the first charging interface, and the extension distance is less than 30 cm.

[0011] In an embodiment, the position adjustment module further comprises another angle adjustment module configured to adjust the relative position between the first charging interface and the front surface of the body on which the charging base is arranged.

[0012] In an embodiment, the position adjustment module adjusts the first charging interface in three dimensions.

[0013] In an embodiment, the first charging interface and the second charging interface are mechanically plugged and / or magnetically connected.

[0014] In an embodiment, the humanoid robot has a trunk portion and two arms arranged on opposite sides of the trunk portion.

[0015] In an embodiment, the second charging interface is implemented as two second charging interfaces arranged on opposite sides of the trunk portion covered by the two arms, or on opposite outer sides of the two arms, and the charging base is implemented as two charging bases corresponding to the two second charging interfaces.

[0016] The humanoid robot charging device of the present application automatically adjusts the position of the charging interface in the charging base to correspond to the charging interface of the humanoid robot through the arrangement of the sensing module and the position adjustment module, automatically completes the corresponding connection of the charging interface, and thus automatically completes the charging process of the humanoid robot without human intervention, thereby saving manpower and time. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 shows a schematic diagram of a humanoid robot charging device and a matching humanoid robot according to an embodiment of the present application.

[0018] Figure 2 FIG. 2 shows a schematic diagram of the charging base of the humanoid robot charging device according to an embodiment of the present application when extended.

[0019] Figure 3 FIG. 3 shows a sectional view along the plane A-A’ of the humanoid robot charging device according to an embodiment of the present application. Figure 2

[0020] Figure 4A FIG. 4 shows a sectional view of the humanoid robot charging device according to an embodiment of the present application when the first charging interface is lifted.

[0021] Figure 4B FIG. 5 shows a front view of the humanoid robot charging device according to an embodiment of the present application when the first charging interface is extended.

[0022] Figure 5 FIG. 6 shows a schematic diagram of the humanoid robot charging device according to an embodiment of the present application when the charging base is performing charging.​

[0023] Figures 6A to 6D The flow of the charging procedure performed by the humanoid robot and the humanoid robot charging device according to the embodiments of the present application is shown.

[0024] Legend of reference signs

[0025] 100: humanoid robot charging device,

[0026] 200: humanoid robot,

[0027] 210: trunk portion,

[0028] 220: double arms,

[0029] 230: second charging interface,

[0030] 10: body,

[0031] 11: opening,

[0032] 12: front surface,

[0033] 20: charging base,

[0034] 21: housing,

[0035] 211: bottom surface,

[0036] 22: cover,

[0037] 23: electric cylinder,

[0038] 24: angle adjustment module,

[0039] 25: distance adjustment module,

[0040] 26: first charging interface,

[0041] 27: first sensor,

[0042] 28: second sensor,

[0043] 30: control module,

[0044] A-A': cross section,

[0045] D: distance,

[0046] X, Y, Z: axial direction,

[0047] θ: angle. DETAILED DESCRIPTION

[0048] The features and advantages of the present application will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings. It is understood that various changes can be made in the form, details, and applications of the present application without departing from the scope of the application and the description and drawings are to be regarded as illustrative in nature rather than restrictive.

[0049] Referring to Figure 1 , a schematic view showing a humanoid robot charging device according to an embodiment of the present application and a matching humanoid robot is shown. The humanoid robot charging device 100 is used to perform an automatic charging procedure for the humanoid robot 200. The humanoid robot 200 is a robot having a trunk portion 210 and two arms 220 disposed on opposite sides of the trunk portion 210. The present application is to achieve that when the humanoid robot 200 moves to the front of the humanoid robot charging device 100 and enters a charging executable range, the humanoid robot charging device 100 can automatically complete the charging procedure for the humanoid robot 200 without human intervention, so as to improve the execution efficiency of the charging procedure.

[0050] Referring to Figures 1 to 5 . Figure 2 A schematic view showing the humanoid robot charging device according to an embodiment of the present application when the charging seat is extended is shown, Figure 3 A cross-sectional view of the plane A-A' in Figure 2 is shown, Figure 4A A cross-sectional view of the humanoid robot charging device according to an embodiment of the present application when the first charging interface is lifted is shown, Figure 4B A front view of the humanoid robot charging device according to an embodiment of the present application when the first charging interface is extended is shown, and Figure 5 A schematic view showing the state of the humanoid robot charging device according to an embodiment of the present application when the charging seat performs charging is shown. The humanoid robot charging device 100 includes a body 10, a charging seat 20, and a control module 30. The body 10 is provided with two charging seats 20, and the control module 30 is electrically connected to the charging seats 20 to control the charging procedure for the humanoid robot 200. One of the charging seats 20 is positive, and the other charging seat 20 is negative, and the charging procedure is completed by contacting the corresponding charging position of the humanoid robot 200. The body 10 is provided with two openings 11 on the front surface 12, corresponding to the two charging seats 20. The charging seat 20 is housed in the body 10 in a standby state, and when it is sensed that the humanoid robot 200 enters the charging executable range, it is automatically extended out of the body 10 through the opening 11 as shown in Figure 2 , and then automatically adjusts the position to perform the automatic charging procedure for the humanoid robot 200.

[0051] The charging base 20 includes a housing 21, a cover 22 covering the housing 21, and a motorized cylinder 23 connected to the housing 21. The housing 21 and the cover 22 provide a substantially closed accommodation space, which helps the charging base 20 to resist changes in the external environment, since the humanoid robot charging device 100 can be placed in various fields. The motorized cylinder 23 connected to the housing 21 provides power for the charging base 20 to extend out of the body 10. It should be noted that although the charging base 20 is shown as extending out of the body 10 in an upwardly raised manner (i.e., rotating along the Y-Z plane), the charging base 20 can extend out of the body 10 in other manners, such as extending out of the body 10 along the Y-axis direction, and the like, without being limited to the drawings.

[0052] The charging base 20 includes a charging module for providing charging power, and the charging module has a first charging interface 26. Correspondingly, the humanoid robot 200 has a second charging interface 230 corresponding to the first charging interface 26, which is disposed in the region of the opposite sides of the torso portion 210 covered by the arms 220. That is, the two first charging interfaces 26 of the two charging bases 20 disposed on the body 10 will be connected to the second charging interfaces 230 on the opposite sides of the torso portion 210 of the humanoid robot 200 for charging. It should be noted that although the second charging interface 230 is shown as being disposed on the torso portion 210 of the humanoid robot 200, according to different types of humanoid robots, the second charging interface 230 can be disposed on the opposite outer sides of the arms 220, or other suitable positions, without being limited to the drawings. According to the position of the second charging interface 230 of the corresponding humanoid robot 200, the position of the charging base 20 on the body 10 also changes correspondingly, also without being limited to the drawings.

[0053] The charging base 20 includes a sensing module for sensing whether the humanoid robot 200 has entered a charging executable range, and the positional relationship between the second charging interface 230 of the humanoid robot 200 and the first charging interface 26 within the charging executable range.

[0054] In one aspect, the sensing module can include a first sensor 27 disposed at the front surface 12 of the body 10 to sense whether the humanoid robot 200 has entered the charging executable range, and the distance and orientation between the humanoid robot 200 entering the charging executable range and the body 10. For example, the matching humanoid robot 200 and the humanoid robot charging device 100 have pairing information, when the humanoid robot 200 approaches the humanoid robot charging device 100 and the pairing between the two is completed, the control module 30 starts the first sensor 27 to sense whether the humanoid robot 200 paired therewith has entered the charging executable range and the distance and orientation therebetween, and then the measured signal is returned to the control module 30 for calculation. If the distance and orientation fall within the allowable range, the control module 30 starts the automatic charging program; if not, the control module 30 communicates with the humanoid robot 200 again until the humanoid robot 200 moves to a distance and orientation within the allowable range. At this time, the control module 30 drives the electric cylinder 23 to extend the charging seat 20 from the body 10.

[0055] In another aspect, the sensing module can include a second sensor 28 disposed around the first charging interface 26 to sense the positional relationship between the second charging interface 230 of the humanoid robot 200 and the first charging interface 26 within the allowable range. When the control module 30 starts the automatic charging program, the charging seat 20 extends from the body 10, at this time, based on the previous positional confirmation between the humanoid robot 200 and the body 10, the charging seat 20 will be roughly located near the second charging interface 230 of the humanoid robot 200. In order to ensure the correct docking between the two charging interfaces, the second sensor 28 is further used to confirm the positional relationship between the two charging interfaces. After the signal measured by the second sensor 28 is returned to the control module 30, it is calculated that the correct position of the second charging interface 230 and the positional relationship between it and the first charging interface 26 in the extended charging seat 20, and then the control module 30 adjusts the position of the first charging interface 26 according to the positional relationship (details below) to successfully achieve the connection between the two and perform the charging program.

[0056] Here, the first sensor 27 and the second sensor 28 can be any sensor that can measure the distance, position, orientation, etc. between two objects, such as a 3D ToF camera, a laser radar sensor, etc., but are not limited thereto. And the first sensor 27 and the second sensor 28 can use the same or different types of sensors, and the number of each can be single or multiple, which can be changed according to actual use requirements, and are not limited. In addition, the docking method between the first charging interface 26 and the second charging interface 230 can be mechanical insertion and / or magnetic attraction, which are both feasible and similarly not limited.

[0057] The charging dock 20 further includes a position adjustment module, controlled by the control module 30, to adjust the position of the first charging interface 26 according to the positional relationship obtained by the aforementioned second sensor 28, thereby completing the alignment between the first charging interface 26 and the second charging interface 230 before charging begins. The position adjustment module includes an angle adjustment module 24 and a distance adjustment module 25. The angle adjustment module 24 is used to adjust the lifting angle θ of the first charging interface 26, i.e., the rotation angle along the XZ plane. That is, when the charging dock 20 is in the extended state, the angle between the first charging interface 26 and the bottom plane (i.e., the XY plane). In this embodiment, the bottom plane of the charging dock 20 in the extended state is the bottom surface 211 of the housing 21. The distance adjustment module 25 is used to adjust the straight-line extension distance D of the first charging interface 26, i.e., the extension distance of the first charging interface 26 beyond the accommodating space defined by the housing 21 and the cover 22. In one embodiment, the angle θ falls between approximately 30 and 70 degrees, and the distance D is approximately less than 30 centimeters, but is not limited and can vary depending on the actual implementation. Since the humanoid robot charging device 100 and the humanoid robot 200 are a known pairing, and the position of the humanoid robot 200 relative to the body 10 has been adjusted to near-optimal position by the first sensor 27, the difference in docking position between the two charging ports has been minimized. Therefore, docking can be completed without significantly adjusting the angle θ and distance D. Here, the angle adjustment module 24 can be achieved using an electric cylinder, and the position adjustment module can be achieved using a linear motor, but they are not limited to these; other suitable power devices can also be used.

[0058] Furthermore, the charging dock 20 may further include another angle adjustment module (not shown) to adjust the swing angle of the first charging port 26 in the Y-axis direction, i.e., as shown in the figure. Figure 5 As shown in the swing direction, the first charging interface 26 can rotate to change its relative position with the front surface 12 (i.e., the XZ plane) of the body 10, for example, by forming an angle or becoming parallel to each other. In this way, the first charging interface 26 can generate three-dimensional movement, more effectively adapting to possible changes in the position and orientation of the second charging interface on the humanoid robot. In addition, it is also beneficial to increase the variety of humanoid robots 200 that the humanoid robot charging device 100 can perform automatic charging on. For example, the position of the second charging interface of different models of humanoid robots may be slightly different. In particular, humanoid robots have complex three-dimensional undulations in their appearance. Therefore, three-dimensional position adjustment helps the humanoid robot charging device 100 to pair with more models of humanoid robots to perform automatic charging programs.

[0059] Please see Figures 6A to 6D This illustrates the process of the humanoid robot charging device and the humanoid robot executing an automatic charging procedure according to an embodiment of this application. Based on the above, the automatic charging procedure of the humanoid robot charging device 100 of this application is as follows: First, as...Figure 6A As shown, the humanoid robot 200 approaches the humanoid robot charging device 100, enters the charging executable range of the humanoid robot charging device 100, and the distance and orientation fall within the allowable range. In this process, the charging base 20 is still housed in the body 10, the first sensor 27 senses the position and orientation of the humanoid robot 200 relative to the body 10, and the control module 30 communicates with the humanoid robot 200 to confirm the model of the humanoid robot 200 and ensure the positioning of the humanoid robot 200. Then, as shown, Figure 6B As shown, the automatic charging program starts, and the charging base 20 of the humanoid robot charging device 100 automatically extends from the body 10. Since the positioning of the humanoid robot 200 has been completed previously, the extended charging base 20 is approximately located near the second charging interface 230 of the humanoid robot 200. Then, as shown, Figures 6C to 6D As shown, the first charging interface 26 is opened upward together with the cover 22 through the action of the angle adjustment module, at this time, the second sensor 28 senses the position of the second charging interface 230 and returns to the control module 30 to calculate the positional relationship of the two charging interfaces, and the control module 30 controls the angle adjustment module and the distance adjustment module (and another angle adjustment module) according to the positional relationship to adjust the position of the first charging interface 26, thereby completing the docking program and starting charging. After charging is completed, the control module 30 again controls the angle adjustment module and the distance adjustment module (and another angle adjustment module) to retract the first charging interface 26 and the cover 22, and finally the charging base is retracted into the body 10, and the charged humanoid robot 200 leaves. The humanoid robot charging device 100 then waits for the next humanoid robot 200 to be charged to pair and enter the charging executable range, and restarts the automatic charging program. Therefore, all the programs can be automatically completed without human intervention, which is very efficient.

[0060] In summary, the humanoid robot charging device of the present application can automatically adjust the position of the charging interface in the charging base to correspond to the charging interface of the humanoid robot through the setting of the sensing module and the position adjustment module, and automatically complete the corresponding connection of the charging interfaces, thereby automatically completing the charging program of the humanoid robot without human intervention, which not only saves manpower but also saves time.

[0061] It should be noted that the above is only a preferred embodiment proposed for the purpose of illustrating the present application, and the scope of the present application is determined by the appended patent application range. And the present application can be modified by ordinary skilled persons in the art, but it does not deviate from the protection scope of the appended patent application range.

Claims

1. A charging device for humanoid robots, used to execute an automatic charging program for a humanoid robot, wherein, Include: One organism; A charging dock, mounted on the device, includes: A charging module that provides charging power and has a first charging interface; and A sensing module senses the positional relationship between a second charging port and a first charging port of the humanoid robot; and A position adjustment module adjusts the first charging interface according to the positional relationship so that the first charging interface is connected to the second charging interface of the humanoid robot; and A control module is electrically connected to the charging dock to control the automatic charging program.

2. The humanoid robot charging device according to claim 1, wherein, The sensing module includes a first sensor that senses whether the humanoid robot has entered a charging range and whether the distance and orientation between the humanoid robot and the body are within an allowable range. When the distance and orientation between the humanoid robot and the body fall within the allowable range, the control module drives the charging dock to extend from the body.

3. The humanoid robot charging device according to claim 1, wherein, The sensing module includes a second sensor disposed around the first charging port to sense the positional relationship.

4. The humanoid robot charging device according to claim 1, wherein, The position adjustment module includes an angle adjustment module and a distance adjustment module.

5. The humanoid robot charging device according to claim 4, wherein, The angle adjustment module is used to adjust the lifting angle of the first charging interface, and the lifting angle is between 30 degrees and 70 degrees.

6. The humanoid robot charging device according to claim 4, wherein, The distance adjustment module is used to adjust an extension distance of the first charging interface, and the extension distance is less than 30 cm.

7. The humanoid robot charging device according to claim 4, wherein, The position adjustment module also includes another angle adjustment module to adjust the relative position between the first charging port and a front surface of the body on which the charging dock is located.

8. The humanoid robot charging device according to claim 7, wherein, The position adjustment module adjusts the first charging interface in three dimensions.

9. The humanoid robot charging device according to claim 1, wherein, The first charging interface and the second charging interface are mechanically plugged in and / or magnetically connected.

10. The humanoid robot charging device according to claim 1, wherein, This type of humanoid robot has a torso and two arms that are generally located on opposite sides of the torso.

11. The humanoid robot charging device according to claim 10, wherein, The second charging interface is implemented as two second charging interfaces, respectively located on the opposite sides of the torso portion in the area covered by the arms, or on the opposite outer sides of the arms, and the charging base is implemented as two charging bases, respectively corresponding to the two second charging interfaces.

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