Charging station and mobile robot automatic recharging system

Abstract

The utility model discloses a charging station and mobile robot automatic recharging system, and the charging station includes the base, and the base has opposite first end and second end, and the upper surface of base is equipped with the charging stake, and the charging stake is close to first end setting, and the upper surface of base still is equipped with two guide limit structures for guiding mobile robot, and every guide limit structure includes the first guide portion, second guide portion and limit portion who set up by the second end to the first end extension, and the distance between two first guide portions increases from the second end side close to first end, and the outside edge distance of second guide portion is 0.1mm 1mm from the inside distance of mobile robot's drive wheel, and two limit portions all extend to the outside setting. The guide limit structure is the physical entity structure, and it can guide and limit mobile robot, so that the mobile robot can smoothly realize recharging, and effectively solve the problem of low automatic recharging success rate under the pure vision scheme of mobile robot.

Description

Technical Field

[0001] This utility model relates to the field of charging station technology, and in particular to an automatic recharging system for charging stations and mobile robots. Background Technology

[0002] Currently, mobile robots using RTK technology (usually combined with vision or LiDAR), such as lawnmowers, dominate the market. Pure vision solutions rely on AI algorithms and cameras to achieve environmental perception, which has a high technical threshold. Few manufacturers use this technology. Therefore, most charging base stations for mobile robots such as lawnmowers on the market do not have a return-to-charge guidance design, making it impossible for mobile robots to automatically return to charge.

[0003] Furthermore, pure vision-based solutions rely on AI algorithms and cameras for environmental perception, which has a high technical threshold and is currently only adopted by a few brands. Their advantage lies in lower hardware costs, but they have strict requirements for lighting conditions and algorithm maturity. Therefore, mobile robots using pure vision-based solutions, such as lawnmowers, have a low success rate of automatically recharging. During recharging, they need to rely on visual recognition and adjust the robot's posture multiple times to successfully recharge, resulting in low efficiency. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an automatic recharging system for charging stations and mobile robots.

[0005] The technical solution adopted by this utility model to solve its technical problem is: to construct a charging station, including a base, the base having a first end and a second end opposite to each other, and a charging pile provided on the upper surface of the base, the charging pile being disposed close to the first end;

[0006] The upper surface of the base is also provided with two guide limiting structures for guiding the mobile robot. Each guide limiting structure includes a first guide part, a second guide part, and a limiting part extending from the second end to the first end. The distance between the two first guide parts increases from the side closer to the second end to the side closer to the first end. The distance between the outer edge of the second guide part and the inner side of the drive wheel of the mobile robot is 0.1mm-1mm. Both limiting parts extend outward.

[0007] In some embodiments, the guide spacing between the outer sides of the two first guide portions near the second end is X1, and the guide spacing X1 is 90mm to 110mm smaller than the inner spacing between the left and right drive wheels of the mobile robot.

[0008] In some embodiments, the outer surface of the first guide portion is a guide slope that slopes outward from its upper end to its lower end.

[0009] In some embodiments, the sum of the horizontal lengths of the first guide portion and the second guide portion is X2, and the length of the guide slope is (X2-80) mm.

[0010] In some embodiments, the height between the highest point of the guide limiting structure and the upper surface of the base is X3, and the height X3 and the diameter X4 of the drive wheel of the mobile robot satisfy the following relationship: X3≥0.2X4.

[0011] In some embodiments, the height distance X6 between the highest point of the guide limiting structure and the ground clearance X5 of the front collision comb of the mobile robot satisfies the following relationship: X6 = 0.4X5.

[0012] In some embodiments, the charging station is provided with a charging tongue that cooperates with the charging nozzle of the mobile robot;

[0013] The single-sided distance between the second guide part and the drive wheel of the mobile robot is X7, the single-sided distance between the charging tongue and the charging nozzle is X8, and the minimum distance between the charging tongue and the charging nozzle is X9. The minimum distance X9 satisfies the following relationship: X9 = X8 - X7.

[0014] In some embodiments, the upper surface of the base is further provided with a plurality of anti-slip protrusions, and the area of ​​the upper surface of the base near the second guide portion and the limiting portion is not provided with anti-slip protrusions.

[0015] In some embodiments, the first guide portion has a lubrication surface on the side facing the second end.

[0016] This utility model also provides an automatic recharging system for mobile robots, including a charging station according to any of the above embodiments, and a mobile robot, wherein the mobile robot moves to the charging position through a guide and limiting structure on the charging station.

[0017] The present invention offers the following advantages: The charging station is equipped with a guiding and limiting structure, which is a physical entity that guides and limits the movement of the mobile robot, enabling it to successfully return to its charging station. This effectively solves the problem of low success rate for automatic recharging under purely vision-based solutions for mobile robots. Furthermore, the guiding and limiting structure is cost-effective, highly practical, and conducive to widespread adoption, thereby enhancing product competitiveness. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this utility model, the present utility model will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0019] Figure 1 This is one of the structural schematic diagrams of the automatic recharging system for mobile robots in some embodiments of this utility model;

[0020] Figure 2 This is the second schematic diagram of the automatic recharging system for mobile robots in some embodiments of this utility model;

[0021] Figure 3 This is the third of the structural schematic diagrams of the automatic recharging system for mobile robots in some embodiments of this utility model;

[0022] Figure 4 This is one of the structural schematic diagrams of a charging station in some embodiments of this utility model;

[0023] Figure 5 This is the second structural schematic diagram of a charging station in some embodiments of this utility model;

[0024] Figure 6 This is the third of the structural schematic diagrams of the charging station in some embodiments of this utility model;

[0025] Figure 7 This is the fourth of the structural schematic diagrams of the charging station in some embodiments of this utility model;

[0026] Figure 8 This is the fifth of several schematic diagrams of the charging station in some embodiments of this utility model;

[0027] Figure 9 This is one of the partial cross-sectional views of a charging station and a mobile robot in some embodiments of this utility model;

[0028] Figure 10 This is a second partial cross-sectional view of a charging station and a mobile robot in some embodiments of this utility model. Detailed Implementation

[0029] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or component referred to must have a specific orientation; therefore, they should not be construed as limitations on this utility model.

[0030] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0031] In the following description, specific details such as particular system structures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the present invention. However, those skilled in the art will understand that the present invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0032] See Figures 1 to 3 This utility model discloses an automatic recharging system for a mobile robot, including a charging station 10 and a mobile robot 20. The mobile robot 20 moves to the charging position via a guide and limiting structure 13 on the charging station 10. The mobile robot 20 includes, but is not limited to, a lawnmower robot, a sweeping robot, or an inspection robot. When the mobile robot 20 is a lawnmower robot, the charging station 10 can be installed on the lawn or the ground.

[0033] See Figures 4 to 10 The present invention discloses a charging station 10, which may include a base 11 having a first end 10a and a second end 10b opposite to each other. A charging pile 12 is provided on the upper surface of the base 11. The charging pile 12 is disposed close to the first end 10a. The charging pile 12 is provided with a charging tongue 121, which is located approximately in the middle of the side of the charging pile 12 facing the second end 10b of the base 11.

[0034] The upper surface of the base 11 is also provided with two guide limiting structures 13 for guiding the mobile robot 20. An avoidance space is formed between the two guide limiting structures 13 to avoid interference with the bottom structure of the mobile robot 20.

[0035] Each of the guide and limiting structures 13 includes a first guide portion 131, a second guide portion 132, and a limiting portion 133 extending from the second end 10b to the first end 10a. The first guide portion 131, the second guide portion 132, and the limiting portion 133 can be continuously arranged, that is, each guide and limiting structure 13 can be an integral structure. Of course, the first guide portion 131, the second guide portion 132, and the limiting portion 133 can also be spaced apart, which is not specifically limited here. The distance between the two first guide portions 131 increases from the side closer to the second end 10b towards the side closer to the first end 10a, so that the two first guide portions 131 can guide the drive wheels 21 of the mobile robot 20. The two second guide portions 132 are arranged parallel to each other and can limit the mobile robot 20 when it enters the areas on both sides of the guide limiting structure 13, preventing the drive wheels 21 of the mobile robot 20 from deviating to the left or right. Furthermore, the distance between the outer edge of the second guide portion 132 and the inner side of the drive wheel 21 of the mobile robot 20 is 0.1mm-1mm, that is, the length of the line connecting the outer edges of the two second guide portions 132 is similar to the length of the line connecting the inner sides of the drive wheels 21 of the mobile robot 20. Both limiting portions 133 extend outward to limit the drive wheels 21 of the mobile robot 20.

[0036] The mobile robot 20 moves from the second end 10b of the base 11 through the guide and limiting structure 13. When the drive wheel 21 of the mobile robot 20 abuts against the end face of the limiting part 133, the mobile robot 20 reaches the charging position. At this time, the charging nozzle 23 of the mobile robot 20 is inserted into the charging tongue 121, and the mobile robot 20 can be charged.

[0037] The charging station 10 is equipped with a guide and limiting structure 13, which is a physical structure that guides and limits the mobile robot 20 (such as a lawnmower robot), enabling the mobile robot 20 to successfully return to its charging station. This effectively solves the problem of low success rate of automatic recharging under a purely vision-based solution for the mobile robot 20. Furthermore, the guide and limiting structure 13 has low cost, high practicality, and is conducive to widespread use, thereby enhancing product competitiveness.

[0038] like Figure 8 As shown, in some embodiments, the guide spacing between the outer sides of the two first guide portions 131 near the second end 10b is X1, which is 90mm to 110mm smaller than the inner spacing of the drive wheels 21 on the left and right sides of the mobile robot 20. Preferably, the guide spacing X1 is 100mm smaller than the inner spacing of the drive wheels 21 on the left and right sides of the mobile robot 20. Understandably, the guide spacing between the outer sides of the two first guide portions 131 near the second end 10b is X1, and the inner spacing of the drive wheels 21 on the left and right sides of the mobile robot 20 is (X1+100)mm. In addition, the angle formed by the plane containing the outermost side of the first guide portion 131 and the plane containing the outermost side of the second guide portion 132 is an acute offset angle A1°. The guide limiting structure 13 can satisfy the maximum single-sided offset angle of the mobile robot 20 successfully entering the station as (A1-5)°, which can improve the fault tolerance of the mobile robot 20 when entering the charging station 10.

[0039] Combination Figure 2 and Figure 8 As shown, in some embodiments, the outer surface of the first guide portion 131 is a guide slope 1311 that slopes outward from its upper end to its lower end. The angle formed between the guide slope 1311 and the plane containing the upper surface of the base 11 is angle A2°. This angle A2° forms a reasonable transition angle with the drive wheel 21, whose inner chamfer is (A2-70)°. By using this angle of the guide slope 1311, the mobile robot 20 can be effectively guided, and the risk of the mobile robot 20 riding on the guide limiting structure 13 can be avoided. When the transition angle between the guide slope 1311 and the drive wheel 21 is too large or too small, the probability of the mobile robot 20 automatically returning to the guide limiting structure 13 is significantly increased. In some embodiments, the angle A2° can be 100° to 120°, for example, 119° or 120°. Of course, the inclination angle of the guide slope 1311 can be set according to the inner chamfer of the drive wheel 21, and is not specifically limited here.

[0040] In some embodiments, the first guide portion 131 is provided with a slip-enhancing surface 1312 on the side facing the second end 10b of the base 10. The slip-enhancing surface 1312 can be an arc-shaped surface, and the roughness of the slip-enhancing surface 1312 can be Ra0.8 or Ra1.6. Its arc and roughness can be selected and set according to actual needs. In some embodiments, the slip-enhancing surface 1312 can be located at the upper edge of the first guide portion 131. Understandably, by providing the slip-enhancing surface 1312, the slipping effect of the drive wheel 21 of the mobile robot 20 can be increased, which can increase the difficulty for the drive wheel 21 to climb the first guide portion 131, and prevent the mobile robot 20 from climbing the guide limiting structure 13 due to its strong obstacle-climbing ability.

[0041] like Figure 8 As shown, in some embodiments, the outer surface of the second guide portion 132 is a vertical plane or a slightly straight surface. The outer surface of the second guide portion 132 is inclined inward from top to bottom to form a slightly straight surface. The angle formed between the slightly straight surface and the upper surface of the base 11 is the slightly straight surface angle A3°. The slightly straight surface angle A3° is approximately 3° to 10°, for example, it can be 5°. This allows the second guide portion 132 to achieve the effect of being wider at the top and narrower at the bottom, reducing the contact area between the second guide portion 132 and the inner side of the drive wheel 21. This allows for precise guidance and limits of the left and right displacement of the drive wheel 21, thereby aligning the mobile robot 20 and enabling it to dock and charge smoothly.

[0042] In some embodiments, the side of the limiting part 133 facing the second end 10b is a limiting slope that slopes from top to bottom toward the second end 10b. The angle formed between the limiting slope and the upper surface of the base 11 is the limiting slope angle A4°. The limiting slope angle A4° is parallel to the tooth surface of the drive wheel 21, which can effectively reduce the inertial impact when the mobile robot 20 enters the station for recharging, limit the forward displacement of the mobile robot 20, and avoid damage to the charging tongue 121 caused by the inertial impact of the mobile robot 20.

[0043] like Figure 8 As shown, in some embodiments, the sum of the horizontal lengths of the first guide portion 131 and the second guide portion 132 is X2, and the length of the guide ramp 1311 is (X2-80) mm. Further, the length of the guide ramp 1311 is 0.8 times the diameter of the drive wheel 21 of the mobile robot 20, effectively guiding and limiting the drive wheel 21. When the drive wheel 21 of the mobile robot 20 has serrated teeth, the diameter of the drive wheel 21 is the maximum diameter of its circumferential side surface.

[0044] Combination Figure 9As shown, in some embodiments, the height between the highest point of the guide limiting structure 13 and the upper surface of the base 11 is X3. This height X3 and the diameter X4 of the drive wheel 21 of the mobile robot 20 satisfy the following relationship: X3 ≥ 0.2X4. In some embodiments, the upper surfaces of the first guide portion 131, the second guide portion 132, and the limiting portion 133 may be on the same horizontal plane, or the upper surfaces of the second guide portion 132 and the limiting portion 133 may be on the same horizontal plane.

[0045] In some embodiments, the height distance X6 between the highest point of the guide limiting structure 13 and the ground clearance X5 of the front collision comb 22 of the mobile robot 20 satisfies the following relationship: X6 = 0.4X5.

[0046] Specifically, the height between the highest point of the guide limiting structure 13 and the upper surface of the base 11 is X3mm, the diameter of the drive wheel 21 is X4mm, and the height of the front collision comb 22 from the ground is X5mm. The interference fit between the guide limiting structure 13 and the drive wheel 21 is X3 = 0.2X4, thus avoiding the risk of the mobile robot 20 riding on the guide limiting structure 13 due to its strong obstacle-crossing ability. The height distance between the guide limiting structure 13 and the front collision comb 22 is X6 = 0.4X5 (in mm), effectively avoiding the problem of the front collision comb 22 rubbing against the top of the guide limiting structure 13 when the mobile robot 20 automatically returns to charging under extreme conditions.

[0047] like Figure 10 As shown, in some embodiments, the charging pile 12 is provided with a charging tongue 121 that cooperates with the charging nozzle 23 of the mobile robot 20; the single-sided distance between the second guide portion 132 and the drive wheel 21 of the mobile robot 20 is X7, the single-sided distance between the charging tongue 121 and the charging nozzle 23 is X8, and the minimum distance between the charging tongue 121 and the charging nozzle 23 is X9. The minimum distance X9 satisfies the following relationship: X9 = X8 - X7.

[0048] Specifically, the single-sided distance between the drive wheel 21 and the second guide part 132 is X7mm, and the single-sided distance between the charging tongue 121 and the charging nozzle 23 is X8mm. Under the extreme working condition of automatic recharging, the minimum distance between the charging tongue 121 and the charging nozzle 23 is X9 = X8 - X7, where X9 can be 3mm. The left and right displacement of the drive wheel 21 is guided and limited by the guide and limit structure 13, thereby ensuring the smooth docking of the charging tongue 121 and the charging nozzle 23 and improving the charging efficiency of the mobile robot 20.

[0049] In some embodiments, for ease of viewing, X1, X2, X3, X4, X5, X6, X7, X8, and X9 can also be defined as: X1, X2, X3, X4, X5, X6, X7, X8, and X9. Alternatively, other definitions may be used, which are not specifically limited here.

[0050] In such Figure 4 As shown, the upper surface of the base 11 is also provided with a number of anti-slip protrusions 111, and the area of ​​the upper surface of the base 11 near the second guide part 132 and the limiting part 133 is not provided with anti-slip protrusions 111, so that when the charging nozzle 23 reaches the position where it is inserted, the part of the area where the drive wheel 21 is located is a relatively smooth surface, which can improve the slipping effect and prevent the drive wheel 21 of the mobile robot 20 from climbing the upper limit part 133.

[0051] In some embodiments, the anti-slip protrusion structure 111 may be a plurality of strip-shaped protrusions evenly distributed at intervals from the second end 10b to the first end 10a. The anti-slip limiting protrusion structure 111 may be arranged along the moving area of ​​the mobile robot 20, and the anti-slip protrusion structure 111 may also be selected from other structures and sizes, which are not specifically limited here.

[0052] like Figure 4 As shown, the upper surface of the base 11 at its first end 10a edge can be inclined to guide the mobile robot 20 to move to the upper surface of the base 11. The upper surface of the base 11 at its first end 10a edge can be provided with a number of protrusions 112, and the orthographic projection shape of the protrusions 112 on the base 11 can be circular, square or star-shaped.

[0053] like Figure 4 As shown, in some embodiments, the charging station 10 further includes a plurality of fasteners for securing the base 11 to the mounting position. The four edges of the base 11 may have mounting holes penetrating the upper and lower surfaces of the base 11, and the fasteners pass through these mounting holes to secure the base 11 to the mounting position, which may be, but is not limited to, a lawn or the ground. The fasteners include, but are not limited to, screws or bolts.

[0054] In some embodiments, the base 11 may be made of metal or non-metal materials. For example, the base 11 may be made of stainless steel. Furthermore, the bottom surface of the base 11 may be provided with several support ribs.

[0055] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A charging station, characterized in that, Includes a base (11) having a first end (10a) and a second end (10b) opposite to each other, and a charging pile (12) is provided on the upper surface of the base (11), the charging pile (12) being disposed close to the first end (10a); The upper surface of the base (11) is also provided with two guide limiting structures (13) for guiding the mobile robot (20). Each guide limiting structure (13) includes a first guide part (131), a second guide part (132), and a limiting part (133) extending from the second end (10b) to the first end (10a). The distance between the two first guide parts (131) increases from the side closer to the second end (10b) to the side closer to the first end (10a). The distance between the outer edge of the second guide part (132) and the inner side of the drive wheel (21) of the mobile robot (20) is 0.1mm-1mm. Both limiting parts (133) extend outward.

2. The charging station according to claim 1, characterized in that, The guide spacing between the two first guide portions (131) near the outer side of the second end (10b) is X1, which is 90mm to 110mm smaller than the inner spacing of the drive wheels (21) on the left and right sides of the mobile robot (20).

3. The charging station according to claim 1, characterized in that, The outer surface of the first guide part (131) is a guide slope (1311) that slopes outward from its upper end to its lower end.

4. The charging station according to claim 1, characterized in that, The sum of the horizontal lengths of the first guide part (131) and the second guide part (132) is X2, and the length of the guide slope (1311) is (X2-80) mm.

5. The charging station according to claim 1, characterized in that, The height between the highest point of the guide limiting structure (13) and the upper surface of the base (11) is X3. The height X3 and the diameter X4 of the drive wheel (21) of the mobile robot (20) satisfy the following relationship: X3≥0.2X4.

6. The charging station according to claim 1, characterized in that, The height distance X6 between the highest point of the guide limiting structure (13) and the ground clearance X5 of the front collision comb (22) of the mobile robot (20) satisfies the following relationship: X6 = 0.4X5.

7. The charging station according to claim 1, characterized in that, The charging pile (12) is provided with a charging tongue (121) that cooperates with the charging nozzle (23) of the mobile robot (20); The single-sided distance between the second guide part (132) and the drive wheel (21) of the mobile robot (20) is X7, the single-sided distance between the charging tongue (121) and the charging nozzle (23) is X8, and the minimum distance between the charging tongue (121) and the charging nozzle (23) is X9. The minimum distance X9 satisfies the following relationship: X9 = X8 - X7.

8. The charging station according to claim 1, characterized in that, The upper surface of the base (11) is also provided with a number of anti-slip protrusions (111), and the area of ​​the upper surface of the base (11) near the second guide part (132) and the limiting part (133) is not provided with anti-slip protrusions (111).

9. The charging station according to claim 1, characterized in that, The first guide portion (131) has a lubricating surface (1312) on the side facing the second end (10b).

10. An automatic recharging system for a mobile robot, characterized in that, The invention includes a charging station as described in any one of claims 1 to 9, and a mobile robot (20) that moves to a charging position via a guide and limiting structure (13) on the charging station.

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