A robot automatic alignment wireless charging pile based on reflection positioning and robot

Abstract

The utility model discloses a kind of robot automatic alignment wireless charging piles based on reflection positioning, belong to robot wireless charging technical field.The robot automatic alignment wireless charging pile includes pedestal, is installed in the top side surface of pedestal protection and control unit, light reflection identification component and the energy transmission component electrically connected with protection control unit, pedestal is used to the load of wireless charging pile, light reflection identification component includes light reflection strip, and energy transmission component is used to provide original electric energy for the electric appliance in protection and control unit.Robot initiative detection, positioning perception function is concentrated in robot end implementation, make full use of the existing computing capacity and sensor resources of robot, realized function integration and resource optimization;Charging pile passive reflection, only need to paste light reflection strip on the front of pile body, without repeating deployment intelligent hardware or skid adjustment device, greatly reduce the manufacturing complexity and hardware cost, deployment cost and maintenance cost of charging pile.

Description

Technical Field

[0001] This utility model relates to the field of wireless charging technology for robots, and in particular to a wireless charging pile for automatic alignment of robots with passive reflection to achieve automatic alignment. Background Technology

[0002] With the commercialization of low-speed autonomous driving technology, robots used for security patrols and logistics delivery are rapidly being deployed on a large scale in public places such as parks, scenic spots, factories, and communities. However, these robots require regular power replenishment to maintain continuous operation. Currently, the charging efficiency of wireless charging piles is greatly affected by positional accuracy. Existing automatic alignment solutions for wireless charging piles require the installation of multiple infrared emitters or lasers on the pile body, or the use of a sliding platform device that allows the charging pile body to be adjusted forward, backward, left, and right. These solutions are complex and costly. Utility Model Content

[0003] This application provides a robot-automatic wireless charging pile with passive reflection for automatic alignment, which solves the problem that the charging efficiency of existing wireless charging piles is greatly affected by the position accuracy. However, existing automatic alignment solutions for wireless charging piles require the installation of multiple infrared emitters or lasers on the pile body, or the use of a sliding table device that can be adjusted forward, backward, left, and right on the charging pile body, which is complex and costly.

[0004] This application provides a robot automatic alignment wireless charging pile based on reflection positioning, including a base for supporting the wireless charging pile; A protection and control unit is mounted on the top side surface of the base; A reflective marking assembly, the reflective marking assembly including a reflective strip, the reflective strip being used to provide reflective markings as auxiliary positioning marks; An energy transmission component, which is electrically connected to the protection and control unit, is used to provide raw electrical energy to the electrical appliances within the protection and control unit. The energy transmission component includes: A standard power socket, located on the side of the pile body, is used to connect to an external 220V AC mains power supply to provide raw power. A power converter, which is screwed and fixed inside the protection and control unit, converts the input power into a voltage suitable for wireless charging; The transmitter is located in the middle of the front of the protection and control unit.

[0005] In some solutions, the base includes a base, a first support plate, a second support plate, and a tire limiting plate. The first support plate and the second support plate are respectively bolted to the left and right sides of the base. The tire limiting plate is connected to the first support plate and the second support plate by screws. The tire limiting plate is used to stop the robot from moving when the robot tire contacts the plate. The first support plate and the second support plate have elongated holes on their surfaces.

[0006] In some embodiments, the protection and control unit includes a protective housing, a rear cover, and a control circuit board. The protective housing is fastened to a base by screws and welded nuts. The rear cover is locked to the protective housing by screws distributed around its perimeter. The control circuit board is fastened to the welded studs of the protective housing by nuts.

[0007] In some designs, cooling fans are installed on the left and right sides of the protective housing, with air intake on one side and exhaust on the other, and heat dissipation holes that cooperate with the cooling fans are provided on the bottom side of the protective housing.

[0008] In some designs, an indicator light is installed on the top side of the protective housing. The indicator light is a red / green / blue LED metal indicator light, which visualizes the internal working status as an external light signal to indicate the working status.

[0009] In some solutions, the protective shell is made of a material with good weather resistance and flame retardancy, forming the main body of the unit, and the material is an engineering plastic or a metal alloy.

[0010] In some solutions, the control circuit board integrates a power converter, a temperature control switch, and necessary interface circuits, including a power input interface, a connection interface with the charging transmitter coil, a communication interface, and an indicator light interface. The control circuit board is used to control the operation of the wireless charging transmitter.

[0011] In some designs, there are two reflective strips, with an adhesive layer on the back of each strip. The reflective strips are attached to the front of the protective housing and are symmetrically distributed around the transmitter. The longitudinal center line of the reflective strips is parallel to the central axis of the transmitter. The reflective strips use microprism reflective film to ensure high reflectivity or high contrast recognition for robot lidar and cameras.

[0012] In some designs, the transmitter is screwed to a bracket, which is then locked to a welded stud on the protective housing by a nut. The transmitter serves as the final actuator of the energy transmission component. After the internal main control module receives the positioning completion signal sent by the robot through the wireless communication module, wireless charging is initiated.

[0013] A robot with reflective positioning includes a robot with a positioning sensor installed facing a charging pile. When the robot approaches the charging pile, the positioning sensor continuously emits a detection signal forward. The positioning sensor is used to detect strong reflective signals generated by a reflective strip pasted on the front of the charging pile. The robot is also equipped with a wireless charging receiver facing the charging pile, and the wireless charging receiver is wirelessly connected to the transmitter in a non-contact manner.

[0014] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. The robot actively detects and centralizes the positioning and perception functions at the robot end, making full use of the robot's existing computing power and sensor resources (such as the reusable LiDAR used for navigation), achieving functional integration and resource optimization; the charging pile passively reflects light, requiring only the affixing of reflective strips to the front of the pile, eliminating the need to repeatedly deploy intelligent hardware or slide adjustment devices, which significantly reduces the manufacturing complexity, hardware cost, deployment cost and maintenance cost of the charging pile.

[0015] 2. The charging pile can be deployed simply by fixing it in the designated location and attaching reflective strips. The installation process is simple and quick. If the reflective strips are damaged or contaminated, they can be replaced directly. The maintenance cost is low and the operation is convenient. It is especially suitable for application scenarios that require frequent relocation of charging points, large-scale deployment, or cost-sensitive applications.

[0016] 3. Can be used outdoors; the reflective strips are less affected by ambient light and have high positioning accuracy.

[0017] 4. The handle structure on the charging pile not only increases the length of the reflective strip, making the reflection more obvious during passive detection, but also greatly facilitates the transportation of the charging pile, the adjustment of its installation position, and the disassembly operation during maintenance, thereby improving the practicality of the product and the user experience.

[0018] 5. Since the charging pile itself does not need to supply power to the positioning sensor or the slide adjustment function, its overall power consumption mainly comes from the wireless charging transmission module of the transmitter, which has significant energy-saving advantages. Attached Figure Description

[0019] Figure 1 This is the overall front view of the embodiments in this application; Figure 2 This is an overall rear view of an embodiment of this application; Figure 3 This is a schematic diagram of the base structure in an embodiment of this application; Figure 4 This is a schematic diagram of the connection structure between the transmitter and the bracket in an embodiment of this application; Figure 5 This is a schematic diagram of the internal structure of the protective shell in an embodiment of this application; Figure 6 This is a schematic diagram of a wireless charging pile and a robot wirelessly charging in an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures 1. Base; 2. Protection and control unit; 3. Reflective marking assembly; 4. Energy transmission assembly; 5. Base; 6. First support plate; 7. Second support plate; 8. Tire limiting plate; 9. Protective shell; 10. Rear cover; 11. Sealing gasket; 12. Control circuit board; 13. Cooling fan; 14. Indicator light; 15. Reflective strip; 16. Power socket; 17. Power converter; 18. Transmitter; 19. Bracket; 20. Handle; 21. Robot; 22. Wireless charging receiver; 23. Positioning sensor. Detailed Implementation

[0021] This application provides a robot-automatic wireless charging pile with passive reflection for automatic alignment, which solves the problem that the charging efficiency of existing wireless charging piles is greatly affected by the position accuracy. However, existing automatic alignment solutions for wireless charging piles require the installation of multiple infrared emitters or lasers on the pile body, or the use of a sliding table device that can be adjusted forward, backward, left, and right on the charging pile body, which is complex and costly.

[0022] Specifically, embodiments of this application provide a robot-automatic alignment wireless charging station based on reflection positioning, referencing... Figure 1-5 As shown, it includes a base 1, a protection and control unit 2 installed on the top side surface of the base 1, a reflective marking component 3, and an energy transmission component 4 electrically connected to the protection and control unit. The base 1 is used to support the wireless charging pile. The reflective marking component 3 includes a reflective strip 15, which is used to provide reflective markings as auxiliary positioning marks. The energy transmission component 4 is used to provide raw power to the electrical appliances in the protection and control unit 2. The charging pile is passively reflective, and only the reflective strip 15 needs to be pasted on the front of the pile body. There is no need to repeatedly deploy smart hardware or slide adjustment devices, which greatly reduces the manufacturing complexity, hardware cost, deployment cost and maintenance cost of the charging pile. Among them, such as Figure 5 As shown, the energy transmission component 4 includes a standard power socket 16, a power converter 17, and a transmitter 18. The standard power socket 16 is located on the side of the pile body and is used to connect to an external 200V mains power supply to provide raw power. The power converter 17 is fixed inside the protection and control unit 2 by screws and converts the input power into a voltage suitable for wireless charging. The transmitter 18 is located in the middle of the front of the protection and control unit 2.

[0023] In the embodiments of this application, such as Figure 3As shown, the base 1 includes a base 5, a first support plate 6, a second support plate 7, and a tire limiting plate 8. The first support plate 6 and the second support plate 7 are respectively installed on the left and right sides of the base 5 by bolts. The tire limiting plate 8 is connected to the first support plate 6 and the second support plate 7 by screws. The tire limiting plate 8 is used so that the robot 21 can stop moving when its tires come into contact with the plate. The first support plate 6 and the second support plate 7 have elongated holes on their surfaces. In the installation of the wireless charging pile, the base 5 is fixed to the ground by expansion screws and serves as the bearing platform of the wireless charging pile.

[0024] During charging, the robot 21 can stop moving after its tires come into contact with the tire limiting plate 8, ensuring that the front-to-back distance between the wireless charging receiver 22 and the transmitter 18 is within the normal working range. The initial front-to-back distance can be adjusted through the elongated hole. In order to assist the robot 21 in initial positioning and shorten the autonomous alignment time, left and right guide grooves can be added to the limiting plate.

[0025] In some embodiments, such as Figure 4-5 As shown, the protection and control unit 2 includes a protective housing 9, a rear cover 10, and a control circuit board 12. The protective housing 9 is fastened to the base 5 by screws and welded nuts. The rear cover 10 is fastened to the protective housing 9 by screws distributed around its perimeter. The control circuit board 12 is fastened to the welded studs of the protective housing 9 by nuts.

[0026] The rear cover 10 covers the rear side of the protective housing 9 and is locked and fixed to the protective housing 9 by screws distributed around the perimeter, forming a sealed protective cavity, providing an installation position and physical environment protection for the internal electronic components. The sealing gasket 11 is located at the joint surface between the transmitter 18 and the protective housing 9, pressing it to achieve a waterproof effect.

[0027] Specifically, cooling fans 13 are installed on the left and right sides of the protective shell 9. Air enters from one side and exhausts from the other side of the protective shell 9, and is combined with the heat dissipation holes designed at the bottom of the protective shell 9 to accelerate the air circulation inside the cavity and improve the heat dissipation effect.

[0028] Preferably, an indicator light 14 is installed on the top side of the protective housing 9. The indicator light 14 is a red / green / blue LED metal indicator light 14, which visualizes the internal working status as an external light signal and is used to indicate the working status (standby, charging, wireless communication connection, etc.). The indicator light 14 is installed on the top of the protective housing 9 for easy observation.

[0029] Furthermore, the protective shell 9 is made of materials with good weather resistance and flame retardancy, forming the main body of the unit, and the materials used are engineering plastics or metal alloys.

[0030] In some embodiments, such as Figure 5As shown, the control circuit board 12 integrates a power converter 17, a temperature control switch, and necessary interface circuits. The necessary interface circuits include a power input interface, a connection interface with the charging transmitter coil, a communication interface, and an indicator light 14 interface. The control circuit board 12 is used to control the operation of the wireless charging transmitter 18.

[0031] In the embodiments of this application, such as Figure 1 As shown, there are two reflective strips 15. The back of the two reflective strips 15 is covered with an adhesive layer. The reflective strips 15 are pasted on the front of the protective shell 9 and are symmetrically distributed on the left and right sides with the transmitter 18 as the center. The longitudinal center line of the reflective strips 15 is parallel to the central axis of the transmitter 18. The reflective strips 15 use microprism reflective film to ensure high reflectivity or high contrast recognition of the robot 21's lidar and camera. If the reflective strips 15 are damaged or contaminated, they can be directly replaced. The maintenance cost is low and the operation is convenient. It is especially suitable for application scenarios that require frequent relocation of charging points, large-scale deployment, or cost-sensitive applications.

[0032] Furthermore, a handle 20 is installed on the protective shell 9. The handle 20 is bonded to the reflective strip 15. The handle 20 increases the length of the reflective strip 15, which allows the robot 21 with sensors at different heights to be passively detected. It also greatly facilitates the handling of the charging pile, the adjustment of its installation position, and the disassembly operation during maintenance.

[0033] In this embodiment, such as Figure 5 As shown, the transmitter 18 is screwed to the bracket 19, and the bracket 19 is locked to the welded stud of the protective shell 9 by a nut. The transmitter 18 is the final actuator of the energy transmission component. After the internal main control module receives the positioning completion signal sent by the robot 21 through the wireless communication module, the wireless charging is started.

[0034] Specifically, such as Figure 6 As shown, a robot 21 with reflective positioning includes a robot 21. A positioning sensor 23 is installed on the robot 21 facing the charging pile. When the robot 21 approaches the charging pile, the positioning sensor 23 continuously emits a detection signal forward. The positioning sensor 23 is used to detect the strong reflection signal generated by the reflective strip 15 pasted on the front of the charging pile. A wireless charging receiver 22 is installed on the robot 21 facing the charging pile. The wireless charging receiver 22 is wirelessly connected to the transmitter 18 in a non-contact manner. The robot 21 actively detects and concentrates the positioning and perception function at the end of the robot 21. It makes full use of the robot 21's existing computing power and sensor resources (such as the reusable LiDAR for navigation), and realizes functional integration and resource optimization.

[0035] The positioning sensor 23 includes a camera and a lidar. The robot 21 calculates the horizontal offset of its relative position to the charging pile by detecting the distance difference between each reflective sticker, thereby ensuring that the left and right distance between the receiver and the transmitter 18 is within the normal working range.

[0036] In use, the charging pile is fixed in the preset charging position to ensure that it is installed firmly; the reflective mark is clearly and flatly pasted on the front of the charging pile (i.e., the direction facing the charging interface of the robot 21); the mobile robot 21 is in a working state and the relative position relationship between the sensor and the wireless charging interface has been pre-calibrated; the charging pile is connected to the power supply and is in standby state. When robot 21 needs to be charged (for example, when it detects that its own power is below a set threshold or when it receives a charging command), its control system starts an automatic charging program; robot 21 autonomously navigates to the approximate area where the charging station is located based on preset map information. During the movement of robot 21, the positioning sensor 23 (LiDAR, camera) installed at its front end continuously emits detection signals forward and receives reflected signals in real time. When robot 21 approaches the charging pile, the sensor detects the strong reflected signal generated by the reflective strip 15 pasted on the front of the charging pile. The robot 21 control system compares the actual position of the detected reflective strip 15 with the preset target position in real time, accurately calculates the relative position deviation between the receiver and the transmitter 18, and generates motion commands in real time to autonomously adjust its posture and gradually reduce the position deviation. When the sensor detects that the position of the reflective strip 15 is stably within the preset alignment tolerance range, robot 21 continues to move forward with its front facing the charging pile until it contacts the aforementioned tire limit plate 8, at which point it can stop moving. Robot 21 sends a charging request signal to the charging station via wireless communication. After receiving the signal, the charging station activates its internal wireless charging transmitting circuit, and Robot 21 simultaneously activates its internal wireless charging receiving circuit. Wireless power transfer begins, and the charging station transmits electrical energy to the battery of robot 21 through electromagnetic induction or magnetic resonance; it continuously monitors the charging status (such as battery capacity, charging current / voltage, temperature, etc.). When the charging completion conditions are met (such as the battery being fully charged, the set charging time being reached, or a stop command being received), robot 21 sends a charging stop signal to the charging station, or the charging station detects that charging is complete; robot 21 and the charging station respectively turn off the wireless charging receiving circuit and the wireless charging transmitting circuit; robot 21 autonomously controls itself to leave the charging location and return to its working task area.

[0037] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0038] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A wireless charging station for automatic robot alignment based on reflective positioning, characterized in that, include: The base (1) is used to support the wireless charging pile; the base (1) includes a base (5), a first support plate (6), a second support plate (7) and a tire limiting plate (8). The first support plate (6) and the second support plate (7) are respectively installed on the left and right sides of the base (5) by bolts. The tire limiting plate (8) is connected to the first support plate (6) and the second support plate (7) by screws. Protection and control unit (2), which is mounted on the top side surface of the base (1); the protection and control unit (2) includes a protective shell (9), a rear cover (10), and a control circuit board (12). A reflective marking component (3) includes a reflective strip (15) which provides reflective markings as auxiliary positioning marks. Energy transmission component (4), which is electrically connected to the protection control unit, is used to provide raw electrical energy to the electrical appliances in the protection and control unit (2); The energy transfer component (4) includes: A standard power socket (16) is located on the side of the pile body and is used to connect to external 220V mains power to provide raw power. Power converter (17), which is fixed inside the protection and control unit (2) by screwing, converts the input power into a voltage suitable for wireless charging; The transmitter (18) is located in the middle of the front of the protection and control unit (2).

2. The robot automatic alignment wireless charging station according to claim 1, characterized in that, The tire limiting plate (8) is used so that the robot (21) can stop moving after the tire comes into contact with the plate. The first support plate (6) and the second support plate (7) have elongated holes on their surfaces.

3. The robot automatic alignment wireless charging station according to claim 1, characterized in that, The protective housing (9) is fastened to the base (5) by screws and welded nuts. The rear cover (10) is locked and fixed to the protective housing (9) by screws distributed around the perimeter. The control circuit board (12) is fastened to the welded studs of the protective housing (9) by nuts.

4. The robot automatic alignment wireless charging station according to claim 3, characterized in that, Cooling fans (13) are installed on the left and right sides of the protective shell (9). Air enters on one side and exhausts on the other side of the protective shell (9). The bottom side of the protective shell (9) is provided with heat dissipation holes that cooperate with the cooling fans (13).

5. The robot automatic alignment wireless charging station according to claim 3, characterized in that, An indicator light (14) is installed on the top side of the protective housing (9). The indicator light (14) is a red / green / blue LED metal indicator light (14), which visualizes the internal working status as an external light signal to indicate the working status.

6. The robot automatic alignment wireless charging station according to claim 3, characterized in that, The protective shell (9) is made of a material with good weather resistance and flame retardancy, which constitutes the main body of the unit. The material is an engineering plastic or a metal alloy.

7. The robot automatic alignment wireless charging station according to claim 3, characterized in that, The control circuit board (12) integrates a power converter (17), a temperature control switch, and necessary interface circuits. The necessary interface circuits are a power input interface, a connection interface with the charging transmitter coil, a communication interface, and an indicator light (14) interface. The control circuit board (12) is used to control the operation of the wireless charging transmitter (18).

8. The robot automatic alignment wireless charging station according to claim 1, characterized in that, There are two reflective strips (15), and the back of the two reflective strips (15) is provided with an adhesive layer. The reflective strips (15) are pasted on the front of the protective shell (9) and are symmetrically distributed on the left and right with the transmitter (18) as the center. The longitudinal center line of the reflective strips (15) is parallel to the central axis of the transmitter (18). The reflective strips (15) adopt microprism reflective film to ensure high reflectivity or high contrast recognition of the robot (21) lidar and camera.

9. The robot automatic alignment wireless charging station according to claim 1, characterized in that, The transmitter (18) is screwed to the bracket (19). The bracket (19) is locked to the welded stud of the protective shell (9) by a nut. The transmitter (18) is the final actuator of the energy transmission component. After the internal main control module receives the positioning completion signal sent by the robot (21) through the wireless communication module, wireless charging is started.

10. A robot (21) with reflective positioning, characterized in that, The system includes a robot (21), which automatically aligns with a wireless charging station for wireless charging according to any one of claims 1-9. The robot (21) is equipped with a positioning sensor (23) facing the charging station. When the robot (21) approaches the charging station, the positioning sensor (23) continuously emits a detection signal forward. The positioning sensor (23) is used to detect the strong reflection signal generated by the reflective strip (15) pasted on the front of the charging station. The robot (21) is equipped with a wireless charging receiver (22) facing the charging station. The wireless charging receiver (22) is wirelessly connected to the transmitter (18) in a non-contact manner.

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